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Examples for initial guess options (#78)
* Examples for constant initial guess (vector) * Examples for warm start and passing initial guess at different levels * Examples for functional initial guess and mixed functional/constant; bugfix in warm start generation with free final time * updated CI test for initial guess options * renamed solveDOCP and solveDirect to solve
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| Original file line number | Diff line number | Diff line change |
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| using CTDirect | ||
|
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||
| # goddard max final altitude (all constraint types formulation) | ||
| println("Test: initial guess options") | ||
| ocp = Model(variable=true) | ||
| Cd = 310 | ||
| Tmax = 3.5 | ||
| β = 500 | ||
| b = 2 | ||
| r0 = 1 | ||
| v0 = 0 | ||
| vmax = 0.1 | ||
| m0 = 1 | ||
| mf = 0.6 | ||
| x0 = [ r0, v0, m0 ] | ||
| state!(ocp, 3) | ||
| control!(ocp, 1) | ||
| variable!(ocp, 1) | ||
| time!(ocp, 0, Index(1)) | ||
| # use all possible types of constraints | ||
| # initial condition | ||
| constraint!(ocp, :initial, x0, :initial_constraint) | ||
| # final condition | ||
| constraint!(ocp, :final, Index(3), mf, :final_constraint) | ||
| # state constraint | ||
| constraint!(ocp, :state, (x,v)->x[2], -Inf, vmax, :state_con_v_ub) | ||
| # control constraint | ||
| constraint!(ocp, :control, (u,v)->u, -Inf, 1, :control_con_u_ub) | ||
| # mixed constraint | ||
| constraint!(ocp, :mixed, (x,u,v)->x[3], mf, Inf, :mixed_con_m_lb) | ||
| # variable constraint | ||
| constraint!(ocp, :variable, v->v, -Inf, 10, :variable_con_tf_ubx) | ||
| # state box | ||
| constraint!(ocp, :state, 1:2, [r0,v0], [r0+0.2, Inf], :state_box_rv) | ||
| # control box | ||
| constraint!(ocp, :control, Index(1), 0, Inf, :control_box_lb) | ||
| # variable box | ||
| constraint!(ocp, :variable, Index(1), 0.01, Inf, :variable_box_tfmin) | ||
| objective!(ocp, :mayer, (x0, xf, v) -> xf[1], :max) | ||
| function F0(x) | ||
| r, v, m = x | ||
| D = Cd * v^2 * exp(-β*(r - 1)) | ||
| return [ v, -D/m - 1/r^2, 0 ] | ||
| end | ||
| function F1(x) | ||
| r, v, m = x | ||
| return [ 0, Tmax/m, -b*Tmax ] | ||
| end | ||
| dynamics!(ocp, (x, u, v) -> F0(x) + u*F1(x) ) | ||
| sol0 = solve(ocp, print_level=0) | ||
|
|
||
| # default init | ||
| @testset verbose = true showtiming = true ":default_init" begin | ||
| sol = solve(ocp, print_level=0) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
|
|
||
| # constant initial guess | ||
| x_const = [1.05, 0.2, 0.8] | ||
| u_const = 0.5 | ||
| v_init = 0.15 | ||
|
|
||
| @testset verbose = true showtiming = true ":constant_init_x" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":constant_init_u" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(u_init=u_const)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":constant_init_v" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(v_init=v_init)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":constant_init_xu" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, u_init=u_const)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":constant_init_xv" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, v_init=v_init)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":constant_init_uv" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(u_init=u_const, v_init=v_init)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":constant_init_xuv" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
|
|
||
| # functional initial guess | ||
| x_func = t->[1+t^2, sqrt(t), 1-t] | ||
| u_func = t->(cos(t)+1)*0.5 | ||
|
|
||
| @testset verbose = true showtiming = true ":functional_init_x" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_func)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":functional_init_u" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(u_init=u_func)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":functional_init_xu" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_func, u_init=u_func)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":mixed_init" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(x_init=x_func, u_init=u_const)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
|
|
||
| # warm start | ||
| @testset verbose = true showtiming = true ":warm_start" begin | ||
| sol = solve(ocp, print_level=0, init=OptimalControlInit(sol0)) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
|
|
||
| # set initial guess in DOCP | ||
| docp = directTranscription(ocp) | ||
| @testset verbose = true showtiming = true ":DOCPInit_constant" begin | ||
| setDOCPInit(docp, OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init)) | ||
| sol = solve(docp, print_level=0) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":DOCPInit_mixed" begin | ||
| setDOCPInit(docp, OptimalControlInit(x_init=x_func, u_init=u_const)) | ||
| sol = solve(docp, print_level=0) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":DOCPInit_warm_start" begin | ||
| setDOCPInit(docp, OptimalControlInit(sol0)) | ||
| sol = solve(docp, print_level=0) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
|
|
||
| # pass initial guess to solve | ||
| setDOCPInit(docp, OptimalControlInit()) # reset init in docp | ||
| @testset verbose = true showtiming = true ":solve_constant_init" begin | ||
| sol = solve(docp, init=OptimalControlInit(x_init=x_const, u_init=u_const, v_init=v_init), print_level=0) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":solve_mixed_init" begin | ||
| sol = solve(docp, init=OptimalControlInit(x_init=x_func, u_init=u_const), print_level=0) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end | ||
| @testset verbose = true showtiming = true ":solve_warm_start" begin | ||
| sol = solve(docp, init=OptimalControlInit(sol0), print_level=0) | ||
| @test sol.objective ≈ 1.0125 rtol=1e-2 | ||
| end |
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