Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Implicit Runge Kutta #330

Merged
merged 37 commits into from
Dec 11, 2024
Merged

Implicit Runge Kutta #330

merged 37 commits into from
Dec 11, 2024

Conversation

PierreMartinon
Copy link
Member

@PierreMartinon PierreMartinon commented Dec 5, 2024 •
edited
Loading

Done:

  • implementation for generic implicit Runge Kutta methods, illustrated with 3 Gauss Legendre formulas :gauss_legendre_1 (same method as :midpoint but with a generic, less effective implementation), :gauss_legendre_2 and :gauss_legendre_3. Using piecewise linear control with time steps as nodes, except for 1-stage methods that use piecewise constant interpolation.
  • path constraints block in specific function again, evaluated at time steps

@PierreMartinon
start generic irk discretization
935b4d8
@PierreMartinon
remove some old tests in prof.jl
4044294
@PierreMartinon
moved NLP vars and cons dim computation to discretization part
a2c3bd0
@PierreMartinon
irk
d882106
@PierreMartinon
irk
de8bcf5
@PierreMartinon
test midpoint_irk
8d16fb5
@PierreMartinon
first test ok
b84565a
@PierreMartinon
more tests
53f61b6
@PierreMartinon
split stage var for lagrange cost
76767e5
@PierreMartinon
allocs ok for scalar x
c53567b
@PierreMartinon
midpoint as implicit irk seems fine (maybe a few additional allocs fo…
8258b97 
…r vector x
@PierreMartinon
todo: check gauss legendre s=2
d1d59c4
@PierreMartinon
gl2 seems ok
c65b3d0
@PierreMartinon
some tests update
a8a9b59
@PierreMartinon
alga
d52b2e7
@PierreMartinon
start stage control version
bfb829b
@PierreMartinon
todo: check GL2 with stage controls
1542fb0
@PierreMartinon
stage controls for dynamics and constraints
9e02178
@PierreMartinon
control is half wrong for gl2 with stage control
6ad7bb1
@PierreMartinon
need to recheck stage control mode
2caa2a6
@PierreMartinon
in progress
6e7d1dc
@PierreMartinon
todo: debug gl2
2373a3a
@PierreMartinon
tests ok
f32a010
@PierreMartinon
tests ok, some residual allocs for uij (todo: use work array)
d007126
@PierreMartinon
tests ok with computations in setStepConstraint for irk; fixed final …
297c9e6 
…control for midpoint
@PierreMartinon
use separate function for path constraints block
418eea3
@PierreMartinon
tests ok
9fe43b9
@PierreMartinon
sync
b0b02ee
@github-actions GitHub Actions
Copy link
Contributor

github-actions bot commented Dec 5, 2024 •
edited
Loading

Breakage test results
Date: 2024-12-11 17:51:42

Package name latest stable
OptimalControl.jl compat: v0.12.1 compat: v0.12.1

@PierreMartinon PierreMartinon merged commit 4b6eaa2 into main Dec 11, 2024
7 checks passed
@PierreMartinon PierreMartinon deleted the irk_uparam branch December 11, 2024 16:05
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees

@PierreMartinon PierreMartinon

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
1 participant
@PierreMartinon