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GFOLD_run.py
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GFOLD_run.py
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import numpy as np
import time
import sys
import GFOLD_params as params
class solver:
def __init__(self, v_data=None):
if v_data != None:
self.set_params(v_data)
def set_params(self, v_data):
self.Isp_inv = 1 / v_data['Isp']
self.alpha = 1 / 9.80665 / v_data['Isp']
self.G_max = v_data['G_max']
self.V_max = v_data['V_max']
self.y_gs_cot = 1 / np.tan(v_data['y_gs'])
self.p_cs_cos = np.cos(v_data['p_cs'])
self.m_wet = v_data['m_wet']
self.m_wet_log = np.log(v_data['m_wet'])
self.r1 = v_data['T_max'] * v_data['throt'][0]
self.r2 = v_data['T_max'] * v_data['throt'][1]
self.tf_ = v_data['tf']
self.straight_fac = v_data['straight_fac']
self.x0 = v_data['x0']
self.g = v_data['g']
def pack_data(self, N):
dt = self.tf_ / N
alpha_dt = self.alpha * dt
t = np.linspace(0, (N-1) * dt, N)
z0_term = self.m_wet - self.alpha * self.r2 * t
z0_term_inv = (1 / z0_term).reshape(1, N)
z0_term_log = np.log(z0_term).reshape(1, N)
x0 = self.x0.reshape(6, 1)
g = self.g.reshape(3, 1)
sparse_params = np.array((alpha_dt, self.G_max, self.V_max, self.y_gs_cot,
self.p_cs_cos, self.m_wet_log, self.r1, self.r2, self.tf_, self.straight_fac))
sparse_params = sparse_params.reshape(len(sparse_params), 1)
return (x0, z0_term_inv, z0_term_log, g, sparse_params)
def run_p3(self):
import gfold_solver_p3 as solver3
(x0, z0_term_inv, z0_term_log, g, sparse_params) = self.pack_data(params.N3)
res = solver3.cg_solve(x0=x0, g_vec=g, z0_term_log=z0_term_log, z0_term_inv=z0_term_inv,
sparse_params=sparse_params)
if res[1]['status'] == 'optimal':
tf_m = self.tf_
x = res[0]['var_x']
for i in range(x.shape[1]):
if (np.linalg.norm(x[0:3, i]) + np.linalg.norm(x[3:6, i])) < 0.1:
tf_m = i / x.shape[1] * self.tf_
break
return tf_m
else:
print(res)
return self.tf_ # None
def run_p4(self):
import gfold_solver_p4 as solver4
(x0, z0_term_inv, z0_term_log, g, sparse_params) = self.pack_data(params.N4)
res = solver4.cg_solve(x0=x0, g_vec=g, z0_term_log=z0_term_log, z0_term_inv=z0_term_inv,
sparse_params=sparse_params)
if res[1]['status'] == 'optimal':
m = np.exp(res[0]['var_z'])
return (self.tf_, res[0]['var_x'], res[0]['var_u'], m, res[0]['var_s'], res[0]['var_z'])
# (tf,x,u,m,s,z)
else:
print(res)
m = np.exp(res[0]['var_z'])
# None
return (self.tf_, res[0]['var_x'], res[0]['var_u'], m, res[0]['var_s'], res[0]['var_z'])
def solve(self):
print("------solve_generated-------")
start = time.time()
tf_m = self.run_p3()
if tf_m == None:
print('p3 failed')
return None
self.tf_ = tf_m + 0.1 * self.straight_fac
# tf_m = self.run_p3()
# if tf_m == None:
# print('p3- failed')
# return None
# self.tf_ = tf_m
print('tf_m:' + str(tf_m))
res = self.run_p4()
if res == None:
print('p4 failed')
return None
print("------solved in %fs-------" % (time.time() - start))
return res
def solve_direct(self, N3=params.N3, N4=params.N4):
print("------solve_direct-------")
import GFOLD_direct_exec as solver_direct
start = time.time()
packed_data = self.pack_data(N3)
(obj_opt, x, u, m, s, z) = solver_direct.GFOLD_direct(N3, 'p3', packed_data)
if obj_opt == None:
print('p3 failed')
return None
tf_m = self.tf_
for i in range(x.shape[1]):
if (np.linalg.norm(x[0:3, i]) + np.linalg.norm(x[3:6, i])) < 0.1:
tf_m = i / x.shape[1] * self.tf_
break
print('tf_m:' + str(tf_m))
self.tf_ = tf_m + 0.1 * self.straight_fac
# packed_data = self.pack_data(N4)
# (obj_opt, x, u, m, s, z) = solver_direct.GFOLD_direct(N4, 'p4', packed_data)
# if obj_opt == None:
# print('p4 failed')
# return None
print("------solved in %fs-------" % (time.time() - start))
return (tf_m, x, u, m, s, z)
if __name__ == '__main__':
from EvilPlotting import *
test_vessel = {
'Isp': 203.94,
'G_max': 3,
'V_max': 90,
'y_gs': np.radians(30),
'p_cs': np.radians(45),
'm_wet': (2)*1e3 + (0.3)*1e3,
'T_max': 24000,
'throt': [0.2, 0.8],
# 'x0' : np.array([2400, 450, -330, -10, -40, 10]),
'x0': np.array([1400, 450, -330, -20, 40, 40]),
'g': np.array([-3.71, 0, 0]),
'tf': 80,
'straight_fac': 1,
}
# test_vessel = {
# 'Isp': 256.83880615234375,
# 'G_max': 100,
# 'V_max': 150,
# 'y_gs': 0.7853981633974483,
# 'p_cs': 1.335176877775662,
# 'm_wet': 5904.27880859375,
# 'T_max': 172557.234375,
# 'throt': [0.1, 0.8],
# 'x0': np.array([ 230.6261789 , -259.6486983 , 107.25770515, -1424.00991313, -153.36160242, 25.85659298]),
# 'g': np.array([-9.807, 0. , 0. ]),
# 'tf': 30,
# 'straight_fac': 5
# }
if 'direct' in sys.argv[1:]:
print('solving test vessel directly')
(tf, x, u, m, s, z) = solver(test_vessel).solve_direct()
else:
print('solving test vessel using generated code')
(tf, x, u, m, s, z) = solver(test_vessel).solve()
plot_run3D(tf, x, u, m, s, z, test_vessel)