local test suite (#45)

Author: PierreMartinon

src/utils.jl

@@ -140,7 +140,7 @@ function initial_guess(ctd)
 
         # set variables
         if (ctd.variable_dimension > 0)
-            v_init = zeros(ctd.control_variable)
+            v_init = zeros(ctd.variable_dimension)
             v_init[1:ctd.variable_dimension] = init[ctd.state_dimension+ctd.control_dimension+1:ctd.state_dimension+ctd.control_dimension+ctd.variable_dimension]    
             set_variable!(xu0, v_init, ctd)
         end

test/suite/double_integrator.jl

@@ -0,0 +1,110 @@
+using CTDirect
+using CTBase
+
+println("Test: double integrator")
+
+# min tf
+ocp1 = Model(variable=true)
+state!(ocp1, 2)
+control!(ocp1, 1)
+variable!(ocp1, 1)
+time!(ocp1, 0, Index(1))
+constraint!(ocp1, :initial, [0,0], :initial_constraint)
+constraint!(ocp1, :final, [1,0], :final_constraint)
+constraint!(ocp1, :control, -1, 1, :control_constraint)
+constraint!(ocp1, :variable, 0.1, 10, :variable_constraint)
+dynamics!(ocp1, (x, u, v) ->  [x[2], u])
+objective!(ocp1, :mayer, (x0, xf, v) -> v)
+sol1 = solve(ocp1, grid_size=100, print_level=0, tol=1e-12)
+@testset verbose = true showtiming = true ":double_integrator :min_tf" begin
+    @test sol1.objective ≈ 2.0 rtol=1e-2
+end
+
+
+# min tf (lagrange)
+ocp2 = Model(variable=true)
+state!(ocp2, 2)
+control!(ocp2, 1)
+variable!(ocp2, 1)
+time!(ocp2, 0, Index(1))
+constraint!(ocp2, :initial, [0,0], :initial_constraint)
+constraint!(ocp2, :final, [1,0], :final_constraint)
+constraint!(ocp2, :control, -1, 1, :control_constraint)
+constraint!(ocp2, :variable, 0.1, 10, :variable_constraint)
+dynamics!(ocp2, (x, u, v) ->  [x[2], u])
+objective!(ocp2, :lagrange, (x, u, v) -> 1)
+sol2 = solve(ocp2, grid_size=100, print_level=0, tol=1e-12)
+@testset verbose = true showtiming = true ":double_integrator :min_tf :lagrange" begin
+    @test sol2.objective ≈ 2.0 rtol=1e-2
+end
+
+
+# min tf (vectorial)
+ocp3 = Model(variable=true)
+state!(ocp3, 2)
+control!(ocp3, 1)
+variable!(ocp3, 1)
+time!(ocp3, 0, Index(1))
+constraint!(ocp3, :initial, [0,0], :initial_constraint)
+constraint!(ocp3, :final, [1,0], :final_constraint)
+constraint!(ocp3, :control, [-1], [1], :control_constraint)
+constraint!(ocp3, :variable, [0.1], [10], :variable_constraint)
+dynamics!(ocp3, (x, u, v) ->  [x[2], u[1]])
+objective!(ocp3, :mayer, (x0, xf, v) -> v[1])
+sol3 = solve(ocp1, grid_size=100, print_level=0, tol=1e-12)
+@testset verbose = true showtiming = true ":double_integrator :min_tf :vectorial" begin
+    @test sol3.objective ≈ 2.0 rtol=1e-2
+end
+
+
+# max t0 (free t0 and tf)
+ocp4 = Model(variable=true)
+state!(ocp4, 2)
+control!(ocp4, 1)
+variable!(ocp4, 2)
+time!(ocp4, Index(1), Index(2))
+constraint!(ocp4, :initial, [0,0], :initial_constraint)
+constraint!(ocp4, :final, [1,0], :final_constraint)
+constraint!(ocp4, :control, -1, 1, :control_constraint)
+constraint!(ocp4, :variable, [0.1, 0.1], [10, 10], :variable_constraint)
+dynamics!(ocp4, (x, u, v) ->  [x[2], u])
+objective!(ocp4, :mayer, (x0, xf, v) -> v[1], :max)
+sol4 = solve(ocp4, grid_size=100, print_level=0, tol=1e-12)
+@testset verbose = true showtiming = true ":double_integrator :max_t0" begin
+    @test sol4.objective ≈ 8.0 rtol=1e-2
+end
+
+
+# min tf, abstract definition
+@def ocp begin
+    tf ∈ R, variable
+    t ∈ [ 0, tf ], time
+    x ∈ R², state
+    u ∈ R, control
+    -1 ≤ u(t) ≤ 1
+    x(0) == [ 0, 0 ]
+    x(tf) == [ 1, 0 ]
+    0.1 ≤ tf ≤ Inf 
+    ẋ(t) == [ x₂(t), u(t) ] 
+    tf → min
+end
+sol = solve(ocp, grid_size=100, print_level=0, tol=1e-12)
+@testset verbose = true showtiming = true ":double_integrator :min_tf :abstract" begin
+    @test sol.objective ≈ 2.0 rtol=1e-2
+end
+
+
+# min energy dual control
+ocp5 = Model()
+state!(ocp5, 2)
+control!(ocp5, 2)
+time!(ocp5, 0, 5)
+constraint!(ocp5, :initial, [0,0], :initial_constraint)
+constraint!(ocp5, :final, [1,0], :final_constraint)
+constraint!(ocp5, :control, 1:2, [0,0], [1,1], :control_box) # [u_, u+]
+dynamics!(ocp5, (x, u) ->  [x[2], -u[1] + u[2]])
+objective!(ocp5, :lagrange, (x, u) -> u[1]*u[1] + u[2]*u[2])
+sol5 = solve(ocp5, grid_size=50, print_level=0, tol=1e-12)
+@testset verbose = true showtiming = true ":double_integrator :min_energy" begin
+    @test sol5.objective ≈ 9.6e-2 rtol=1e-2
+end

test/suite/goddard_all_constraints.jl

@@ -0,0 +1,59 @@
+using CTDirect
+using CTBase
+
+println("Test: goddard all constraints")
+
+# goddard max final altitue (all constraint types formulation)
+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)
+#constraint!(ocp, :state, Index(2), v0, Inf, :state_box_vmin)
+# 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) )
+init_constant = [1.05, 0.1, 0.8, 0.5, 0.1]
+sol = solve(ocp, grid_size=30, print_level=0, tol=1e-8, init=init_constant)
+#println(sol.objective)
+#plot(sol)
+@testset verbose = true showtiming = true ":goddard :max_rf :all_constraints_types" begin
+    @test sol.objective ≈ 1.0125 rtol=1e-2
+end