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Added path constraints and some cleanup
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@robfalck
robfalck committed Aug 9, 2023
1 parent e16fd24 commit 1fc0103
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Showing 4 changed files with 38 additions and 32 deletions.
2 changes: 1 addition & 1 deletion dymos/examples/min_time_climb/test/test_ex_min_time_climb.py
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,7 @@ def min_time_climb(optimizer='SLSQP', num_seg=3, transcription='gauss-lobatto',
return p


# @use_tempdirs
@use_tempdirs
class TestMinTimeClimb(unittest.TestCase):

def _test_results(self, p, time_name='time'):
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1 change: 1 addition & 0 deletions dymos/test/test_run_problem.py
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Expand Up @@ -660,6 +660,7 @@ def setUp(self):
phase0.set_refine_options(refine=True)

phase0.timeseries_options['include_state_rates'] = True
phase0.timeseries_options['include_control_rates'] = True
phase0.timeseries_options['include_t_phase'] = True

p.model.linear_solver = om.DirectSolver()
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5 changes: 4 additions & 1 deletion dymos/visualization/test/test_timeseries_plots.py
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Expand Up @@ -58,6 +58,8 @@ def setUp(self):
compressed=compressed),
subset='control_input')

phase.timeseries_options['include_control_rates'] = True

phase.add_boundary_constraint('x', loc='final', equals=10)
phase.add_boundary_constraint('y', loc='final', equals=5)
# Minimize time at the end of the phase
Expand All @@ -83,7 +85,7 @@ def test_brachistochrone_timeseries_plots(self):
temp = dm.options['plots']
dm.options['plots'] = 'matplotlib'

dm.run_problem(self.p, make_plots=False)
dm.run_problem(self.p, make_plots=True)

timeseries_plots('dymos_solution.db', problem=self.p)
plot_dir = pathlib.Path(_get_reports_dir(self.p)).joinpath('plots')
Expand Down Expand Up @@ -256,6 +258,7 @@ def test_trajectory_linked_phases_make_plot(self):
for phase_name, phase in self.traj._phases.items():
phase.timeseries_options['use_prefix'] = True
phase.timeseries_options['include_state_rates'] = True
phase.timeseries_options['include_control_rates'] = True
phase.timeseries_options['include_t_phase'] = True

p.setup(check=True)
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62 changes: 32 additions & 30 deletions dymos/visualization/timeseries/bokeh_timeseries_report.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,8 @@
PATH_HATCH_PATTERN = 'x'
PATH_HATCH_ALPHA = 0.5
MARKER_SIZE = 8
MIN_Y = -1.0E8
MAX_Y = 1.0E8
MIN_Y = -1.0E6
MAX_Y = 1.0E6

_js_show_renderer = """
function show_renderer(renderer, phases_to_show, kinds_to_show) {
Expand Down Expand Up @@ -213,8 +213,6 @@ def make_timeseries_report(prob, solution_record_file=None, simulation_record_fi
The path to the solution record file, if available.
simulation_record_file : str
The path to the simulation record file, if available.
x_name : str
Name of the horizontal axis variable in the timeseries.
ncols : int
The number of columns of timeseries output plots.
margin : int
Expand Down Expand Up @@ -338,19 +336,18 @@ def make_timeseries_report(prob, solution_record_file=None, simulation_record_fi
if var_name in bcis:
bci = [c for c in phase._initial_boundary_constraints
if c['constraint_name'] == var_name][0]
bci_lower = bci['equals'] or bci['lower']
bci_upper = bci['equals'] or bci['upper']
bci_lower = bci['equals'] if bci['equals'] is not None else bci['lower']
bci_upper = bci['equals'] if bci['equals'] is not None else bci['upper']
if var_name in bcfs:
bcf = [c for c in phase._final_boundary_constraints
if c['constraint_name'] == var_name][0]
bcf_lower = bcf['equals'] or bcf['lower']
bcf_upper = bcf['equals'] or bcf['upper']
bcf_lower = bcf['equals'] if bcf['equals'] is not None else bcf['lower']
bcf_upper = bcf['equals'] if bcf['equals'] is not None else bcf['upper']
if var_name in paths:
path = [c for c in phase._path_constraints
if c['constraint_name'] == var_name][0]
path_lower = path['equals'] or path['lower']
path_upper = path['equals'] or path['upper']
print(var_name, path_lower, path_upper, path['equals'])
path_lower = path['equals'] if path['equals'] is not None else path['lower']
path_upper = path['equals'] if path['equals'] is not None else path['upper']

x_data = sol_data[x_name].ravel()

Expand Down Expand Up @@ -378,30 +375,34 @@ def make_timeseries_report(prob, solution_record_file=None, simulation_record_fi
sol_source.data[f'{var_name}:upper'] = 1.E8 * np.ones_like(x_data)

if lower is not None:
fig.varea(x=[x_data[0], x_data[-1]], y1=[lower, lower], y2=[MIN_Y, MIN_Y],
fill_alpha=BOUNDS_ALPHA, fill_color=color,
hatch_pattern=BOUNDS_HATCH_PATTERN, hatch_color=color,
hatch_alpha=BOUNDS_HATCH_ALPHA,
hatch_weight=0.2).tags.extend([f'phase:{phase_name}', 'bounds'])
area = fig.varea(x=[x_data[0], x_data[-1]], y1=[lower, lower], y2=[MIN_Y, MIN_Y],
fill_alpha=BOUNDS_ALPHA, fill_color=color,
hatch_pattern=BOUNDS_HATCH_PATTERN, hatch_color=color,
hatch_alpha=BOUNDS_HATCH_ALPHA,
hatch_weight=0.2)
area.tags.extend([f'phase:{phase_name}', 'bounds'],)

if upper is not None:
fig.varea(x=[x_data[0], x_data[-1]], y1=[upper, upper], y2=[MAX_Y, MAX_Y],
fill_alpha=BOUNDS_ALPHA, fill_color=color,
hatch_pattern=BOUNDS_HATCH_PATTERN, hatch_color=color,
hatch_alpha=BOUNDS_HATCH_ALPHA,
hatch_weight=0.2).tags.extend([f'phase:{phase_name}', 'bounds'])
area = fig.varea(x=[x_data[0], x_data[-1]], y1=[upper, upper], y2=[MAX_Y, MAX_Y],
fill_alpha=BOUNDS_ALPHA, fill_color=color,
hatch_pattern=BOUNDS_HATCH_PATTERN, hatch_color=color,
hatch_alpha=BOUNDS_HATCH_ALPHA,
hatch_weight=0.2)
area.tags.extend([f'phase:{phase_name}', 'bounds'])

if path_lower is not None:
fig.varea(x=[x_data[0], x_data[-1]], y1=[path_lower, path_lower], y2=[MIN_Y, MIN_Y],
fill_alpha=PATH_ALPHA, fill_color=color,
hatch_pattern=PATH_HATCH_PATTERN, hatch_color=color, hatch_alpha=PATH_HATCH_ALPHA,
hatch_weight=0.2).tags.extend([f'phase:{phase_name}', 'constraints'])
area = fig.varea(x=[x_data[0], x_data[-1]], y1=[path_lower, path_lower], y2=[MIN_Y, MIN_Y],
fill_alpha=PATH_ALPHA, fill_color=color,
hatch_pattern=PATH_HATCH_PATTERN, hatch_color=color,
hatch_alpha=PATH_HATCH_ALPHA, hatch_weight=0.2)
area.tags.extend([f'phase:{phase_name}', 'constraints'])

if path_upper is not None:
fig.varea(x=[x_data[0], x_data[-1]], y1=[path_upper, path_upper], y2=[MAX_Y, MAX_Y],
fill_alpha=PATH_ALPHA, fill_color=color,
hatch_pattern=PATH_HATCH_PATTERN, hatch_color=color, hatch_alpha=PATH_HATCH_ALPHA,
hatch_weight=0.2).tags.extend([f'phase:{phase_name}', 'constraints'])
area = fig.varea(x=[x_data[0], x_data[-1]], y1=[path_upper, path_upper], y2=[MAX_Y, MAX_Y],
fill_alpha=PATH_ALPHA, fill_color=color,
hatch_pattern=PATH_HATCH_PATTERN, hatch_color=color,
hatch_alpha=PATH_HATCH_ALPHA, hatch_weight=0.2)
area.tags.extend([f'phase:{phase_name}', 'constraints'])

# Plot fixed endpoints if appropriate
if fix_initial:
Expand All @@ -426,6 +427,7 @@ def make_timeseries_report(prob, solution_record_file=None, simulation_record_fi
# Only scale the y axis based on the sol and sim data plots, not any bounds plots
fig.y_range.renderers = renderers

# Add a phase legend outside of the axes
legend = Legend(items=legend_data, location='center', label_text_font_size='8pt')
fig.add_layout(legend, 'right')
figures.append(fig)
Expand All @@ -438,7 +440,7 @@ def make_timeseries_report(prob, solution_record_file=None, simulation_record_fi
for i, table in enumerate(param_tables)]

sol_sim_toggle = CheckboxButtonGroup(labels=['Solution', 'Simulation', 'Bounds', 'Constraints'],
active=[0, 1, 2])
active=[0, 1, 2, 3])

sol_sim_row = row(children=[Div(text='Display data:', sizing_mode='stretch_height'),
sol_sim_toggle],
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