From 1fc0103976fa0ee8d4f93b32fae92e57a2c01c5c Mon Sep 17 00:00:00 2001 From: Rob Falck Date: Wed, 9 Aug 2023 12:56:09 -0400 Subject: [PATCH] Added path constraints and some cleanup --- .../test/test_ex_min_time_climb.py | 2 +- dymos/test/test_run_problem.py | 1 + .../test/test_timeseries_plots.py | 5 +- .../timeseries/bokeh_timeseries_report.py | 62 ++++++++++--------- 4 files changed, 38 insertions(+), 32 deletions(-) diff --git a/dymos/examples/min_time_climb/test/test_ex_min_time_climb.py b/dymos/examples/min_time_climb/test/test_ex_min_time_climb.py index d7b77b58f..47a33cdfb 100644 --- a/dymos/examples/min_time_climb/test/test_ex_min_time_climb.py +++ b/dymos/examples/min_time_climb/test/test_ex_min_time_climb.py @@ -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'): diff --git a/dymos/test/test_run_problem.py b/dymos/test/test_run_problem.py index 95fd0a950..f351450cf 100755 --- a/dymos/test/test_run_problem.py +++ b/dymos/test/test_run_problem.py @@ -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() diff --git a/dymos/visualization/test/test_timeseries_plots.py b/dymos/visualization/test/test_timeseries_plots.py index fdd997c93..6145cd833 100644 --- a/dymos/visualization/test/test_timeseries_plots.py +++ b/dymos/visualization/test/test_timeseries_plots.py @@ -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 @@ -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') @@ -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) diff --git a/dymos/visualization/timeseries/bokeh_timeseries_report.py b/dymos/visualization/timeseries/bokeh_timeseries_report.py index a29d5104f..7d060813c 100644 --- a/dymos/visualization/timeseries/bokeh_timeseries_report.py +++ b/dymos/visualization/timeseries/bokeh_timeseries_report.py @@ -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) { @@ -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 @@ -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() @@ -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: @@ -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) @@ -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],