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Fixed issue where "connected" could not be used when linking all variables of a phase #942

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Jun 28, 2023
Merged

Fixed issue where "connected" could not be used when linking all variables of a phase #942

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aae3cdf
Added the connected option to _expand_star_linkage_configure
kaushikponnapalli Jun 26, 2023
487954c
Merge branch 'master' of github.com:OpenMDAO/dymos into link_phases_bug
kaushikponnapalli Jun 28, 2023
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127 changes: 127 additions & 0 deletions dymos/trajectory/test/test_link_phases.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,127 @@
import unittest

import numpy as np
import openmdao.api as om
import dymos as dm

from openmdao.utils.testing_utils import use_tempdirs
from openmdao.utils.assert_utils import assert_near_equal


class ODEComp(om.ExplicitComponent):

def initialize(self):
self.options.declare('num_nodes', types=int)

def setup(self):
nn = self.options['num_nodes']
self.add_input('h', shape=nn, units='m')
self.add_input('v', shape=nn, units='m/s')
self.add_output('hdot', shape=nn, units='m/s')
self.add_output('vdot', shape=nn, units='m/s**2')

self.declare_partials(of='hdot', wrt='v', rows=np.arange(nn), cols=np.arange(nn), val=1.0)

def compute(self, inputs, outputs):
outputs['hdot'] = inputs['v']
outputs['vdot'] = -9.80665


@use_tempdirs
class TestPhaseLinkageComp(unittest.TestCase):

@staticmethod
def make_problem(link_all_vars=False, connected=True):
dm.options['include_check_partials'] = True
p = om.Problem(model=om.Group())
p.driver = om.ScipyOptimizeDriver()
p.driver.options['optimizer'] = 'SLSQP'
p.driver.declare_coloring()

traj = dm.Trajectory()
p.model.add_subsystem('traj', traj)

t = dm.Radau(num_segments=1, order=3, compressed=True)
phase0 = dm.Phase(ode_class=ODEComp, transcription=t)

traj.add_phase('phase0', phase0)
phase0.set_time_options(fix_initial=True, fix_duration=True)

phase0.add_state('h', fix_initial=True, fix_final=False,
solve_segments='forward', rate_source='hdot')
phase0.add_state('v', fix_initial=True, fix_final=False,
solve_segments='forward', rate_source='vdot')

phase1 = dm.Phase(ode_class=ODEComp, transcription=t)

traj.add_phase('phase1', phase1)
phase1.set_time_options(input_initial=connected, fix_duration=True)

phase1.add_state('h', input_initial=connected, fix_final=False,
solve_segments='forward', rate_source='hdot')
phase1.add_state('v', input_initial=connected, fix_final=False,
solve_segments='forward', rate_source='vdot')

linked_vars = ['*'] if link_all_vars else ['time', 'h', 'v']
traj.link_phases(['phase0', 'phase1'], vars=linked_vars, connected=connected)

phase1.add_objective('h', loc='final')

p.setup()

p.set_val('traj.phase0.t_initial', 0.0)
p.set_val('traj.phase0.t_duration', 1.0)
p.set_val('traj.phase0.states:h', phase0.interp('h', [19.6133, 15]))
p.set_val('traj.phase0.states:v', phase0.interp('v', [0, -5]))

p.set_val('traj.phase1.t_duration', 1.0)

return p

def test_link_phases_specified_vars_unconnected(self):
p = self.make_problem(connected=False)
dm.run_problem(p, run_driver=True)

h0 = p.get_val('traj.phase0.states:h')[-1]
h1 = p.get_val('traj.phase1.states:h')[0]
v0 = p.get_val('traj.phase0.states:v')[-1]
v1 = p.get_val('traj.phase1.states:v')[0]

assert_near_equal(h0, h1)
assert_near_equal(v0, v1)

def test_link_phases_all_vars_unconnected(self):
p = self.make_problem(link_all_vars=True, connected=False)
dm.run_problem(p, run_driver=True)

h0 = p.get_val('traj.phase0.states:h')[-1]
h1 = p.get_val('traj.phase1.states:h')[0]
v0 = p.get_val('traj.phase0.states:v')[-1]
v1 = p.get_val('traj.phase1.states:v')[0]

assert_near_equal(h0, h1)
assert_near_equal(v0, v1)

def test_link_phases_specified_vars_connected(self):
p = self.make_problem(connected=True)
dm.run_problem(p, run_driver=False)

h0 = p.get_val('traj.phase0.states:h')[-1]
h1 = p.get_val('traj.phase1.states:h')[0]
v0 = p.get_val('traj.phase0.states:v')[-1]
v1 = p.get_val('traj.phase1.states:v')[0]

assert_near_equal(h0, h1)
assert_near_equal(v0, v1)

def test_link_phases_all_vars_connected(self):
p = self.make_problem(link_all_vars=True, connected=True)
dm.run_problem(p, run_driver=False)

h0 = p.get_val('traj.phase0.states:h')[-1]
h1 = p.get_val('traj.phase1.states:h')[0]
v0 = p.get_val('traj.phase0.states:v')[-1]
v1 = p.get_val('traj.phase1.states:v')[0]

assert_near_equal(h0, h1)
assert_near_equal(v0, v1)
19 changes: 10 additions & 9 deletions dymos/trajectory/trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -651,16 +651,17 @@ def _expand_star_linkage_configure(self):
var_pair = ('*', '*')
if var_pair in var_dict:
options = var_dict[var_pair]
self.add_linkage_constraint(phase_name_a, phase_name_b, var_a='time',
var_b='time', loc_a=options['loc_a'],
loc_b=options['loc_b'], mult_a=options['mult_a'],
mult_b=options['mult_b'])
self.add_linkage_constraint(phase_name_a, phase_name_b,
var_a='time', var_b='time',
loc_a=options['loc_a'], loc_b=options['loc_b'],
mult_a=options['mult_a'], mult_b=options['mult_b'],
connected=options['connected'])
for state_name in phase_b.state_options:
self.add_linkage_constraint(phase_name_a, phase_name_b, var_a=state_name,
var_b=state_name, loc_a=options['loc_a'],
loc_b=options['loc_b'],
mult_a=options['mult_a'],
mult_b=options['mult_b'])
self.add_linkage_constraint(phase_name_a, phase_name_b,
var_a=state_name, var_b=state_name,
loc_a=options['loc_a'], loc_b=options['loc_b'],
mult_a=options['mult_a'], mult_b=options['mult_b'],
connected=options['connected'])
self._linkages[phase_pair].pop(var_pair)

def _is_valid_linkage(self, phase_name_a, phase_name_b, loc_a, loc_b, var_a, var_b, fixed_a, fixed_b):
Expand Down