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WecOptTool

The WEC Design Optimization MATLAB Toolbox (WecOptTool) allows users to perform wave energy converter (WEC) device design optimization studies with constrained optimal control.

Dependencies

Dependency Website Required*
MATLAB https://www.mathworks.com/products/matlab.html yes1
MATLAB Optimization Toolbox https://www.mathworks.com/products/optimization.html yes
NEMOH https://github.com/LHEEA/Nemoh yes
WAFO https://github.com/wafo-project/wafo optional
MATLAB Parallel Computing Toolbox https://www.mathworks.com/products/parallel-computing.html optional
MATLAB Global Optimization Toolbox https://www.mathworks.com/products/global-optimization.html optional

* The values in the Required column have the following meanings:

  • yes indicates dependencies that must be installed to use the WecOptTool toolbox
  • optional indicates dependencies that are used on a case by case basis, in the examples

1 The WecOptTool developers are endeavoring to ensure that this software is compatible with the latest version of MATLAB (and the toolbox dependencies). Unfortunately, this may mean that backwards compatibility with older versions of MATLAB is not possible. See the MATLAB Version Support Policy page for further details.

Download

Stable Version

The latest stable version of WecOptTool can be downloaded from the Releases section of this repository.

Development Version

For the latest development version of WecOptTool, clone or download this repository, using the Clone or download button.

Note that, although the developers endeavor to ensure that the development version is not broken, bugs or unexpected behavior may occur, so please beware.

Getting Started

⚠️ Unexpected behavior may occur if multiple versions of the toolbox are installed. Please following the Uninstall instructions to uninstall any previous versions of WecOptTool first.

  1. Download the WecOptTool software: See the Download section. If required, unzip the archive to a path of your choosing (i.e. /path/to/WecOptTool).

  2. Add WecOptTool to your MATLAB path: Add the WecOptTool toolbox to your MATLAB path using the MATLAB command prompt:

    >> addpath(genpath('/path/to/WecOptTool/toolbox'));
>> savepath;

    Alternatively the “Set Path” graphical tool can be used to add the toolbox.

  3. Set up Nemoh:

    a. Windows: Executables are provided in the Release directory of the NEMOH source code. These are installed into WecOptTool using the installNemoh.m MATLAB script, run from the WecOptTool root directory, using the MATLAB command window as follows:

    >> cd /path/to/WecOptTool
>> installNemoh('/path/to/NEMOH/Release');

    b. Linux: To set up NEMOH for linux, first, use a command window to compile the executables (you will need gfortran or the intel fortran compiler):

    $ cd /path/to/NEMOH
$ make

    Executables will be created a new directory called 'bin', which must then be installed into WecOptTool using the installNemoh.m MATLAB script, run in the MATLAB command window from the WecOptTool root directory:

    >> cd /path/to/WecOptTool
>> installNemoh('/path/to/NEMOH/bin');

  4. Verify dependencies installation: You can verify that the dependencies have been installed correctly by running the dependencyCheck.m script provided in the root directory of the WecOptTool source code. The script is called in MATLAB as follows:

    >> cd /path/to/WecOptTool
>> dependencyCheck

    and successful output may look like this:

    WecOptTool Dependency Checker
-------------------------------

Required
--------
Optimization Toolbox:                   Found
NEMOH:                                  Found

Optional
--------
Parallel Toolbox:                       Found
Global Optimization Toolbox:    Not Installed
WAFO:                                   Found

  5. (optional) Run functionality tests: A test suite is available to verify that the code is operational. A script is provided in the root directory of the WecOptTool source code and is run from the MATLAB command window, as follows:

    >> cd /path/to/WecOptTool
>> runTests;

    There should be no Failed or Incomplete tests at the end of the run. For example:

    Totals:
      91 Passed, 0 Failed, 0 Incomplete.
      195.0643 seconds testing time.

  6. Begin use: See the basic or optimization examples for the RM3 device.

Uninstall

Uninstall a previous version of WecOptTool using the MATLAB command prompt:

>> rmpath(genpath('/path/to/WecOptTool/toolbox'));

Alternatively the "Set Path" graphical tool can be used to remove the toolbox.

Code Architecture

The top level folders of the WecOptTool repository are used as follows:

  • docs contains the web documentation source code
  • examples contains subfolders with structured examples of co-optimization problems
  • tests contains integration and unit tests
  • toolbox contains the supporting MATLAB toolbox used by the examples

The toolbox uses namespaces to subdivide it's functionality, as follows:

  1. WecOptTool provides the main support functions and classes such as:
    • SeaState for working with wave spectra and
    • AutoFolder for creating storage space for intermediate files
  2. WecOptTool.base contains base classes used by other classes in the toolbox
  3. WecOptTool.geometry provides functions for device geometry design
  4. WecOptTool.math provides numerical helper functions
  5. WecOptTool.mesh contains mesh generation classes
  6. WecOptTool.plot provides plots
  7. WecOptTool.solver contains classes for hydrodynamic solvers
  8. WecOptTool.system provides functions for MATLAB specific tasks
  9. WecOptTool.validation provides functions for argument validation
  10. WecOptTool.vendor contains code from external sources

The code architecture for both the WecOptTool is subject to change as the code approaches maturity.

Documentation

The documentation is published at snl-waterpower.github.io/WecOptTool. The documentation source code is found in the docs folder and HTML is compiled using the Sphinx documentation generator.

Compile Instructions

These instructions work for both Linux and Windows. For Windows, remember to replace slashes (/) in paths with backslashes (\ ).

Setup Sphinx (One Time Only)

  1. Install Anaconda Python.

  2. Create the Sphinx environment:

    > conda create -c conda-forge -n _sphinx click colorama colorclass future pip "sphinx=1.8.5" sphinxcontrib-bibtex sphinx_rtd_theme 
> activate _sphinx
(_sphinx) > pip install sphinxcontrib-matlabdomain
(_sphinx) > pip install git+git://github.com/SuperKogito/sphinxcontrib-pdfembed
(_sphinx) > pip install https://github.com/H0R5E/sphinxcontrib-versioning/archive/v1.8.5_support.zip
(_sphinx) > conda deactivate
>

Testing the Current Branch

The documentation for the current branch can be built locally for inspection prior to publishing. They are built in the docs/_build directory. Note, unlike the final documentation, version tags and other branches will not be available.

To test the current branch, use the following:

> activate _sphinx
(_sphinx) > cd path/to/WecOptTool
(_sphinx) > sphinx-build -b html docs docs/_build/html
(_sphinx) > conda deactivate
>

Building Final Version Locally

The final documentation can be built locally for inspection prior to publishing. They are built in the docs/_build directory. Note, docs are built from the remote, so only pushed changes will be shown.

To build the docs as they would be published, use the following:

> activate _sphinx
(_sphinx) > cd path/to/WecOptTool 
(_sphinx) > sphinx-versioning build -abt docs docs/_build/html
(_sphinx) > conda deactivate
>

To build the docs with a current feature branch as the default docs use:

> activate _sphinx
(_sphinx) > cd path/to/WecOptTool 
(_sphinx) > sphinx-versioning build -ab r <feature-branch> docs docs/_build/html
(_sphinx) > conda deactivate
>

The front page of the docs can be accessed at WecOptTool/docs/_build/html/index.html.

Publishing Final Version Remotely

The WecOptTool docs are rebuilt automatically following every merge commit made to the master branch of the SNL-WaterPower/WecOptTool repository. They can also be published manually, as follows:

> activate _sphinx
(_sphinx) > cd path/to/WecOptTool 
(_sphinx) > sphinx-versioning push -abt -e .nojekyll -e README.md -P <REMOTE> docs <BRANCH> .
(_sphinx) > conda deactivate
>

<REMOTE> refers to the git remote which will be pushed to and <BRANCH> refers to the target branch on the remote. Note, this command will add a new commit to the remote, so use with care.

Docstring Formatting

Docstring formatting should be [Google style] for auto documentation with [sphinx.ext.napoleon]. See the docstrings in the WecOptTool package for examples.

[Google style]: https://www.sphinx-doc.org/en/master/usage/extensions/example_google.html#example-google) [sphinx.ext.napoleon]: https://www.sphinx-doc.org/en/master/usage/extensions/napoleon.html

Contributing

Please see the Public Road Map to see the current development priorities.

Contributions to the toolbox are welcome. The project follows a trunk based development paradigm and updates to the code should be made through pull requests. Contributions should be submitted against the master branch.

When submitting to the MATLAB source code please run the test suite first:

>> cd /path/to/WecOptTool
>> runTests;

When the test suite has finished please add the generated test_results.pdf file, showing that all tests have passed, to the pull request description.

For contributions to the documentation, please please run a spell-check prior to submitting a pull request.

A code maintainer will review your pull request at the earliest possible opportunity. For large pull requests, it would be advisable to open a related issue to discuss the purpose of your updates. The developers also would be grateful if "Allow edits from maintainers" is checked when making a pull request, as this will allow us to finalize your contributions more rapidly.

Software License

Copyright 2020 National Technology & Engineering Solutions of Sandia, LLC (NTESS). Under the terms of Contract DE-NA0003525 with NTESS, the U.S. Government retains certain rights in this software.

WecOptTool is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

WecOptTool is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with WecOptTool. If not, see https://www.gnu.org/licenses/.