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Fixed an issue with the new ControlComp and Radau with compressed tra…
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…nscription
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@robfalck
robfalck committed Dec 10, 2024
1 parent 48536cf commit 4fc3050
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Showing 2 changed files with 18 additions and 11 deletions.
25 changes: 16 additions & 9 deletions dymos/transcriptions/common/control_comp.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,11 @@ def initialize(self):
self.options.declare(
'time_units', default=None, allow_none=True, types=str,
desc='Units of time')
self.options.declare('compressed', types=bool, default=False,
desc='Specifies whether the controls are giving in a compressed '
'transcription (values are specified once at segment boundaries), '
'or not (each end of the boundary can have a unique value). Controls '
'in the Radau transcription are never compressed.')
self.options.declare('grid_data', types=GridData, desc='Container object for grid info for the control inputs.')
self.options.declare('output_grid_data', types=GridData, allow_none=True, default=None,
desc='GridData object for the output grid. If None, use the same grid_data as the inputs.')
Expand All @@ -78,6 +83,8 @@ def setup(self):
"""
gd = self.options['grid_data']
ogd = self.options['output_grid_data'] or gd
if self.options['output_grid_data'] is None:
self.options['output_grid_data'] = ogd

if not gd.is_aligned_with(ogd):
raise RuntimeError(f'{self.pathname}: The input grid and the output grid must have the same number of '
Expand All @@ -87,9 +94,9 @@ def setup(self):

def _configure_controls(self):
gd = self.options['grid_data']
ogd = self.options['output_grid_data'] or gd
num_seg = gd.num_segments
segment_end_idxs = gd.subset_node_indices['segment_ends']
ogd = self.options['output_grid_data'] or gd
eval_nodes = ogd.node_ptau
control_options = self.options['control_options']
num_output_nodes = ogd.num_nodes
Expand Down Expand Up @@ -204,7 +211,7 @@ def _configure_controls(self):
self.add_output(self._output_rate2_names[name], shape=output_shape,
units=rate2_units)

if gd.num_segments > 1 and not gd.compressed:
if gd.num_segments > 1 and not self.options['compressed']:
if options['continuity']:
self.add_output(self._output_cnty_defect_names[name],
shape=cnty_output_shape, units=units)
Expand Down Expand Up @@ -243,7 +250,7 @@ def _configure_controls(self):
rows=rs, cols=cs, val=data)

# The jacobian for continuity defects is similar to the jacobian of the inteprpolated values
if options['continuity'] and gd.num_segments > 1 and not gd.compressed:
if options['continuity'] and gd.num_segments > 1 and not self.options['compressed']:
J_cnty_def = -J_val[segment_end_idxs, ...][1:-1:2, ...]
J_cnty_def = J_cnty_def.tolil(copy=True)
one_col_idxs = np.cumsum(np.asarray(ncinps[:-1]))
Expand Down Expand Up @@ -278,7 +285,7 @@ def _configure_controls(self):
rows=rs, cols=cs)

# Similar with the continuity rate defects.
if options['rate_continuity'] and gd.num_segments > 1 and not gd.compressed:
if options['rate_continuity'] and gd.num_segments > 1 and not self.options['compressed']:
J_rate_cnty_def = sp.kron(self.D, sp_eye, format='lil')[segment_end_idxs, ...]
J_rate_cnty_def = J_rate_cnty_def[1:-1]
J_rate_cnty_def[::2] *= -1
Expand All @@ -301,7 +308,7 @@ def _configure_controls(self):
rows=rs, cols=cs)

# Similar with the continuity rate defects.
if options['rate2_continuity'] and gd.num_segments > 1 and not gd.compressed:
if options['rate2_continuity'] and gd.num_segments > 1 and not self.options['compressed']:
J_rate2_cnty_def = sp.kron(self.D2, sp_eye, format='lil')[segment_end_idxs, ...]
J_rate2_cnty_def = J_rate2_cnty_def[1:-1]
J_rate2_cnty_def[::2] *= -1
Expand Down Expand Up @@ -467,15 +474,15 @@ def compute(self, inputs, outputs):
outputs[self._output_rate_names[name]] = rate
outputs[self._output_rate2_names[name]] = rate2

if options['continuity'] and gd.num_segments > 1 and not gd.compressed:
if options['continuity'] and gd.num_segments > 1 and not self.options['compressed']:
# output_name = self._output_val_names[name]
cnty_output_name = self._output_cnty_defect_names[name]
segment_end_values = val[seg_end_idxs, ...]
end_vals = segment_end_values[1:-1:2, ...]
start_vals = segment_end_values[2:-1:2, ...]
outputs[cnty_output_name] = start_vals - end_vals

if options['rate_continuity'] and gd.num_segments > 1 and not gd.compressed:
if options['rate_continuity'] and gd.num_segments > 1 and not self.options['compressed']:
# output_name = self._output_rate_names[name]
rate_in_ptau = a / dptau_dstau[:, np.newaxis]
rate_in_ptau = np.reshape(rate_in_ptau, (num_output_nodes,) + options['shape'])
Expand All @@ -484,9 +491,9 @@ def compute(self, inputs, outputs):
segment_end_values = rate_in_ptau[seg_end_idxs, ...]
end_vals = segment_end_values[1:-1:2, ...]
start_vals = segment_end_values[2:-1:2, ...]
outputs[cnty_output_name] = (start_vals - end_vals) #* dt_dptau
outputs[cnty_output_name] = (start_vals - end_vals)

if options['rate2_continuity'] and gd.num_segments > 1 and not gd.compressed:
if options['rate2_continuity'] and gd.num_segments > 1 and not self.options['compressed']:
# output_name = self._output_rate2_names[name]
cnty_output_name = self._output_rate2_cnty_defect_names[name]
segment_end_values = rate2[seg_end_idxs, ...]
Expand Down
4 changes: 2 additions & 2 deletions dymos/transcriptions/pseudospectral/radau_new.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,7 @@ def initialize(self):
"""
self.options.declare('grid', types=(RadauGrid, str),
allow_none=True, default=None,
desc='The grid distribution used to layout the control inputs and provide the default '
'output nodes. Use either "cgl" or "lgl".')
desc='The grid distribution used to layout the control input and interpolation nodes.')

self.options.declare(name='solve_segments', default=False,
values=(False, 'forward', 'backward'),
Expand Down Expand Up @@ -174,6 +173,7 @@ def setup_controls(self, phase):
phase.add_subsystem('control_comp',
subsys=ControlComp(time_units=time_units,
grid_data=gd,
compressed=False,
control_options=control_options),
promotes_inputs=['*controls*'],
promotes_outputs=['control_values:*', 'control_rates:*'])
Expand Down

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