time_vector method added. Should Fix #316 #318
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This needs to resolve conflicts. |
opty/direct_collocation.py
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| @@ -686,6 +686,35 @@ def parse_free(self, free): | |||
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| return parse_free(free, n, q, N, variable_duration) | |||
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| def time_vector(self, t0=0.0, solution=None): | |||
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| def time_vector(self, t0=0.0, solution=None): | |
| def time_vector(self, solution=None, start_time=0.0): |
I think people will rarely use the start time kwarg, so make it second. And rename to have more informative variable name.
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I now wonder, whether we should give t0 at all: I would not know how to tell opty not to start at t= = 0.0
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We can leave it off and add it later if we ever think we need it.
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We can leave it off and add it later if we ever think we need it.
I left it in. Do you want me to remove it?
opty/direct_collocation.py
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| A numpy num_collocation_nodes-array of time instances. | ||
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| """ | ||
| if isinstance(self.collocator.node_time_interval, sm.Symbol): |
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There is a flag self.collocator._variable_duration that should be used for this check.
opty/direct_collocation.py
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| msg = 'Solution vector must be provided for variable duration.' | ||
| raise ValueError(msg) | ||
| else: | ||
| return np.arange(t0, t0+self.collocator.num_collocation_nodes* |
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| return np.arange(t0, t0+self.collocator.num_collocation_nodes* | |
| return np.arange(t0, t0 + self.collocator.num_collocation_nodes* |
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When do you put a space and when do you not put a space?
I thought in signatures one does not put a space?
Of course I will correct it.
opty/direct_collocation.py
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| solution[-1], solution[-1]) | ||
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| else: | ||
| return np.arange(t0, t0+self.collocator.num_collocation_nodes* |
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| return np.arange(t0, t0+self.collocator.num_collocation_nodes* | |
| return np.arange(t0, t0 + self.collocator.num_collocation_nodes* |
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This needs a unit test. |
Added identical time_vector method in Problem and in ConstraintCollocator. Should fix issue #316