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Add the choice for an integrator of the solution #405

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merged 13 commits into from
Nov 12, 2021
Merged

Add the choice for an integrator of the solution #405

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7203772
bug fix when using show_options
Ipuch Nov 10, 2021
f283307
cleaning as_dict for Ipopt Options
Ipuch Nov 10, 2021
31f661b
Merge remote-tracking branch 'pyomeca/master'
Ipuch Nov 11, 2021
2bf1d66
Add a new enum to choose the integrator of the solution
Ipuch Nov 11, 2021
2d2b824
modified init
Ipuch Nov 11, 2021
7ac7113
readme update
Ipuch Nov 11, 2021
eb15185
readme and i took into account review
Ipuch Nov 11, 2021
7a22ca7
fix push
Ipuch Nov 11, 2021
ff7a8bf
unmixing the use of scipy or not
Ipuch Nov 12, 2021
7edd141
fixing a last test.
Ipuch Nov 12, 2021
dd15a5a
Default solution integrator as an empty string
Ipuch Nov 12, 2021
b6fe295
ready to merge
Ipuch Nov 12, 2021
e16441c
non empty str for SolutionIntegrator.DEFAULT
Ipuch Nov 12, 2021
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2 changes: 1 addition & 1 deletion bioptim/misc/enums.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ class SolutionIntegrator(Enum):
Selection of integrator to use integrate function
"""

DEFAULT = None
DEFAULT = ""
SCIPY_RK23 = "RK23"
SCIPY_RK45 = "RK45"
SCIPY_DOP853 = "DOP853"
Expand Down
4 changes: 1 addition & 3 deletions bioptim/optimization/solution.py
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Original file line number Diff line number Diff line change
Expand Up @@ -561,7 +561,7 @@ def __perform_integration(
if shooting_type != Shooting.MULTIPLE:
raise RuntimeError(
"Integration with direct collocation must using shooting_type=Shooting.MULTIPLE "
"if not a scipy integrator is not used"
"if a scipy integrator is not used"
)

# Copy the data
Expand Down Expand Up @@ -623,8 +623,6 @@ def __perform_integration(
x0,
t_eval=t_eval,
method=integrator.value,
atol=1e-10,
rtol=1e-10,
).y

next_state_col = (
Expand Down
33 changes: 17 additions & 16 deletions tests/test_simulate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -480,7 +480,7 @@ def test_integrate_non_continuous(shooting, merge, integrator, ode_solver):
if (
ode_solver == OdeSolver.COLLOCATION
and shooting != Shooting.MULTIPLE
and integrator != SolutionIntegrator.DEFAULT
and integrator == SolutionIntegrator.DEFAULT
):
with pytest.raises(
RuntimeError,
Expand Down Expand Up @@ -547,7 +547,7 @@ def test_integrate_multiphase(shooting, keep_intermediate_points, integrator, od
return

if ode_solver == OdeSolver.COLLOCATION:
if integrator != SolutionIntegrator.DEFAULT:
if integrator == SolutionIntegrator.DEFAULT:
if shooting != Shooting.MULTIPLE:
with pytest.raises(
RuntimeError, match="Integration with direct collocation must using shooting_type=Shooting.MULTIPLE"
Expand All @@ -566,7 +566,7 @@ def test_integrate_multiphase(shooting, keep_intermediate_points, integrator, od
return

opts["continuous"] = True
if ode_solver == OdeSolver.COLLOCATION and integrator != SolutionIntegrator.DEFAULT:
if ode_solver == OdeSolver.COLLOCATION and integrator == SolutionIntegrator.DEFAULT:
with pytest.raises(
RuntimeError,
match="Integration with direct collocation must be not continuous",
Expand All @@ -580,15 +580,15 @@ def test_integrate_multiphase(shooting, keep_intermediate_points, integrator, od
decimal = 1 if integrator != SolutionIntegrator.DEFAULT else 8
for i in range(len(sol_integrated.states)):
for k, key in enumerate(sol.states[i]):
if integrator != SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
if integrator == SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
np.testing.assert_almost_equal(
sol_integrated.states[i][key][:, [0, -1]], sol.states[i][key][:, [0, -1]], decimal=decimal
)

if keep_intermediate_points:
assert sol_integrated.states[i][key].shape == (shapes[k], n_shooting[i] * 5 + 1)
else:
if integrator != SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
if integrator == SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
np.testing.assert_almost_equal(sol_integrated.states[i][key], sol.states[i][key])
assert sol_integrated.states[i][key].shape == (shapes[k], n_shooting[i] + 1)
if ode_solver == OdeSolver.COLLOCATION:
Expand Down Expand Up @@ -636,7 +636,7 @@ def test_integrate_multiphase_merged(shooting, keep_intermediate_points, integra
_ = sol.integrate(**opts)
return

if ode_solver == OdeSolver.COLLOCATION and integrator != SolutionIntegrator.DEFAULT:
if ode_solver == OdeSolver.COLLOCATION and integrator == SolutionIntegrator.DEFAULT:
if shooting != Shooting.MULTIPLE:
with pytest.raises(
RuntimeError, match="Integration with direct collocation must using shooting_type=Shooting.MULTIPLE"
Expand All @@ -656,7 +656,7 @@ def test_integrate_multiphase_merged(shooting, keep_intermediate_points, integra

opts["merge_phases"] = True
opts["continuous"] = True
if ode_solver == OdeSolver.COLLOCATION and integrator != SolutionIntegrator.DEFAULT:
if ode_solver == OdeSolver.COLLOCATION and integrator == SolutionIntegrator.DEFAULT:
with pytest.raises(
RuntimeError,
match="Integration with direct collocation must be not continuous",
Expand All @@ -671,14 +671,14 @@ def test_integrate_multiphase_merged(shooting, keep_intermediate_points, integra
decimal = 0 if integrator != SolutionIntegrator.DEFAULT else 8
for k, key in enumerate(sol.states[0]):
expected = np.array([sol.states[0][key][:, 0], sol.states[-1][key][:, -1]]).T
if integrator != SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
if integrator == SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
np.testing.assert_almost_equal(sol_integrated.states[key][:, [0, -1]], expected, decimal=decimal)

if keep_intermediate_points:
assert sol_integrated.states[key].shape == (shapes[k], sum(n_shooting) * 5 + 1)
else:
# The interpolation prevents from comparing all points
if integrator != SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
if integrator == SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
expected = np.concatenate(
(sol.states[0][key][:, 0:1], sol.states[-1][key][:, -1][:, np.newaxis]), axis=1
)
Expand Down Expand Up @@ -730,7 +730,7 @@ def test_integrate_multiphase_non_continuous(shooting, integrator, ode_solver):
_ = sol.integrate(**opts)
return

if ode_solver == OdeSolver.COLLOCATION and integrator != SolutionIntegrator.DEFAULT:
if ode_solver == OdeSolver.COLLOCATION and integrator == SolutionIntegrator.DEFAULT:
if shooting != Shooting.MULTIPLE:
with pytest.raises(
RuntimeError, match="Integration with direct collocation must using shooting_type=Shooting.MULTIPLE"
Expand All @@ -744,15 +744,15 @@ def test_integrate_multiphase_non_continuous(shooting, integrator, ode_solver):
decimal = 1 if integrator != SolutionIntegrator.DEFAULT or ode_solver == OdeSolver.COLLOCATION else 8
for i in range(len(sol_integrated.states)):
for k, key in enumerate(sol.states[i]):
if integrator != SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
if integrator == SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
np.testing.assert_almost_equal(
sol_integrated.states[i][key][:, [0, -1]], sol.states[i][key][:, [0, -1]], decimal=decimal
)
np.testing.assert_almost_equal(
sol_integrated.states[i][key][:, [0, -2]], sol.states[i][key][:, [0, -1]], decimal=decimal
)

if ode_solver == OdeSolver.COLLOCATION and integrator != SolutionIntegrator.DEFAULT:
if ode_solver == OdeSolver.COLLOCATION and integrator == SolutionIntegrator.DEFAULT:
assert sol_integrated.states[i][key].shape == (shapes[k], n_shooting[i] * (4 + 1) + 1)
else:
assert sol_integrated.states[i][key].shape == (shapes[k], n_shooting[i] * (5 + 1) + 1)
Expand Down Expand Up @@ -805,10 +805,11 @@ def test_integrate_multiphase_merged_non_continuous(shooting, integrator, ode_so
_ = sol.integrate(**opts)

elif ode_solver == OdeSolver.COLLOCATION:
if integrator != SolutionIntegrator.DEFAULT:
if integrator == SolutionIntegrator.DEFAULT:
with pytest.raises(
RuntimeError,
match="Integration with direct collocation must using shooting_type=Shooting.MULTIPLE",
match="Integration with direct collocation must using shooting_type=Shooting.MULTIPLE "
"if a scipy integrator is not used",
):
_ = sol.integrate(**opts)
return
Expand All @@ -820,10 +821,10 @@ def test_integrate_multiphase_merged_non_continuous(shooting, integrator, ode_so
shapes = (6, 3, 3)

decimal = 0 if integrator != SolutionIntegrator.DEFAULT or ode_solver == OdeSolver.COLLOCATION else 8
steps = 4 if integrator != SolutionIntegrator.DEFAULT and ode_solver == OdeSolver.COLLOCATION else 5
steps = 4 if integrator == SolutionIntegrator.DEFAULT and ode_solver == OdeSolver.COLLOCATION else 5
for k, key in enumerate(sol.states[0]):
expected = np.array([sol.states[0][key][:, 0], sol.states[-1][key][:, -1]]).T
if integrator != SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
if integrator == SolutionIntegrator.DEFAULT or shooting == Shooting.MULTIPLE:
np.testing.assert_almost_equal(sol_integrated.states[key][:, [0, -1]], expected, decimal=decimal)
np.testing.assert_almost_equal(sol_integrated.states[key][:, [0, -2]], expected, decimal=decimal)

Expand Down