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better initial guess and fps = 20 for reduced running time #239

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better initial guess and fps = 20 for reduced running time #239

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better initial guess and fps = 20 for reduced running time
Peter230655 Sep 17, 2024
621a2d5
changes as suggested
Peter230655 Sep 17, 2024
1915db9
corrected spelling
Peter230655 Sep 17, 2024
e7cef84
try to pass the Github tests
Peter230655 Sep 19, 2024
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Binary file added examples-gallery/ball_rolling_on_spinning_disc_solution.npy
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20 changes: 11 additions & 9 deletions examples-gallery/plot_ball_rolling_on_spinning_disc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -349,8 +349,10 @@ def obj_grad(free):
)

# %%
# The initial guess should meet the configuration constrains. It will be
# plotted below.
# The initial guess should meet the configuration constraints. Those below are
# used to get a better initial guess, stored in
# ```ball_rolling_on_spinning_disc_solution.npy```.

i1b = np.zeros(num_nodes)
i2 = np.linspace(initial_state_constraints[x],
final_state_constraints[x], num_nodes)
Expand All @@ -361,25 +363,25 @@ def obj_grad(free):
i4 = np.zeros(8*num_nodes)
initial_guess = np.hstack((i1,i1a, i1b, i2, i3, i4, 0.01))

fig1, ax1 = plt.subplots(14, 1, figsize=(7.25, 0.75*14), sharex=True,
layout='constrained')
prob.plot_trajectories(initial_guess, ax1)

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@moorepants moorepants Sep 17, 2024 •
edited
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If you delete a figure, then the thumbnail figure may change, have you checked that? There will no longer be a figure 7, right?

I don't see any reason to delete the figure.

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@Peter230655 Peter230655 Sep 17, 2024 •
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If you delete a figure, then the thumbnail figure may change, have you checked that? There will no longer by a figure 7, right?

I don't see any reason to delete the figure. Is this related the the mixed up PRs?

I did not intentionally delete this. No idea what happened. Is this related to the mixed up PRs?
I will check and push again.

# %%
# This way the maximum number of interations may be changed.
# Default is 3000.
prob.add_option('max_iter', 1000)

# %%
# Find the optimal solution.

initial_guess = np.load('ball_rolling_on_spinning_disc_solution.npy')
solution, info = prob.solve(initial_guess)
print('message from optimizer:', info['status_msg'])
print('Iterations needed', len(prob.obj_value))
print(f'Optimal h = {solution[-1]:.3e} sec')

# %%
# PLot the objective value.
# This way the solution may be saved for later use.
# ```np.save('ball_rolling_on_spinning_disc_solution.npy', solution)```

# %%
# Plot the objective value.
prob.plot_objective_value()

# %%
Expand Down Expand Up @@ -466,7 +468,7 @@ def func (x, *args):

# %%
# Animate the system.
fps = 30
fps = 20

def add_point_to_data(line, x, y):
old_x, old_y = line.get_data()
Expand Down
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