Got MBH working! It can find better-than-basic-spiral trajectories
This commit is contained in:
Connor
@@ -1,14 +1,14 @@
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@@ -108,12 +72,6 @@ git-tree-sha1 = "ee400abb2298bd13bfc3df1c412ed228061a2385"
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@@ -156,6 +120,12 @@ uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
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@@ -284,6 +235,12 @@ uuid = "29816b5a-b9ab-546f-933c-edad1886dfa8"
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@@ -353,18 +286,24 @@ git-tree-sha1 = "36995ef0d532fe08119d70b2365b7b03d4e00f48"
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|
||||||
deps = ["LinearAlgebra", "SparseArrays", "Test"]
|
|
||||||
git-tree-sha1 = "3927848ccebcc165952dc0d9ac9aa274a87bfe01"
|
|
||||||
uuid = "d8a4904e-b15c-11e9-3269-09a3773c0cb0"
|
|
||||||
version = "0.2.20"
|
|
||||||
|
|
||||||
[[Mux]]
|
[[Mux]]
|
||||||
deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Pkg", "Sockets", "WebSockets"]
|
deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Pkg", "Sockets", "WebSockets"]
|
||||||
git-tree-sha1 = "82dfb2cead9895e10ee1b0ca37a01088456c4364"
|
git-tree-sha1 = "82dfb2cead9895e10ee1b0ca37a01088456c4364"
|
||||||
uuid = "a975b10e-0019-58db-a62f-e48ff68538c9"
|
uuid = "a975b10e-0019-58db-a62f-e48ff68538c9"
|
||||||
version = "0.7.6"
|
version = "0.7.6"
|
||||||
|
|
||||||
|
[[NLSolversBase]]
|
||||||
|
deps = ["DiffResults", "Distributed", "FiniteDiff", "ForwardDiff"]
|
||||||
|
git-tree-sha1 = "144bab5b1443545bc4e791536c9f1eacb4eed06a"
|
||||||
|
uuid = "d41bc354-129a-5804-8e4c-c37616107c6c"
|
||||||
|
version = "7.8.1"
|
||||||
|
|
||||||
|
[[NLsolve]]
|
||||||
|
deps = ["Distances", "LineSearches", "LinearAlgebra", "NLSolversBase", "Printf", "Reexport"]
|
||||||
|
git-tree-sha1 = "019f12e9a1a7880459d0173c182e6a99365d7ac1"
|
||||||
|
uuid = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
|
||||||
|
version = "4.5.1"
|
||||||
|
|
||||||
[[NaNMath]]
|
[[NaNMath]]
|
||||||
git-tree-sha1 = "bfe47e760d60b82b66b61d2d44128b62e3a369fb"
|
git-tree-sha1 = "bfe47e760d60b82b66b61d2d44128b62e3a369fb"
|
||||||
uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
|
uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
|
||||||
@@ -378,12 +317,6 @@ git-tree-sha1 = "3469ef96607a6b9a1e89e54e6f23401073ed3126"
|
|||||||
uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
|
uuid = "510215fc-4207-5dde-b226-833fc4488ee2"
|
||||||
version = "0.3.3"
|
version = "0.3.3"
|
||||||
|
|
||||||
[[OpenBLAS32_jll]]
|
|
||||||
deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"]
|
|
||||||
git-tree-sha1 = "ba4a8f683303c9082e84afba96f25af3c7fb2436"
|
|
||||||
uuid = "656ef2d0-ae68-5445-9ca0-591084a874a2"
|
|
||||||
version = "0.3.12+1"
|
|
||||||
|
|
||||||
[[OpenSpecFun_jll]]
|
[[OpenSpecFun_jll]]
|
||||||
deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"]
|
deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"]
|
||||||
git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1"
|
git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1"
|
||||||
@@ -395,6 +328,12 @@ git-tree-sha1 = "85f8e6578bf1f9ee0d11e7bb1b1456435479d47c"
|
|||||||
uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
|
uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
|
||||||
version = "1.4.1"
|
version = "1.4.1"
|
||||||
|
|
||||||
|
[[Parameters]]
|
||||||
|
deps = ["OrderedCollections", "UnPack"]
|
||||||
|
git-tree-sha1 = "2276ac65f1e236e0a6ea70baff3f62ad4c625345"
|
||||||
|
uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a"
|
||||||
|
version = "0.12.2"
|
||||||
|
|
||||||
[[Parsers]]
|
[[Parsers]]
|
||||||
deps = ["Dates"]
|
deps = ["Dates"]
|
||||||
git-tree-sha1 = "438d35d2d95ae2c5e8780b330592b6de8494e779"
|
git-tree-sha1 = "438d35d2d95ae2c5e8780b330592b6de8494e779"
|
||||||
@@ -475,6 +414,12 @@ git-tree-sha1 = "a322a9493e49c5f3a10b50df3aedaf1cdb3244b7"
|
|||||||
uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
|
uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
|
||||||
version = "1.6.1"
|
version = "1.6.1"
|
||||||
|
|
||||||
|
[[Static]]
|
||||||
|
deps = ["IfElse"]
|
||||||
|
git-tree-sha1 = "854b024a4a81b05c0792a4b45293b85db228bd27"
|
||||||
|
uuid = "aedffcd0-7271-4cad-89d0-dc628f76c6d3"
|
||||||
|
version = "0.3.1"
|
||||||
|
|
||||||
[[StaticArrays]]
|
[[StaticArrays]]
|
||||||
deps = ["LinearAlgebra", "Random", "Statistics"]
|
deps = ["LinearAlgebra", "Random", "Statistics"]
|
||||||
git-tree-sha1 = "3240808c6d463ac46f1c1cd7638375cd22abbccb"
|
git-tree-sha1 = "3240808c6d463ac46f1c1cd7638375cd22abbccb"
|
||||||
@@ -485,6 +430,11 @@ version = "1.2.12"
|
|||||||
deps = ["LinearAlgebra", "SparseArrays"]
|
deps = ["LinearAlgebra", "SparseArrays"]
|
||||||
uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
|
uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
|
||||||
|
|
||||||
|
[[StatsAPI]]
|
||||||
|
git-tree-sha1 = "1958272568dc176a1d881acb797beb909c785510"
|
||||||
|
uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0"
|
||||||
|
version = "1.0.0"
|
||||||
|
|
||||||
[[TOML]]
|
[[TOML]]
|
||||||
deps = ["Dates"]
|
deps = ["Dates"]
|
||||||
uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76"
|
uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76"
|
||||||
@@ -509,12 +459,6 @@ uuid = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e"
|
|||||||
deps = ["InteractiveUtils", "Logging", "Random", "Serialization"]
|
deps = ["InteractiveUtils", "Logging", "Random", "Serialization"]
|
||||||
uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
|
uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
|
||||||
|
|
||||||
[[TranscodingStreams]]
|
|
||||||
deps = ["Random", "Test"]
|
|
||||||
git-tree-sha1 = "216b95ea110b5972db65aa90f88d8d89dcb8851c"
|
|
||||||
uuid = "3bb67fe8-82b1-5028-8e26-92a6c54297fa"
|
|
||||||
version = "0.9.6"
|
|
||||||
|
|
||||||
[[URIParser]]
|
[[URIParser]]
|
||||||
deps = ["Unicode"]
|
deps = ["Unicode"]
|
||||||
git-tree-sha1 = "53a9f49546b8d2dd2e688d216421d050c9a31d0d"
|
git-tree-sha1 = "53a9f49546b8d2dd2e688d216421d050c9a31d0d"
|
||||||
@@ -530,6 +474,11 @@ version = "1.3.0"
|
|||||||
deps = ["Random", "SHA"]
|
deps = ["Random", "SHA"]
|
||||||
uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
|
uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
|
||||||
|
|
||||||
|
[[UnPack]]
|
||||||
|
git-tree-sha1 = "387c1f73762231e86e0c9c5443ce3b4a0a9a0c2b"
|
||||||
|
uuid = "3a884ed6-31ef-47d7-9d2a-63182c4928ed"
|
||||||
|
version = "1.0.2"
|
||||||
|
|
||||||
[[Unicode]]
|
[[Unicode]]
|
||||||
uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
|
uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
|
||||||
|
|
||||||
@@ -551,12 +500,6 @@ git-tree-sha1 = "eae2fbbc34a79ffd57fb4c972b08ce50b8f6a00d"
|
|||||||
uuid = "cc8bc4a8-27d6-5769-a93b-9d913e69aa62"
|
uuid = "cc8bc4a8-27d6-5769-a93b-9d913e69aa62"
|
||||||
version = "0.6.3"
|
version = "0.6.3"
|
||||||
|
|
||||||
[[ZipFile]]
|
|
||||||
deps = ["Libdl", "Printf", "Zlib_jll"]
|
|
||||||
git-tree-sha1 = "c3a5637e27e914a7a445b8d0ad063d701931e9f7"
|
|
||||||
uuid = "a5390f91-8eb1-5f08-bee0-b1d1ffed6cea"
|
|
||||||
version = "0.9.3"
|
|
||||||
|
|
||||||
[[Zlib_jll]]
|
[[Zlib_jll]]
|
||||||
deps = ["Libdl"]
|
deps = ["Libdl"]
|
||||||
uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
|
uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
|
||||||
|
|||||||
@@ -5,9 +5,8 @@ version = "0.1.0"
|
|||||||
|
|
||||||
[deps]
|
[deps]
|
||||||
ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
|
ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
|
||||||
Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
|
|
||||||
JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
|
|
||||||
LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
|
LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
|
||||||
|
NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
|
||||||
PlotlyBase = "a03496cd-edff-5a9b-9e67-9cda94a718b5"
|
PlotlyBase = "a03496cd-edff-5a9b-9e67-9cda94a718b5"
|
||||||
PlotlyJS = "f0f68f2c-4968-5e81-91da-67840de0976a"
|
PlotlyJS = "f0f68f2c-4968-5e81-91da-67840de0976a"
|
||||||
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
|
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
|
||||||
|
|||||||
@@ -72,9 +72,9 @@ end
|
|||||||
"""
|
"""
|
||||||
Converts a series of thrust vectors from R,Θ,H frame to cartesian
|
Converts a series of thrust vectors from R,Θ,H frame to cartesian
|
||||||
"""
|
"""
|
||||||
function conv_T(Tr::Vector{Float64},
|
function conv_T(Tm::Vector{Float64},
|
||||||
TΘ::Vector{Float64},
|
Ta::Vector{Float64},
|
||||||
Th::Vector{Float64},
|
Tb::Vector{Float64},
|
||||||
init_state::Vector{Float64},
|
init_state::Vector{Float64},
|
||||||
m::Float64,
|
m::Float64,
|
||||||
craft::Sc,
|
craft::Sc,
|
||||||
@@ -84,29 +84,32 @@ function conv_T(Tr::Vector{Float64},
|
|||||||
Txs = Float64[]
|
Txs = Float64[]
|
||||||
Tys = Float64[]
|
Tys = Float64[]
|
||||||
Tzs = Float64[]
|
Tzs = Float64[]
|
||||||
state = init_state
|
n::Int = length(Tm)
|
||||||
for i in 1:length(Tr)
|
|
||||||
mag, α, β = Tr[i], TΘ[i], Th[i]
|
|
||||||
|
|
||||||
|
for i in 1:n
|
||||||
|
mag, α, β = Tm[i], Ta[i], Tb[i]
|
||||||
if mag > 1 || mag < 0
|
if mag > 1 || mag < 0
|
||||||
throw(ErrorException("ΔV input is too high: $mag"))
|
@error "ΔV input is too high: $mag"
|
||||||
elseif α > π || α < -π
|
elseif α > π || α < -π
|
||||||
throw(ErrorException("α angle is incorrect: $α"))
|
@error "α angle is incorrect: $α"
|
||||||
elseif β > π/2 || β < -π/2
|
elseif β > π/2 || β < -π/2
|
||||||
throw(ErrorException("β angle is incorrect: $β"))
|
@error "β angle is incorrect: $β"
|
||||||
|
end
|
||||||
end
|
end
|
||||||
|
|
||||||
|
state = init_state
|
||||||
|
for i in 1:n
|
||||||
|
mag, α, β = Tm[i], Ta[i], Tb[i]
|
||||||
thrust_rθh = mag * [cos(β)*sin(α), cos(β)*cos(α), sin(β)]
|
thrust_rθh = mag * [cos(β)*sin(α), cos(β)*cos(α), sin(β)]
|
||||||
_,_,i,Ω,ω,ν = xyz_to_oe(state, μ)
|
_,_,i,Ω,ω,ν = xyz_to_oe(state, μ)
|
||||||
θ = ω+ν
|
θ = ω+ν
|
||||||
cΩ,sΩ,ci,si,cθ,sθ = cos(Ω),sin(Ω),cos(i),sin(i),cos(θ),sin(θ)
|
cΩ,sΩ,ci,si,cθ,sθ = cos(Ω),sin(Ω),cos(i),sin(i),cos(θ),sin(θ)
|
||||||
DCM = [cΩ*cθ-sΩ*ci*sθ -cΩ*sθ-sΩ*ci*cθ sΩ*si;
|
DCM = [cΩ*cθ-sΩ*ci*sθ -cΩ*sθ-sΩ*ci*cθ sΩ*si;
|
||||||
sΩ*cθ+cΩ*ci*sθ -sΩ*sθ+cΩ*ci*cθ -cΩ*si;
|
sΩ*cθ+cΩ*ci*sθ -sΩ*sθ+cΩ*ci*cθ -cΩ*si;
|
||||||
si*sθ si*cθ ci]
|
si*sθ si*cθ ci ]
|
||||||
ΔV = DCM*thrust_rθh
|
Tx, Ty, Tz = DCM*thrust_rθh
|
||||||
Tx, Ty, Tz = max_ΔV(craft.duty_cycle, craft.num_thrusters, craft.max_thrust, time, 0., m) * ΔV
|
|
||||||
x, y, z, dx, dy, dz = state
|
state = prop_one([Tx, Ty, Tz], state, craft, μ, time/n)[1]
|
||||||
state = prop_one_simple(Tx, Ty, Tz, x, y, z, dx, dy, dz, time/length(Tr), μ)
|
|
||||||
push!(Txs, Tx)
|
push!(Txs, Tx)
|
||||||
push!(Tys, Ty)
|
push!(Tys, Ty)
|
||||||
push!(Tzs, Tz)
|
push!(Tzs, Tz)
|
||||||
|
|||||||
@@ -1,6 +1,15 @@
|
|||||||
using JuMP, Ipopt
|
using NLsolve
|
||||||
|
|
||||||
export nlp_solve
|
export nlp_solve, mass_est
|
||||||
|
|
||||||
|
function mass_est(T)
|
||||||
|
ans = 0
|
||||||
|
n = Int(length(T)/3)
|
||||||
|
for i in 1:n
|
||||||
|
ans += norm(T[i,:])
|
||||||
|
end
|
||||||
|
return ans/n
|
||||||
|
end
|
||||||
|
|
||||||
function nlp_solve(start::Vector{Float64},
|
function nlp_solve(start::Vector{Float64},
|
||||||
final::Vector{Float64},
|
final::Vector{Float64},
|
||||||
@@ -8,77 +17,14 @@ function nlp_solve(start::Vector{Float64},
|
|||||||
μ::Float64,
|
μ::Float64,
|
||||||
t0::Float64,
|
t0::Float64,
|
||||||
tf::Float64,
|
tf::Float64,
|
||||||
Txi::Vector{Float64},
|
x0::Matrix{Float64};
|
||||||
Tyi::Vector{Float64},
|
|
||||||
Tzi::Vector{Float64};
|
|
||||||
solver_options=(),
|
|
||||||
tol=1e-6)
|
tol=1e-6)
|
||||||
|
|
||||||
n::Int = length(Txi)
|
function f!(F,x)
|
||||||
if length(Tyi) != n
|
F .= 0.0
|
||||||
throw("Bad number of Tys")
|
F[1:6, 1] .= prop_nlsolve(tanh.(x), start, craft, μ, tf-t0) .- final
|
||||||
elseif length(Tzi) != n
|
|
||||||
throw("Bad number of Tzs")
|
|
||||||
end
|
end
|
||||||
|
|
||||||
# First propagate the initial guess
|
return nlsolve(f!, atanh.(x0), ftol=tol, autodiff=:forward, iterations=1_000)
|
||||||
path, masses, final_state = prop(hcat(Txi, Tyi, Tzi),
|
|
||||||
start,
|
|
||||||
craft,
|
|
||||||
μ,
|
|
||||||
tf-t0)
|
|
||||||
@assert final ≈ final_state
|
|
||||||
model = Model(optimizer_with_attributes(Ipopt.Optimizer, solver_options...))
|
|
||||||
|
|
||||||
@variables(model, begin
|
|
||||||
Tx[i=1:n], (start=Txi[i])
|
|
||||||
Ty[i=1:n], (start=Tyi[i])
|
|
||||||
Tz[i=1:n], (start=Tzi[i])
|
|
||||||
x[i=1:n], (start=path[1][i])
|
|
||||||
y[i=1:n], (start=path[2][i])
|
|
||||||
z[i=1:n], (start=path[3][i])
|
|
||||||
dx[i=1:n], (start=path[4][i])
|
|
||||||
dy[i=1:n], (start=path[5][i])
|
|
||||||
dz[i=1:n], (start=path[6][i])
|
|
||||||
mass[i=1:n], (start=masses[i])
|
|
||||||
end)
|
|
||||||
|
|
||||||
# Fix initial conditions
|
|
||||||
fix(x[1], start[1], force = true)
|
|
||||||
fix(y[1], start[2], force = true)
|
|
||||||
fix(z[1], start[3], force = true)
|
|
||||||
fix(dx[1], start[4], force = true)
|
|
||||||
fix(dy[1], start[5], force = true)
|
|
||||||
fix(dz[1], start[6], force = true)
|
|
||||||
fix(mass[1], craft.mass, force = true)
|
|
||||||
|
|
||||||
# Fix final conditions
|
|
||||||
fix(x[n], final[1], force = true)
|
|
||||||
fix(y[n], final[2], force = true)
|
|
||||||
fix(z[n], final[3], force = true)
|
|
||||||
fix(dx[n], final[4], force = true)
|
|
||||||
fix(dy[n], final[5], force = true)
|
|
||||||
fix(dz[n], final[6], force = true)
|
|
||||||
|
|
||||||
@NLexpression(model, r_mag[i = 1:n], sqrt(x[i]^2 + y[i]^2 + z[i]^2))
|
|
||||||
@NLexpression(model, v_mag[i = 1:n], sqrt(dx[i]^2 + dy[i]^2 + dz[i]^2))
|
|
||||||
@NLexpression(model, σ0[i = 1:n], (x[i]*dx[i] + y[i]*dy[i] + z[i]*dz[i])/sqrt(μ))
|
|
||||||
@NLexpression(model, a[i = 1:n], 1/(2/r_mag[i] - v_mag[i]^2/μ))
|
|
||||||
|
|
||||||
# Elliptical Specific
|
|
||||||
@NLexpression(model, ΔM_ell[i = 1:n], sqrt(μ) / sqrt(a[i]^3) * (tf-t0)/(2n))
|
|
||||||
|
|
||||||
# Parabolic/Hyperbolic Specific
|
|
||||||
@NLexpression(model, ΔN_hyp[i = 1:n], sqrt(μ) / sqrt(-a[i]^3) * (tf-t0)/(2n))
|
|
||||||
|
|
||||||
for i in 2:n
|
|
||||||
@NLconstraint(model, x[i] == a[i-1])
|
|
||||||
@NLconstraint(model, mass[i] == mass[i-1] - craft.mass_flow_rate*√(Tx[i-1]^2 +
|
|
||||||
Ty[i-1]^2 +
|
|
||||||
Tz[i-1]^2)*(tf-t0)/n)
|
|
||||||
end
|
|
||||||
|
|
||||||
optimize!(model)
|
|
||||||
return model
|
|
||||||
|
|
||||||
end
|
end
|
||||||
@@ -1,19 +1,20 @@
|
|||||||
function perturb(x::AbstractVector, n::Int)
|
function pareto(α::Float64, n::Int)
|
||||||
perturb_vector = 0.02 * rand(Float64, (3n)) .- 0.01
|
s = rand((-1,1), (n,3))
|
||||||
return x + perturb_vector
|
r = rand(Float64, (n,3))
|
||||||
|
ϵ = 1e-10
|
||||||
|
return (s./ϵ) * (α - 1.0) ./ (ϵ ./ (ϵ .+ r)).^(-α)
|
||||||
end
|
end
|
||||||
|
|
||||||
function mass_better(x_star::AbstractVector,
|
function perturb(x::AbstractMatrix, n::Int)
|
||||||
x_current::AbstractVector,
|
ans = x + pareto(1.01, n)
|
||||||
start::AbstractVector,
|
map!(elem -> elem > 1.0 ? 1.0 : elem, ans, ans)
|
||||||
final::AbstractVector,
|
map!(elem -> elem < -1.0 ? -1.0 : elem, ans, ans)
|
||||||
craft::Sc,
|
return ans
|
||||||
μ::AbstractFloat,
|
end
|
||||||
t0::AbstractFloat,
|
|
||||||
tf::AbstractFloat)
|
|
||||||
mass_star = prop(treat_inputs(x_star), start, craft, μ, tf-t0)[2]
|
function new_x(n::Int)
|
||||||
mass_current = prop(treat_inputs(x_current), start, craft, μ, tf-t0)[2]
|
2.0 * rand(Float64, (n,3)) .- 1.
|
||||||
return mass_star > mass_current
|
|
||||||
end
|
end
|
||||||
|
|
||||||
function mbh(start::AbstractVector,
|
function mbh(start::AbstractVector,
|
||||||
@@ -22,35 +23,51 @@ function mbh(start::AbstractVector,
|
|||||||
μ::AbstractFloat,
|
μ::AbstractFloat,
|
||||||
t0::AbstractFloat,
|
t0::AbstractFloat,
|
||||||
tf::AbstractFloat,
|
tf::AbstractFloat,
|
||||||
n::Int,
|
n::Int;
|
||||||
num_iters::Int=10,
|
num_iters=50,
|
||||||
tol=1e-6)
|
patience_level::Int=400,
|
||||||
i::Int = 0
|
tol=1e-6,
|
||||||
|
verbose=false)
|
||||||
|
|
||||||
archive = []
|
archive = []
|
||||||
x_star = nlp_solve(start, final, craft, μ, t0, tf, rand(Float64,(3n)), tol=tol)
|
|
||||||
while converged(x_star) == false
|
|
||||||
x_star = nlp_solve(start, final, craft, μ, t0, tf, rand(Float64,(3n)), tol=tol)
|
|
||||||
end
|
|
||||||
|
|
||||||
x_current = x_star
|
i = 0
|
||||||
push!(archive, x_current)
|
if verbose println("Current Iteration") end
|
||||||
|
while true
|
||||||
while i < num_iters
|
|
||||||
x_star = nlp_solve(start, final, craft, μ, t0, tf, perturb(x_current.zero,n), tol=tol)
|
|
||||||
if converged(x_star) && mass_better(x_star.zero, x_current.zero, start, final, craft, μ, t0, tf)
|
|
||||||
x_current = x_star
|
|
||||||
push!(archive, x_star)
|
|
||||||
else
|
|
||||||
while converged(x_star) == false
|
|
||||||
x_star = nlp_solve(start, final, craft, μ, t0, tf, rand(Float64,(3n)), tol=tol)
|
|
||||||
end
|
|
||||||
if mass_better(x_star.zero, x_current.zero, start, final, craft, μ, t0, tf)
|
|
||||||
x_current = x_star
|
|
||||||
push!(archive, x_star)
|
|
||||||
end
|
|
||||||
end
|
|
||||||
i += 1
|
i += 1
|
||||||
|
if verbose print("\r",i) end
|
||||||
|
impatience = 0
|
||||||
|
x_star = nlp_solve(start, final, craft, μ, t0, tf, new_x(n), tol=tol)
|
||||||
|
while converged(x_star) == false
|
||||||
|
x_star = nlp_solve(start, final, craft, μ, t0, tf, new_x(n), tol=tol)
|
||||||
|
end
|
||||||
|
if converged(x_star)
|
||||||
|
x_current = x_star
|
||||||
|
while impatience < patience_level
|
||||||
|
x_star = nlp_solve(start, final, craft, μ, t0, tf, perturb(tanh.(x_current.zero),n), tol=tol)
|
||||||
|
if converged(x_star) && mass_est(tanh.(x_star.zero)) < mass_est(tanh.(x_current.zero))
|
||||||
|
x_current = x_star
|
||||||
|
impatience = 0
|
||||||
|
else
|
||||||
|
impatience += 1
|
||||||
|
end
|
||||||
|
end
|
||||||
|
push!(archive, x_current)
|
||||||
|
end
|
||||||
|
if i >= num_iters
|
||||||
|
break
|
||||||
|
end
|
||||||
end
|
end
|
||||||
|
|
||||||
return x_current, archive
|
current_best_mass = 1e8
|
||||||
|
best = archive[1]
|
||||||
|
for candidate in archive
|
||||||
|
if mass_est(tanh.(candidate.zero)) < current_best_mass
|
||||||
|
current_best_mass = mass_est(tanh.(candidate.zero))
|
||||||
|
best = candidate
|
||||||
|
end
|
||||||
|
end
|
||||||
|
|
||||||
|
return best, archive
|
||||||
|
|
||||||
end
|
end
|
||||||
@@ -16,38 +16,19 @@ end
|
|||||||
This function propagates the spacecraft forward in time 1 Sim-Flanagan step (of variable length of time),
|
This function propagates the spacecraft forward in time 1 Sim-Flanagan step (of variable length of time),
|
||||||
applying a thrust in the center.
|
applying a thrust in the center.
|
||||||
"""
|
"""
|
||||||
function prop_one(ΔV::Vector{T},
|
function prop_one(thrust_unit::Vector{<:Real},
|
||||||
state::Vector{T},
|
state::Vector{<:Real},
|
||||||
duty_cycle::Float64,
|
duty_cycle::Float64,
|
||||||
num_thrusters::Int,
|
num_thrusters::Int,
|
||||||
max_thrust::Float64,
|
max_thrust::Float64,
|
||||||
mass::T,
|
mass::T,
|
||||||
mass_flow_rate::Float64,
|
mass_flow_rate::Float64,
|
||||||
μ::Float64,
|
μ::Float64,
|
||||||
time::Float64) where T
|
time::Float64) where T<:Real
|
||||||
|
|
||||||
mag, α, β = ΔV
|
ΔV = max_ΔV(duty_cycle, num_thrusters, max_thrust, time, 0., mass) * thrust_unit
|
||||||
|
halfway = laguerre_conway(state, μ, time/2) + [0., 0., 0., ΔV...]
|
||||||
# if mag > 1 || mag < 0
|
return laguerre_conway(halfway, μ, time/2), mass - mass_flow_rate*norm(thrust_unit)*time
|
||||||
# throw(ErrorException("ΔV input is too high: $mag"))
|
|
||||||
# elseif α > π || α < -π
|
|
||||||
# throw(ErrorException("α angle is incorrect: $α"))
|
|
||||||
# elseif β > π/2 || β < -π/2
|
|
||||||
# throw(ErrorException("β angle is incorrect: $β"))
|
|
||||||
# end
|
|
||||||
|
|
||||||
thrust_rθh = mag * [cos(β)*sin(α), cos(β)*cos(α), sin(β)]
|
|
||||||
a,e,i,Ω,ω,ν = xyz_to_oe(state, μ)
|
|
||||||
θ = ω+ν
|
|
||||||
cΩ,sΩ,ci,si,cθ,sθ = cos(Ω),sin(Ω),cos(i),sin(i),cos(θ),sin(θ)
|
|
||||||
DCM = [cΩ*cθ-sΩ*ci*sθ -cΩ*sθ-sΩ*ci*cθ sΩ*si;
|
|
||||||
sΩ*cθ+cΩ*ci*sθ -sΩ*sθ+cΩ*ci*cθ -cΩ*si;
|
|
||||||
si*sθ si*cθ ci]
|
|
||||||
ΔV = DCM*thrust_rθh
|
|
||||||
|
|
||||||
thrust = max_ΔV(duty_cycle, num_thrusters, max_thrust, time, 0., mass) * ΔV
|
|
||||||
halfway = laguerre_conway(state, μ, time/2) + [0., 0., 0., thrust[1], thrust[2], thrust[3]]
|
|
||||||
return laguerre_conway(halfway, μ, time/2), mass - mass_flow_rate*norm(ΔV)*time
|
|
||||||
|
|
||||||
end
|
end
|
||||||
|
|
||||||
@@ -64,6 +45,99 @@ function prop_one(ΔV_unit::Vector{T},
|
|||||||
return state, Sc(mass, craft.mass_flow_rate, craft.max_thrust, craft.num_thrusters, craft.duty_cycle)
|
return state, Sc(mass, craft.mass_flow_rate, craft.max_thrust, craft.num_thrusters, craft.duty_cycle)
|
||||||
end
|
end
|
||||||
|
|
||||||
|
|
||||||
|
"""
|
||||||
|
This propagates over a given time period, with a certain number of intermediate steps
|
||||||
|
"""
|
||||||
|
function prop(ΔVs::Matrix{T},
|
||||||
|
state::Vector{Float64},
|
||||||
|
duty_cycle::Float64,
|
||||||
|
num_thrusters::Int,
|
||||||
|
max_thrust::Float64,
|
||||||
|
mass::Float64,
|
||||||
|
mass_flow_rate::Float64,
|
||||||
|
μ::Float64,
|
||||||
|
time::Float64) where T <: Real
|
||||||
|
|
||||||
|
if size(ΔVs)[2] != 3 throw(ErrorException("ΔV input is wrong size")) end
|
||||||
|
n = size(ΔVs)[i]
|
||||||
|
|
||||||
|
for i in 1:n
|
||||||
|
state, mass = prop_one(ΔVs[i,:], state, duty_cycle, num_thrusters, max_thrust, mass,
|
||||||
|
mass_flow_rate, μ, time/n)
|
||||||
|
end
|
||||||
|
|
||||||
|
return state, mass
|
||||||
|
|
||||||
|
end
|
||||||
|
|
||||||
|
"""
|
||||||
|
The same function, using Scs
|
||||||
|
"""
|
||||||
|
function prop(ΔVs::Matrix{T},
|
||||||
|
state::Vector{S},
|
||||||
|
craft::Sc,
|
||||||
|
μ::Float64,
|
||||||
|
time::Float64) where {T <: Real, S <: Real}
|
||||||
|
|
||||||
|
if size(ΔVs)[2] != 3 throw(ErrorException("ΔV input is wrong size")) end
|
||||||
|
n = size(ΔVs)[1]
|
||||||
|
|
||||||
|
x_states = [state[1]]
|
||||||
|
y_states = [state[2]]
|
||||||
|
z_states = [state[3]]
|
||||||
|
dx_states = [state[4]]
|
||||||
|
dy_states = [state[5]]
|
||||||
|
dz_states = [state[6]]
|
||||||
|
masses = [craft.mass]
|
||||||
|
|
||||||
|
for i in 1:n
|
||||||
|
state, craft = prop_one(ΔVs[i,:], state, craft, μ, time/n)
|
||||||
|
push!(x_states, state[1])
|
||||||
|
push!(y_states, state[2])
|
||||||
|
push!(z_states, state[3])
|
||||||
|
push!(dx_states, state[4])
|
||||||
|
push!(dy_states, state[5])
|
||||||
|
push!(dz_states, state[6])
|
||||||
|
push!(masses, craft.mass)
|
||||||
|
end
|
||||||
|
|
||||||
|
return [x_states, y_states, z_states, dx_states, dy_states, dz_states], masses, state
|
||||||
|
|
||||||
|
end
|
||||||
|
|
||||||
|
function prop_nlsolve(ΔVs::Matrix{T},
|
||||||
|
state::Vector{S},
|
||||||
|
craft::Sc,
|
||||||
|
μ::Float64,
|
||||||
|
time::Float64) where {T <: Real, S <: Real}
|
||||||
|
|
||||||
|
n = size(ΔVs)[1]
|
||||||
|
for i in 1:n
|
||||||
|
state, craft = prop_one(ΔVs[i,:], state, craft, μ, time/n)
|
||||||
|
end
|
||||||
|
|
||||||
|
return state
|
||||||
|
|
||||||
|
end
|
||||||
|
|
||||||
|
function prop_simple(ΔVs::AbstractMatrix,
|
||||||
|
state::AbstractVector,
|
||||||
|
craft::Sc,
|
||||||
|
μ::Float64,
|
||||||
|
time::Float64)
|
||||||
|
|
||||||
|
if size(ΔVs)[2] != 3 throw(ErrorException("ΔV input is wrong size")) end
|
||||||
|
n = size(ΔVs)[1]
|
||||||
|
|
||||||
|
for i in 1:n
|
||||||
|
state, craft = prop_one(ΔVs[i,:], state, craft, μ, time/n)
|
||||||
|
end
|
||||||
|
|
||||||
|
return state
|
||||||
|
|
||||||
|
end
|
||||||
|
|
||||||
function prop_one_simple(Tx, Ty, Tz, x, y, z, dx, dy, dz, t, μ)
|
function prop_one_simple(Tx, Ty, Tz, x, y, z, dx, dy, dz, t, μ)
|
||||||
|
|
||||||
# perform laguerre_conway once
|
# perform laguerre_conway once
|
||||||
@@ -154,83 +228,5 @@ function prop_one_simple(Tx, Ty, Tz, x, y, z, dx, dy, dz, t, μ)
|
|||||||
end
|
end
|
||||||
|
|
||||||
return [F*[x,y,z] + G*[dx,dy,dz]; Ft*[x,y,z] + Gt*[dx,dy,dz]]
|
return [F*[x,y,z] + G*[dx,dy,dz]; Ft*[x,y,z] + Gt*[dx,dy,dz]]
|
||||||
return repeat([sqrt(Tx^2 + Ty^2 + Tz^2)],6)
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
"""
|
|
||||||
This propagates over a given time period, with a certain number of intermediate steps
|
|
||||||
"""
|
|
||||||
function prop(ΔVs::Matrix{T},
|
|
||||||
state::Vector{Float64},
|
|
||||||
duty_cycle::Float64,
|
|
||||||
num_thrusters::Int,
|
|
||||||
max_thrust::Float64,
|
|
||||||
mass::Float64,
|
|
||||||
mass_flow_rate::Float64,
|
|
||||||
μ::Float64,
|
|
||||||
time::Float64) where T <: Real
|
|
||||||
|
|
||||||
if size(ΔVs)[2] != 3 throw(ErrorException("ΔV input is wrong size")) end
|
|
||||||
n = size(ΔVs)[i]
|
|
||||||
|
|
||||||
for i in 1:n
|
|
||||||
state, mass = prop_one(ΔVs[i,:], state, duty_cycle, num_thrusters, max_thrust, mass,
|
|
||||||
mass_flow_rate, μ, time/n)
|
|
||||||
end
|
|
||||||
|
|
||||||
return state, mass
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
"""
|
|
||||||
The same function, using Scs
|
|
||||||
"""
|
|
||||||
function prop(ΔVs::AbstractMatrix,
|
|
||||||
state::AbstractVector,
|
|
||||||
craft::Sc,
|
|
||||||
μ::Float64,
|
|
||||||
time::Float64)
|
|
||||||
|
|
||||||
if size(ΔVs)[2] != 3 throw(ErrorException("ΔV input is wrong size")) end
|
|
||||||
n = size(ΔVs)[1]
|
|
||||||
|
|
||||||
x_states = [state[1]]
|
|
||||||
y_states = [state[2]]
|
|
||||||
z_states = [state[3]]
|
|
||||||
dx_states = [state[4]]
|
|
||||||
dy_states = [state[5]]
|
|
||||||
dz_states = [state[6]]
|
|
||||||
masses = [craft.mass]
|
|
||||||
|
|
||||||
for i in 1:n
|
|
||||||
state, craft = prop_one(ΔVs[i,:], state, craft, μ, time/n)
|
|
||||||
push!(x_states, state[1])
|
|
||||||
push!(y_states, state[2])
|
|
||||||
push!(z_states, state[3])
|
|
||||||
push!(dx_states, state[4])
|
|
||||||
push!(dy_states, state[5])
|
|
||||||
push!(dz_states, state[6])
|
|
||||||
push!(masses, craft.mass)
|
|
||||||
end
|
|
||||||
|
|
||||||
return [x_states, y_states, z_states, dx_states, dy_states, dz_states], masses, state
|
|
||||||
|
|
||||||
end
|
|
||||||
|
|
||||||
function prop_simple(ΔVs::AbstractMatrix,
|
|
||||||
state::AbstractVector,
|
|
||||||
craft::Sc,
|
|
||||||
μ::Float64,
|
|
||||||
time::Float64)
|
|
||||||
|
|
||||||
if size(ΔVs)[2] != 3 throw(ErrorException("ΔV input is wrong size")) end
|
|
||||||
n = size(ΔVs)[1]
|
|
||||||
|
|
||||||
for i in 1:n
|
|
||||||
state, craft = prop_one(ΔVs[i,:], state, craft, μ, time/n)
|
|
||||||
end
|
|
||||||
|
|
||||||
return state
|
|
||||||
|
|
||||||
end
|
end
|
||||||
@@ -1,6 +1,6 @@
|
|||||||
@testset "Find Closest" begin
|
@testset "Find Closest" begin
|
||||||
|
|
||||||
using JuMP
|
using NLsolve, PlotlyJS
|
||||||
|
|
||||||
# Initial Setup
|
# Initial Setup
|
||||||
sc = Sc("test")
|
sc = Sc("test")
|
||||||
@@ -9,10 +9,11 @@
|
|||||||
i = rand(0.01:0.01:π/6)
|
i = rand(0.01:0.01:π/6)
|
||||||
T = 2π*√(a^3/μs["Earth"])
|
T = 2π*√(a^3/μs["Earth"])
|
||||||
prop_time = 2T
|
prop_time = 2T
|
||||||
n = 30
|
n = 20
|
||||||
|
|
||||||
# A simple orbit raising
|
# A simple orbit raising
|
||||||
start = oe_to_xyz([ a, e, i, 0., 0., 0. ], μs["Earth"])
|
start = oe_to_xyz([ a, e, i, 0., 0., 0. ], μs["Earth"])
|
||||||
|
# T_craft = hcat(repeat([0.6], n), repeat([0.], n), repeat([0.], n))
|
||||||
Tx, Ty, Tz = conv_T(repeat([0.6], n), repeat([0.], n), repeat([0.], n),
|
Tx, Ty, Tz = conv_T(repeat([0.6], n), repeat([0.], n), repeat([0.], n),
|
||||||
start,
|
start,
|
||||||
sc.mass,
|
sc.mass,
|
||||||
@@ -23,35 +24,26 @@
|
|||||||
new_T = 2π*√(xyz_to_oe(final, μs["Earth"])[1]^3/μs["Earth"])
|
new_T = 2π*√(xyz_to_oe(final, μs["Earth"])[1]^3/μs["Earth"])
|
||||||
|
|
||||||
# This should be close enough to 0.6
|
# This should be close enough to 0.6
|
||||||
Tx, Ty, Tz = conv_T(repeat([0.6], n), repeat([0.], n), repeat([0.], n),
|
Tx, Ty, Tz = conv_T(repeat([0.59], n), repeat([0.01], n), repeat([0.], n),
|
||||||
start,
|
start,
|
||||||
sc.mass,
|
sc.mass,
|
||||||
sc,
|
sc,
|
||||||
prop_time,
|
prop_time,
|
||||||
μs["Earth"])
|
μs["Earth"])
|
||||||
result, solution = nlp_solve(start,
|
result = nlp_solve(start, final, sc, μs["Earth"], 0.0, prop_time, hcat(Tx, Ty, Tz))
|
||||||
final,
|
|
||||||
sc,
|
|
||||||
μs["Earth"],
|
|
||||||
0.0,
|
|
||||||
prop_time,
|
|
||||||
Tx,
|
|
||||||
Ty,
|
|
||||||
Tz)
|
|
||||||
# solver_options=("max_cpu_time" => 30.))
|
|
||||||
|
|
||||||
# Test and plot
|
# Test and plot
|
||||||
@test JuMP.termination_status(result) == MOI.OPTIMAL
|
@test converged(result)
|
||||||
path1 = prop(zeros((100,3)), start, sc, μs["Earth"], T)[1]
|
path1 = prop(zeros((100,3)), start, sc, μs["Earth"], T)[1]
|
||||||
path2, mass, calc_final = prop(treat_inputs(JuMP.value.(solution)), start, sc, μs["Earth"], prop_time)
|
path2, mass, calc_final = prop(tanh.(result.zero), start, sc, μs["Earth"], prop_time)
|
||||||
path3 = prop(zeros((100,3)), calc_final, sc, μs["Earth"], new_T)[1]
|
path3 = prop(zeros((100,3)), calc_final, sc, μs["Earth"], new_T)[1]
|
||||||
path4 = prop(zeros((100,3)), final, sc, μs["Earth"], new_T)[1]
|
path4 = prop(zeros((100,3)), final, sc, μs["Earth"], new_T)[1]
|
||||||
savefig(plot_orbits([path1, path2, path3, path4],
|
savefig(plot_orbits([path1, path2, path3, path4],
|
||||||
labels=["initial", "transit", "after transit", "final"],
|
labels=["initial", "transit", "after transit", "final"],
|
||||||
colors=["#FFFFFF","#FF4444","#44FF44","#4444FF"]),
|
colors=["#FFFFFF","#FF4444","#44FF44","#4444FF"]),
|
||||||
"../plots/find_closest_test.html")
|
"../plots/find_closest_test.html")
|
||||||
# if termination_status(result) == :OPTIMAL
|
if converged(result)
|
||||||
# @test norm(calc_final - final) < 1e-4
|
@test norm(calc_final - final) < 1e-4
|
||||||
# end
|
end
|
||||||
|
|
||||||
end
|
end
|
||||||
|
|||||||
@@ -8,22 +8,63 @@
|
|||||||
e = rand(0.01:0.01:0.5)
|
e = rand(0.01:0.01:0.5)
|
||||||
i = rand(0.01:0.01:π/6)
|
i = rand(0.01:0.01:π/6)
|
||||||
T = 2π*√(a^3/μs["Earth"])
|
T = 2π*√(a^3/μs["Earth"])
|
||||||
prop_time = 2T
|
prop_time = 0.75T
|
||||||
n = 25
|
n = 10
|
||||||
|
|
||||||
# A simple orbit raising
|
# A simple orbit raising
|
||||||
# start = oe_to_xyz([ a, e, i, 0., 0., 0. ], μs["Earth"])
|
start = oe_to_xyz([ a, e, i, 0., 0., 0. ], μs["Earth"])
|
||||||
# ΔVs = repeat([0.6, 0., 0.]', outer=(n,1))
|
# T_craft = hcat(repeat([0.6], n), repeat([0.], n), repeat([0.], n))
|
||||||
# final = prop(ΔVs, start, sc, μs["Earth"], prop_time)[1][end,:]
|
Tx, Ty, Tz = conv_T(repeat([0.8], n), repeat([0.], n), repeat([0.], n),
|
||||||
# new_T = 2π*√(xyz_to_oe(final, μs["Earth"])[1]^3/μs["Earth"])
|
start,
|
||||||
|
sc.mass,
|
||||||
|
sc,
|
||||||
|
prop_time,
|
||||||
|
μs["Earth"])
|
||||||
|
nominal_path, normal_mass, final = prop(hcat(Tx, Ty, Tz), start, sc, μs["Earth"], prop_time)
|
||||||
|
new_T = 2π*√(xyz_to_oe(final, μs["Earth"])[1]^3/μs["Earth"])
|
||||||
|
|
||||||
# This should be close enough to 0.6
|
# Find the best solution
|
||||||
# best, archive = mbh(start, final, sc, μs["Earth"], 0.0, prop_time, n)
|
best, archive = mbh(start,
|
||||||
|
final,
|
||||||
|
sc,
|
||||||
|
μs["Earth"],
|
||||||
|
0.0,
|
||||||
|
prop_time,
|
||||||
|
n,
|
||||||
|
num_iters=5,
|
||||||
|
patience_level=50,
|
||||||
|
verbose=true)
|
||||||
|
|
||||||
# Test and plot
|
# Test and plot
|
||||||
@test_skip converged(best)
|
@test converged(best)
|
||||||
#for path in archive
|
transit, best_masses, calc_final = prop(tanh.(best.zero), start, sc, μs["Earth"], prop_time)
|
||||||
# @test_skip converged(path)
|
initial_path = prop(zeros((100,3)), start, sc, μs["Earth"], T)[1]
|
||||||
#end
|
after_transit = prop(zeros((100,3)), calc_final, sc, μs["Earth"], new_T)[1]
|
||||||
|
final_path = prop(zeros((100,3)), final, sc, μs["Earth"], new_T)[1]
|
||||||
|
savefig(plot_orbits([initial_path, nominal_path, final_path],
|
||||||
|
labels=["initial", "nominal transit", "final"],
|
||||||
|
colors=["#FF4444","#44FF44","#4444FF"]),
|
||||||
|
"../plots/mbh_nominal.html")
|
||||||
|
savefig(plot_orbits([initial_path, transit, after_transit, final_path],
|
||||||
|
labels=["initial", "transit", "after transit", "final"],
|
||||||
|
colors=["#FFFFFF", "#FF4444","#44FF44","#4444FF"]),
|
||||||
|
"../plots/mbh_best.html")
|
||||||
|
i = 0
|
||||||
|
best_mass = best_masses[end]
|
||||||
|
nominal_mass = normal_mass[end]
|
||||||
|
masses = []
|
||||||
|
for candidate in archive
|
||||||
|
@test converged(candidate)
|
||||||
|
path2, cand_ms, calc_final = prop(tanh.(candidate.zero), start, sc, μs["Earth"], prop_time)
|
||||||
|
push!(masses, cand_ms[end])
|
||||||
|
@test norm(calc_final - final) < 1e-4
|
||||||
|
end
|
||||||
|
@test best_mass == maximum(masses)
|
||||||
|
|
||||||
|
# This won't always work since the test is reduced in fidelity,
|
||||||
|
# but hopefully will usually work:
|
||||||
|
@test (sc.mass - best_mass) < 1.1 * (sc.mass - nominal_mass)
|
||||||
|
@show best_mass
|
||||||
|
@show nominal_mass
|
||||||
|
|
||||||
end
|
end
|
||||||
|
|||||||
Reference in New Issue
Block a user