From 26b11cd90a747a3e6df7ae783a85ed4f7c24e384 Mon Sep 17 00:00:00 2001
From: Olivier Cots <olivier.cots@enseeiht.fr>
Date: Tue, 30 Mar 2021 16:51:43 +0200
Subject: [PATCH] update ex3
---
.../ex3_cor_multiple_shooting_bsb.ipynb | 13 ++++++---
.../exercices/ex3_multiple_shooting_bsb.ipynb | 27 ++++++++++---------
2 files changed, 25 insertions(+), 15 deletions(-)
diff --git a/course/corrections/ex3_cor_multiple_shooting_bsb.ipynb b/course/corrections/ex3_cor_multiple_shooting_bsb.ipynb
index 6520695..f947744 100644
--- a/course/corrections/ex3_cor_multiple_shooting_bsb.ipynb
+++ b/course/corrections/ex3_cor_multiple_shooting_bsb.ipynb
@@ -333,7 +333,7 @@
"\n",
"**_Question 3:_**\n",
" \n",
- "Complete the code of the shooting function and its derivative with respect to $p_0$ against the vector $dp_0$.\n",
+ "Complete the code of the shooting function.\n",
" \n",
"</div>"
]
@@ -355,8 +355,15 @@
"# s = 0 ### TO COMPLETE: use the flow f, the parameters t0, x0 and xf_target\n",
" xf, _ = f(t0, x0, p0, tf, e) # We use the flow to get z(tf, x0, p0)\n",
" s = xf - xf_target # x(tf, x0, p0) - xf_target\n",
- " return s\n",
- "\n",
+ " return s"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
"def dshoot(p0, dp0, e, tf):\n",
"# ds = 0 ### TO COMPLETE\n",
" (xf, dxf), _ = f(t0, x0, (p0, dp0), tf, e)\n",
diff --git a/course/exercices/ex3_multiple_shooting_bsb.ipynb b/course/exercices/ex3_multiple_shooting_bsb.ipynb
index 6493ec5..5c51de7 100644
--- a/course/exercices/ex3_multiple_shooting_bsb.ipynb
+++ b/course/exercices/ex3_multiple_shooting_bsb.ipynb
@@ -330,7 +330,7 @@
"\n",
"**_Question 3:_**\n",
" \n",
- "Complete the code of the shooting function and its derivative with respect to $p_0$ against the vector $dp_0$.\n",
+ "Complete the code of the shooting function.\n",
" \n",
"</div>"
]
@@ -349,10 +349,18 @@
"#\n",
"def shoot(p0, e, tf):\n",
" s = 0 ### TO COMPLETE: use the flow f, the parameters t0, x0 and xf_target\n",
- " return s\n",
- "\n",
+ " return s"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
"def dshoot(p0, dp0, e, tf):\n",
- " ds = 0 ### TO COMPLETE\n",
+ " (xf, dxf), _ = f(t0, x0, (p0, dp0), tf, e)\n",
+ " ds = dxf\n",
" return ds\n",
"\n",
"shoot = nt.tools.tensorize(dshoot, tvars=(1,))(shoot)"
@@ -602,22 +610,17 @@
"#\n",
"def dhfunplus(t, x, dx, p, dp):\n",
" # dh = dh_x dx + dh_p dp\n",
- "# hd = 0 ### TO COMPLETE: use uplus\n",
- " u = uplus(t, x, p)\n",
- " hd = u*dp - 2.0*x*dx\n",
+ " hd = 0 ### TO COMPLETE: use uplus\n",
" return hd\n",
" \n",
"def d2hfunplus(t, x, dx, d2x, p, dp, d2p):\n",
" # d2h = dh_xx dx d2x + dh_xp dp d2x + dh_px dx d2p + dh_pp dp d2p\n",
- "# hdd = 0 ### TO COMPLETE\n",
- " hdd = -2.0 * d2x * dx\n",
+ " hdd = 0 ### TO COMPLETE\n",
" return hdd\n",
"\n",
"@tools.tensorize(dhfunplus, d2hfunplus, tvars=(2, 3))\n",
"def hfunplus(t, x, p):\n",
- "# h = 0 ### TO COMPLETE: use uplus\n",
- " u = uplus(t, x, p)\n",
- " h = p*u - x**2\n",
+ " h = 0 ### TO COMPLETE: use uplus\n",
" return h\n",
"\n",
"hplus = ocp.Hamiltonian(hfunplus)\n",
--
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