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fix: restore example simulation in getting started #823

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Feb 1, 2024
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fix: restore example simulation in getting started #823

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38 changes: 24 additions & 14 deletions bioptim/examples/getting_started/example_simulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,10 @@
can be held in the solution.
"""

from bioptim import InitialGuess, Solution, Shooting, InterpolationType, SolutionIntegrator
import numpy as np

import pendulum
from bioptim import InitialGuessList, Solution, Shooting, InterpolationType, SolutionIntegrator


def main():
Expand All @@ -24,22 +25,31 @@ def main():

# Simulation the Initial Guess
# Interpolation: Constant
X = InitialGuess([0, 0, 0, 0])
U = InitialGuess([-1, 1])
X = InitialGuessList()
X["q"] = [0] * 2
X["qdot"] = [0] * 2

U = InitialGuessList()
U["tau"] = [-1, 1]

sol_from_initial_guess = Solution.from_initial_guess(ocp, [X, U])
sol_from_initial_guess = Solution.from_initial_guess(
ocp, [np.array([1 / 30]), X, U, InitialGuessList(), InitialGuessList()]
)
s = sol_from_initial_guess.integrate(shooting_type=Shooting.SINGLE, integrator=SolutionIntegrator.OCP)
print(f"Final position of q from single shooting of initial guess = {s.states['q'][:, -1]}")
print(f"Final position of q from single shooting of initial guess = {s['q'][-1]}")
# Uncomment the next line to animate the integration
# s.animate()

# Interpolation: Each frame (for instance, values from a previous optimization or from measured data)
U = np.random.rand(2, 31)
U = InitialGuess(U, interpolation=InterpolationType.EACH_FRAME)
random_u = np.random.rand(2, 30)
U = InitialGuessList()
U.add("tau", random_u, interpolation=InterpolationType.EACH_FRAME)

sol_from_initial_guess = Solution.from_initial_guess(ocp, [X, U])
sol_from_initial_guess = Solution.from_initial_guess(
ocp, [np.array([1 / 30]), X, U, InitialGuessList(), InitialGuessList()]
)
s = sol_from_initial_guess.integrate(shooting_type=Shooting.SINGLE, integrator=SolutionIntegrator.OCP)
print(f"Final position of q from single shooting of initial guess = {s.states['q'][:, -1]}")
print(f"Final position of q from single shooting of initial guess = {s['q'][-1]}")
# Uncomment the next line to animate the integration
# s.animate()

Expand All @@ -53,16 +63,16 @@ def main():
s_single = sol.integrate(shooting_type=Shooting.SINGLE, integrator=SolutionIntegrator.OCP)
# Uncomment the next line to animate the integration
# s_single.animate()
print(f"Final position of q from single shooting of the solution = {s_single.states['q'][:, -1]}")
s_multiple = sol.integrate(
shooting_type=Shooting.MULTIPLE, keep_intermediate_points=True, integrator=SolutionIntegrator.OCP
)
print(f"Final position of q from multiple shooting of the solution = {s_multiple.states['q'][:, -1]}")
print(f"Final position of q from single shooting of the solution = {s_single['q'][-1]}")
s_multiple = sol.integrate(shooting_type=Shooting.MULTIPLE, integrator=SolutionIntegrator.OCP)
print(f"Final position of q from multiple shooting of the solution = {s_multiple['q'][-1]}")

# Uncomment the following lines to graph the solution from the actual solution
# sol.graphs(shooting_type=Shooting.SINGLE)
# sol.graphs(shooting_type=Shooting.MULTIPLE)

return s, s_single, s_multiple


if __name__ == "__main__":
main()
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