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test_robust_ddp_ddp_solver.TestDDPSolver Class Reference
Inheritance diagram for test_robust_ddp_ddp_solver.TestDDPSolver:
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Collaboration diagram for test_robust_ddp_ddp_solver.TestDDPSolver:
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Public Member Functions

 setUp (self)
 test_running_cost (self)
 test_running_cost_with_errors (self)
 test_forward_rollout (self)
 test_ddp_on_toy_linear_system (self)
 test_ddp_decreases_cost (self)
 test_ddp_respects_bounds (self)
 test_backward_pass_structure (self)
 test_forward_line_search (self)

Public Attributes

 cfg
 params = DynamicsParams.from_config(self.cfg)
 engine_wrapper = Mock(spec=EngineWrapper)

Detailed Description

Test DDP solver on toy linear system.

Definition at line 20 of file test_robust_ddp_ddp_solver.py.

Member Function Documentation

◆ setUp()

test_robust_ddp_ddp_solver.TestDDPSolver.setUp ( self) 
Set up test fixtures.

Definition at line 23 of file test_robust_ddp_ddp_solver.py.

◆ test_backward_pass_structure()

test_robust_ddp_ddp_solver.TestDDPSolver.test_backward_pass_structure ( self) 
Test backward pass produces correct structure.

Definition at line 275 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, and engine_wrapper.

◆ test_ddp_decreases_cost()

test_robust_ddp_ddp_solver.TestDDPSolver.test_ddp_decreases_cost ( self) 
Test that DDP decreases cost over iterations.

Definition at line 185 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, and engine_wrapper.

◆ test_ddp_on_toy_linear_system()

test_robust_ddp_ddp_solver.TestDDPSolver.test_ddp_on_toy_linear_system ( self) 
Test DDP on a simplified toy linear system.

Definition at line 133 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, and engine_wrapper.

◆ test_ddp_respects_bounds()

test_robust_ddp_ddp_solver.TestDDPSolver.test_ddp_respects_bounds ( self) 
Test that DDP respects control bounds [0, 1].

Definition at line 228 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, and engine_wrapper.

◆ test_forward_line_search()

test_robust_ddp_ddp_solver.TestDDPSolver.test_forward_line_search ( self) 
Test forward line search.

Definition at line 319 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, and engine_wrapper.

◆ test_forward_rollout()

test_robust_ddp_ddp_solver.TestDDPSolver.test_forward_rollout ( self) 
Test forward rollout.

Definition at line 109 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, engine_wrapper, feedtwin.comps.correlations.FittingContext.params, feedtwin.model.catalog.Part.params, feedtwin.model.component.ComponentInstance.params, feedtwin.model.spec.ComponentSpec.params, feedtwin.pid.document.PidEdge.params, feedtwin.pid.document.PidNode.params, imu_calibration.AccelerometerCalibrator.params, imu_calibration.GyroscopeCalibrator.params, imu_calibration.IMUCalibrator.params, imu_calibration.MagnetometerCalibrator.params, and params.

◆ test_running_cost()

test_robust_ddp_ddp_solver.TestDDPSolver.test_running_cost ( self) 
Test running cost computation.

Definition at line 63 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, and cfg.

◆ test_running_cost_with_errors()

test_robust_ddp_ddp_solver.TestDDPSolver.test_running_cost_with_errors ( self) 
Test running cost with tracking errors.

Definition at line 87 of file test_robust_ddp_ddp_solver.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, and cfg.

Member Data Documentation

◆ cfg

test_robust_ddp_ddp_solver.TestDDPSolver.cfg
Initial value:
= ControllerConfig(
N=10,
dt=0.01,
qF=1.0,
qMR=1.0,
qGas=0.1,
qSwitch=0.01,
max_iterations=5,
convergence_tol=1e-4,
)

Definition at line 26 of file test_robust_ddp_ddp_solver.py.

Referenced by test_combustion_stability_audit.TestIntegration.test_acoustic_report_only_by_default(), test_robust_ddp_reference.TestReferenceGeneration.test_altitude_command(), test_robust_ddp_reference.TestReferenceGeneration.test_altitude_command_below_goal(), test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_altitude_mode(), test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_slew_rate(), test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_thrust_mode(), test_combustion_stability_audit.TestIntegration.test_chug_gate_is_the_gain_margin_band_minimum(), test_robust_ddp_safety_filter.TestSafetyFilter.test_compute_action_cost(), test_robust_ddp_reference.TestReferenceGeneration.test_estimate_thrust_bounds(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_clamping(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_safe(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_ullage(), test_robust_ddp_safety_filter.TestSafetyFilter.test_find_best_safe_action(), test_forward_rollout(), test_robust_ddp_safety_filter.TestSafetyFilter.test_generate_action_candidates(), test_robust_ddp_identify.TestParameterIdentification.test_get_params(), test_robust_ddp_identify.TestParameterIdentification.test_identify_alpha_F(), test_robust_ddp_identify.TestParameterIdentification.test_identify_alpha_O(), test_robust_ddp_identify.TestParameterIdentification.test_identify_copv_coefficients(), test_robust_ddp_identify.TestParameterIdentification.test_identify_tau_line_F(), test_robust_ddp_identify.TestParameterIdentification.test_identify_tau_line_O(), test_combustion_stability_audit.TestIntegration.test_missing_injector_drop_is_recorded_and_zero_is_zero(), test_combustion_stability_audit.TestIntegration.test_model_error_fails_closed(), test_robust_ddp_identify.TestParameterIdentification.test_parameter_bounds(), test_robust_ddp_reference.TestReferenceGeneration.test_project_thrust_bounds(), test_robust_ddp_reference.TestReferenceGeneration.test_project_thrust_slew_rate(), test_running_cost(), test_running_cost_with_errors(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_copv_min(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_safe(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_ullage_max(), and test_robust_ddp_identify.TestParameterIdentification.test_update_config().

◆ engine_wrapper

test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper = Mock(spec=EngineWrapper)

Definition at line 41 of file test_robust_ddp_ddp_solver.py.

Referenced by test_backward_pass_structure(), test_robust_ddp_safety_filter.TestSafetyFilter.test_compute_action_cost(), test_ddp_decreases_cost(), test_ddp_on_toy_linear_system(), test_ddp_respects_bounds(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_clamping(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_safe(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_ullage(), test_robust_ddp_safety_filter.TestSafetyFilter.test_find_best_safe_action(), test_forward_line_search(), test_forward_rollout(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_mr(), and test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_safe().

◆ params

test_robust_ddp_ddp_solver.TestDDPSolver.params = DynamicsParams.from_config(self.cfg)

Definition at line 38 of file test_robust_ddp_ddp_solver.py.

Referenced by test_robust_ddp_dynamics.TestDynamics.test_blowdown_decreases_pressure(), test_robust_ddp_dynamics.TestDynamics.test_control_clamping(), test_robust_ddp_dynamics.TestDynamics.test_copv_blowdown(), test_robust_ddp_dynamics.TestDynamics.test_feed_pressure_lag(), test_forward_rollout(), test_robust_ddp_dynamics.TestDynamics.test_linearize_accuracy(), test_robust_ddp_dynamics.TestDynamics.test_linearize_shape(), test_robust_ddp_dynamics.TestDynamics.test_pressurization_increases_pressure(), test_robust_ddp_dynamics.TestDynamics.test_state_non_negative(), test_robust_ddp_dynamics.TestDynamics.test_step_basic(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_basic(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_validation(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_widens(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_with_large_w_bar(), test_robust_ddp_dynamics.TestDynamics.test_ullage_volume_increases(), and test_robust_ddp_dynamics.TestDynamics.test_zero_mass_flow().

The documentation for this class was generated from the following file: