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Additional box pinning in the PVG optimizer
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pin r0, v0 and the burntime of fixed phases

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
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lamont-granquist committed Aug 11, 2023
1 parent 83323fd commit 4c3a8f2
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Showing 2 changed files with 32 additions and 8 deletions.
10 changes: 8 additions & 2 deletions MechJeb2/MechJebLib/PVG/InputLayout.cs
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Expand Up @@ -13,9 +13,15 @@ namespace MechJebLib.PVG
{
public struct InputLayout
{
public const int INPUT_LAYOUT_LEN = 15;
public const int BT_INDEX = 14;
public const int RX_INDEX = 0;
public const int RY_INDEX = 1;
public const int RZ_INDEX = 2;
public const int VX_INDEX = 3;
public const int VY_INDEX = 4;
public const int VZ_INDEX = 5;
public const int M_INDEX = 12;
public const int BT_INDEX = 14;
public const int INPUT_LAYOUT_LEN = 15;

public V3 R;

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30 changes: 24 additions & 6 deletions MechJeb2/MechJebLib/PVG/Optimizer.cs
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Expand Up @@ -233,12 +233,29 @@ private void UnSafeRun()

for (int i = 0; i < _phases.Count; i++)
{
if (!_phases[i].Coast && !_phases[i].Infinite)
// pin the maximum time of any finite burn phase to below the tau value of the stage
if (!_phases[i].Coast && !_phases[i].Infinite && _phases[i].OptimizeTime)
bndu[i * InputLayout.INPUT_LAYOUT_LEN + InputLayout.BT_INDEX] = _phases[i].tau * 0.999;

// pin the time of any phase which isn't allowed to be optimized
if (!_phases[i].OptimizeTime)
bndu[i * InputLayout.INPUT_LAYOUT_LEN + InputLayout.BT_INDEX] =
bndl[i * InputLayout.INPUT_LAYOUT_LEN + InputLayout.BT_INDEX] = _phases[i].bt;

// pin the m0 of the stage based on the value computed for the phase
// FIXME: stage and a half or coasts-within-stages would require dropping this.
bndl[i * InputLayout.INPUT_LAYOUT_LEN + InputLayout.M_INDEX] = _phases[i].m0;
bndu[i * InputLayout.INPUT_LAYOUT_LEN + InputLayout.M_INDEX] = _phases[i].m0;
}

// pin r0 and v0 by box equality constraints in the optimizer
bndl[InputLayout.RX_INDEX] = bndu[InputLayout.RX_INDEX] = _problem.R0.x;
bndl[InputLayout.RY_INDEX] = bndu[InputLayout.RY_INDEX] = _problem.R0.y;
bndl[InputLayout.RZ_INDEX] = bndu[InputLayout.RZ_INDEX] = _problem.R0.z;
bndl[InputLayout.VX_INDEX] = bndu[InputLayout.VX_INDEX] = _problem.V0.x;
bndl[InputLayout.VY_INDEX] = bndu[InputLayout.VY_INDEX] = _problem.V0.y;
bndl[InputLayout.VZ_INDEX] = bndu[InputLayout.VZ_INDEX] = _problem.V0.z;

alglib.minlmcreatev(ResidualLayout.RESIDUAL_LAYOUT_LEN * _phases.Count, yGuess, LmDiffStep, out _state);
alglib.minlmsetbc(_state, bndl, bndu);
alglib.minlmsetcond(_state, LmEpsx, MaxIter);
Expand Down Expand Up @@ -318,9 +335,10 @@ private void Shooting(Solution? solution = null)
{
y0.R = _problem.R0;
y0.V = _problem.V0;
y0.M = _problem.M0;
}

y0.M = phase.m0;

y0.CopyTo(_initial[p]);

double bt = phase.OptimizeTime ? y0.Bt : phase.bt;
Expand Down Expand Up @@ -365,7 +383,6 @@ public Optimizer Bootstrap(V3 pv0, V3 pr0)
{
y0.R = _problem.R0;
y0.V = _problem.V0;
y0.M = phase.m0;
y0.PV = pv0;
y0.PR = pr0;
y0.Bt = phase.bt;
Expand All @@ -375,9 +392,10 @@ public Optimizer Bootstrap(V3 pv0, V3 pr0)
_terminal[p - 1].CopyTo(_initial[p]);
y0.CopyFrom(_initial[p]);
y0.Bt = phase.bt;
y0.M = phase.m0;
}

y0.M = phase.m0;

y0.CopyTo(_initial[p]);

double tf = t0 + y0.Bt;
Expand Down Expand Up @@ -450,7 +468,6 @@ public Optimizer Bootstrap(Solution solution)
{
y0.R = _problem.R0;
y0.V = _problem.V0;
y0.M = _problem.M0;
y0.Bt = phase.bt;
y0.PV = solution.Pv(_problem.T0);
y0.PR = solution.Pr(_problem.T0);
Expand All @@ -460,9 +477,10 @@ public Optimizer Bootstrap(Solution solution)
_terminal[p - 1].CopyTo(_initial[p]);
y0.CopyFrom(_initial[p]);
y0.Bt = phase.bt;
y0.M = phase.m0;
}

y0.M = phase.m0;

y0.CopyTo(_initial[p]);

double tf = t0 + y0.Bt;
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