Ref #127 Made brachistochrone example use reduction

README.rst

@@ -53,6 +53,7 @@ Features
 * Phaseless construction.
 * Discontinuous function modeling.
 * Hamiltonian "indirect" methods and definition of co-states.
+* Automated Noether's theorem and symplectic reduction.
 * Hermite-Simpson Collocation and Multiple Shooting methods.
 * Automated scaling.
 * Lots of examples and open-source.

examples/Classic/Brachistochrone/Brachistochrone.py

@@ -13,8 +13,8 @@
    .state('y', 'v*sin(theta)', 'm') \
    .state('v', 'g*sin(theta)', 'm/s')
 
-ocp.constant_of_motion('c1', 'lamX', 's/m')
-ocp.constant_of_motion('c2', 'lamY', 's/m')
+ocp.symmetry(['1', '0', '0'], 'm')
+ocp.symmetry(['0', '1', '0'], 'm')
 
 # Define controls
 ocp.control('theta', 'rad')
@@ -38,7 +38,7 @@
 
 ocp.scale(m='y', s='y/v', kg=1, rad=1, nd=1)
 
-bvp_solver = beluga.bvp_algorithm('Shooting', algorithm='SLSQP')
+bvp_solver = beluga.bvp_algorithm('Shooting')
 
 guess_maker = beluga.guess_generator(
     'auto',
@@ -59,10 +59,11 @@
 
 sol_set = beluga.solve(
     ocp=ocp,
-    method='indirect',
+    method='diffyg',
+    optim_options={'reduction': True},
     bvp_algorithm=bvp_solver,
     steps=continuation_steps,
     guess_generator=guess_maker,
-    autoscale=True,
+    autoscale=False,
     initial_helper=True
 )