added more accurate roots for collocation points

do-mpc · Jun 28, 2018 · 85cc7df · 85cc7df
1 parent 7f2f669
commit 85cc7df
Showing 1 changed file with 2 additions and 12 deletions.
diff --git a/code/setup_nlp.py b/code/setup_nlp.py
@@ -165,19 +165,9 @@ def setup_nlp(model, optimizer):
 
       # Choose collocation points
       if coll=='legendre':    # Legendre collocation points
-        tau_root = (
-          [0,0.500000],
-          [0,0.211325,0.788675],
-          [0,0.112702,0.500000,0.887298],
-          [0,0.069432,0.330009,0.669991,0.930568],
-          [0,0.046910,0.230765,0.500000,0.769235,0.953090])[deg-1]
+        tau_root = [0]+collocation_points(deg, 'legendre')
       elif coll=='radau':     # Radau collocation points
-        tau_root = (
-          [0,1.000000],
-          [0,0.333333,1.000000],
-          [0,0.155051,0.644949,1.000000],
-          [0,0.088588,0.409467,0.787659,1.000000],
-          [0,0.057104,0.276843,0.583590,0.860240,1.000000])[deg-1]
+        tau_root = [0]+collocation_points(deg, 'radau')
       else:
         raise Exception('Unknown collocation scheme')