01_Brachistochrone_Problem.py 文件源码

def inequality(prob, obj):
    x = prob.states_all_section(0)
    y = prob.states_all_section(1)
    v = prob.states_all_section(2)
    theta = prob.controls_all_section(0)
    tf = prob.time_final(-1)

    result = Condition()

    # lower bounds
    result.lower_bound(tf, 0.1)
    result.lower_bound(y, 0)
    result.lower_bound(theta, 0)

    # upper bounds
    # result.upper_bound(theta, np.pi/2)
    # result.upper_bound(y, x * np.tan(obj.theta0) + obj.h)

    return result()