simulator.py 文件源码

def _simulate_with_casadi_no_inputs(self, initcon, tsim, integrator,
                                        integrator_options):
        # Old way (10 times faster, but can't incorporate time
        # varying parameters/controls)
        xalltemp = [self._templatemap[i] for i in self._diffvars]
        xall = casadi.vertcat(*xalltemp)

        odealltemp = [value(self._rhsdict[i]) for i in self._derivlist]
        odeall = casadi.vertcat(*odealltemp)
        dae = {'x': xall, 'ode': odeall}

        if len(self._algvars) != 0:
            zalltemp = [self._templatemap[i] for i in self._simalgvars]
            zall = casadi.vertcat(*zalltemp)

            algalltemp = [value(i) for i in self._alglist]
            algall = casadi.vertcat(*algalltemp)
            dae['z'] = zall
            dae['alg'] = algall

        integrator_options['grid'] = tsim
        integrator_options['output_t0'] = True
        F = casadi.integrator('F', integrator, dae, integrator_options)
        sol = F(x0=initcon)
        profile = sol['xf'].full().T

        if len(self._algvars) != 0:
            algprofile = sol['zf'].full().T
            profile = np.concatenate((profile, algprofile), axis=1)

        return [tsim, profile]