Removed the deprecated RungeKutta Transcription

benchmark/benchmark_brachistochrone.py

@@ -28,10 +28,6 @@ def brachistochrone_min_time(transcription='gauss-lobatto', num_segments=8, tran
         t = dm.Radau(num_segments=num_segments,
                      order=transcription_order,
                      compressed=compressed)
-    elif transcription == 'runge-kutta':
-        t = dm.RungeKutta(num_segments=num_segments,
-                          order=transcription_order,
-                          compressed=compressed)
 
     phase = dm.Phase(ode_class=BrachistochroneODE, transcription=t)
 
@@ -139,11 +135,3 @@ def benchmark_gl_30_3_color_simul_uncompressed_snopt(self):
                                      transcription_order=3,
                                      compressed=False)
         self.run_asserts(p)
-
-    def benchmark_gl_30_3_color_simul_compressed_rk4(self):
-        p = brachistochrone_min_time(transcription='runge-kutta',
-                                     optimizer='SNOPT',
-                                     num_segments=30,
-                                     transcription_order=3,
-                                     compressed=True)
-        self.run_asserts(p)

dymos/__init__.py

@@ -1,7 +1,7 @@
 __version__ = '1.0.0-dev'
 
 from .phase import Phase
-from .transcriptions import GaussLobatto, Radau, RungeKutta
+from .transcriptions import GaussLobatto, Radau
 from .trajectory.trajectory import Trajectory
 from .run_problem import run_problem
 from .load_case import load_case

dymos/examples/battery_multibranch/test/test_multibranch_trajectory.py

@@ -375,233 +375,5 @@ def test_optimizer_segments_direct_connections(self):
         assert_near_equal(soc1m[-1], 0.18625395, 1e-6)
 
 
-@use_tempdirs
-class TestBatteryBranchingPhasesRungeKutta(unittest.TestCase):
-
-    def test_constraint_linkages_rk(self):
-        prob = om.Problem()
-
-        if optimizer == 'SNOPT':
-            opt = prob.driver = om.pyOptSparseDriver()
-            opt.options['optimizer'] = optimizer
-            opt.declare_coloring()
-
-            opt.opt_settings['Major iterations limit'] = 1000
-            opt.opt_settings['Major feasibility tolerance'] = 1.0E-6
-            opt.opt_settings['Major optimality tolerance'] = 1.0E-6
-            opt.opt_settings["Linesearch tolerance"] = 0.10
-            opt.opt_settings['iSumm'] = 6
-
-        else:
-            opt = prob.driver = om.ScipyOptimizeDriver()
-            opt.declare_coloring()
-
-        num_seg = 20
-        seg_ends, _ = lgl(num_seg + 1)
-
-        traj = prob.model.add_subsystem('traj',  dm.Trajectory())
-
-        # First phase: normal operation.
-        transcription = dm.RungeKutta(num_segments=num_seg)
-        phase0 = dm.Phase(ode_class=BatteryODE, transcription=transcription)
-        traj_p0 = traj.add_phase('phase0', phase0)
-
-        traj_p0.set_time_options(fix_initial=True, fix_duration=True)
-        traj_p0.add_state('state_of_charge', fix_initial=True, fix_final=False,
-                          targets=['SOC'], rate_source='dXdt:SOC')
-
-        # Second phase: normal operation.
-
-        phase1 = dm.Phase(ode_class=BatteryODE, transcription=transcription)
-        traj_p1 = traj.add_phase('phase1', phase1)
-
-        traj_p1.set_time_options(fix_initial=False, fix_duration=True)
-        traj_p1.add_state('state_of_charge', fix_initial=False, fix_final=False,
-                          targets=['SOC'], rate_source='dXdt:SOC')
-        traj_p1.add_objective('time', loc='final')
-
-        # Second phase, but with battery failure.
-
-        phase1_bfail = dm.Phase(ode_class=BatteryODE, ode_init_kwargs={'num_battery': 2},
-                                transcription=transcription)
-        traj_p1_bfail = traj.add_phase('phase1_bfail', phase1_bfail)
-
-        traj_p1_bfail.set_time_options(fix_initial=False, fix_duration=True)
-        traj_p1_bfail.add_state('state_of_charge', fix_initial=False, fix_final=False,
-                                targets=['SOC'], rate_source='dXdt:SOC')
-
-        # Second phase, but with motor failure.
-
-        phase1_mfail = dm.Phase(ode_class=BatteryODE, ode_init_kwargs={'num_motor': 2},
-                                transcription=transcription)
-        traj_p1_mfail = traj.add_phase('phase1_mfail', phase1_mfail)
-
-        traj_p1_mfail.set_time_options(fix_initial=False, fix_duration=True)
-        traj_p1_mfail.add_state('state_of_charge', fix_initial=False, fix_final=False,
-                                targets=['SOC'], rate_source='dXdt:SOC')
-
-        traj.link_phases(phases=['phase0', 'phase1'], vars=['state_of_charge', 'time'])
-        traj.link_phases(phases=['phase0', 'phase1_bfail'], vars=['state_of_charge', 'time'])
-        traj.link_phases(phases=['phase0', 'phase1_mfail'], vars=['state_of_charge', 'time'])
-
-        prob.model.options['assembled_jac_type'] = 'csc'
-        prob.model.linear_solver = om.DirectSolver(assemble_jac=True)
-
-        prob.setup()
-
-        prob['traj.phase0.t_initial'] = 0
-        prob['traj.phase0.t_duration'] = 1.0*3600
-
-        prob['traj.phase1.t_initial'] = 1.0*3600
-        prob['traj.phase1.t_duration'] = 1.0*3600
-
-        prob['traj.phase1_bfail.t_initial'] = 1.0*3600
-        prob['traj.phase1_bfail.t_duration'] = 1.0*3600
-
-        prob['traj.phase1_mfail.t_initial'] = 1.0*3600
-        prob['traj.phase1_mfail.t_duration'] = 1.0*3600
-
-        prob.set_solver_print(level=0)
-        dm.run_problem(prob)
-
-        soc0 = prob['traj.phase0.states:state_of_charge']
-        soc1 = prob['traj.phase1.states:state_of_charge']
-        soc1b = prob['traj.phase1_bfail.states:state_of_charge']
-        soc1m = prob['traj.phase1_mfail.states:state_of_charge']
-
-        # Final value for State of Charge in each segment should be a good test.
-        assert_near_equal(soc0[-1], 0.63464982, 1e-4)
-        assert_near_equal(soc1[-1], 0.23794217, 1e-4)
-        assert_near_equal(soc1b[-1], 0.0281523, 1e-4)
-        assert_near_equal(soc1m[-1], 0.18625395, 1e-4)
-
-    def test_single_phase_reverse_propagation_rk(self):
-        prob = om.Problem()
-
-        num_seg = 10
-        seg_ends, _ = lgl(num_seg + 1)
-
-        # First phase: normal operation.
-        transcription = dm.RungeKutta(num_segments=num_seg)
-        phase0 = dm.Phase(ode_class=BatteryODE, transcription=transcription)
-        traj_p0 = prob.model.add_subsystem('phase0', phase0)
-
-        traj_p0.set_time_options(fix_initial=True, fix_duration=True)
-        traj_p0.add_state('state_of_charge', fix_initial=True, fix_final=False,
-                          targets=['SOC'], rate_source='dXdt:SOC')
-
-        prob.setup()
-
-        prob['phase0.t_initial'] = 0
-        prob['phase0.t_duration'] = -1.0*3600
-        prob['phase0.states:state_of_charge'][:] = 0.63464982
-
-        prob.set_solver_print(level=0)
-        prob.run_model()
-
-        soc0 = prob['phase0.states:state_of_charge']
-        assert_near_equal(soc0[-1], 1.0, 1e-6)
-
-    def test_connected_linkages_rk(self):
-        prob = om.Problem()
-
-        if optimizer == 'SNOPT':
-            opt = prob.driver = om.pyOptSparseDriver()
-            opt.options['optimizer'] = optimizer
-            opt.declare_coloring()
-
-            opt.opt_settings['Major iterations limit'] = 1000
-            opt.opt_settings['Major feasibility tolerance'] = 1.0E-6
-            opt.opt_settings['Major optimality tolerance'] = 1.0E-6
-            opt.opt_settings["Linesearch tolerance"] = 0.10
-            opt.opt_settings['iSumm'] = 6
-
-        else:
-            opt = prob.driver = om.ScipyOptimizeDriver()
-            opt.declare_coloring()
-
-        num_seg = 20
-        seg_ends, _ = lgl(num_seg + 1)
-
-        traj = prob.model.add_subsystem('traj',  dm.Trajectory())
-
-        # First phase: normal operation.
-
-        transcription = dm.RungeKutta(num_segments=num_seg)
-        phase0 = dm.Phase(ode_class=BatteryODE, transcription=transcription)
-        traj_p0 = traj.add_phase('phase0', phase0)
-
-        traj_p0.set_time_options(fix_initial=True, fix_duration=True)
-        traj_p0.add_state('state_of_charge', fix_initial=True, fix_final=False,
-                          targets=['SOC'], rate_source='dXdt:SOC')
-
-        # Second phase: normal operation.
-
-        phase1 = dm.Phase(ode_class=BatteryODE, transcription=transcription)
-        traj_p1 = traj.add_phase('phase1', phase1)
-
-        traj_p1.set_time_options(fix_initial=False, fix_duration=True)
-        traj_p1.add_state('state_of_charge', fix_initial=False, fix_final=False,
-                          targets=['SOC'], rate_source='dXdt:SOC')
-        traj_p1.add_objective('time', loc='final')
-
-        # Second phase, but with battery failure.
-
-        phase1_bfail = dm.Phase(ode_class=BatteryODE, ode_init_kwargs={'num_battery': 2},
-                                transcription=transcription)
-        traj_p1_bfail = traj.add_phase('phase1_bfail', phase1_bfail)
-
-        traj_p1_bfail.set_time_options(fix_initial=False, fix_duration=True)
-        traj_p1_bfail.add_state('state_of_charge', fix_initial=False, fix_final=False,
-                                targets=['SOC'], rate_source='dXdt:SOC')
-
-        # Second phase, but with motor failure.
-        phase1_mfail = dm.Phase(ode_class=BatteryODE, ode_init_kwargs={'num_motor': 2},
-                                transcription=transcription)
-        traj_p1_mfail = traj.add_phase('phase1_mfail', phase1_mfail)
-
-        traj_p1_mfail.set_time_options(fix_initial=False, fix_duration=True)
-        traj_p1_mfail.add_state('state_of_charge', fix_initial=False, fix_final=False,
-                                targets=['SOC'], rate_source='dXdt:SOC')
-
-        traj.link_phases(phases=['phase0', 'phase1'], vars=['state_of_charge', 'time'],
-                         connected=True)
-        traj.link_phases(phases=['phase0', 'phase1_bfail'], vars=['state_of_charge', 'time'],
-                         connected=True)
-        traj.link_phases(phases=['phase0', 'phase1_mfail'], vars=['state_of_charge', 'time'],
-                         connected=True)
-
-        prob.model.options['assembled_jac_type'] = 'csc'
-        prob.model.linear_solver = om.DirectSolver(assemble_jac=True)
-
-        prob.setup()
-
-        prob['traj.phase0.t_initial'] = 0
-        prob['traj.phase0.t_duration'] = 1.0*3600
-
-        prob['traj.phase1.t_initial'] = 1.0*3600
-        prob['traj.phase1.t_duration'] = 1.0*3600
-
-        prob['traj.phase1_bfail.t_initial'] = 1.0*3600
-        prob['traj.phase1_bfail.t_duration'] = 1.0*3600
-
-        prob['traj.phase1_mfail.t_initial'] = 1.0*3600
-        prob['traj.phase1_mfail.t_duration'] = 1.0*3600
-
-        prob.set_solver_print(level=0)
-        dm.run_problem(prob)
-
-        soc0 = prob['traj.phase0.states:state_of_charge']
-        soc1 = prob['traj.phase1.states:state_of_charge']
-        soc1b = prob['traj.phase1_bfail.states:state_of_charge']
-        soc1m = prob['traj.phase1_mfail.states:state_of_charge']
-
-        # Final value for State of Chrage in each segment should be a good test.
-        assert_near_equal(soc0[-1], 0.63464982, 5e-5)
-        assert_near_equal(soc1[-1], 0.23794217, 5e-5)
-        assert_near_equal(soc1b[-1], 0.0281523, 5e-5)
-        assert_near_equal(soc1m[-1], 0.18625395, 5e-5)
-
-
 if __name__ == '__main__':  # pragma: no cover
     unittest.main()