Packaging

README.md

@@ -18,7 +18,7 @@ Open-source code for paper: "Direct Multiple Shooting for Computationally Effici
 
 - Activate the virtual environment: `.\.env\Scripts\activate`
 
-- Install dependencies with: `pip install -r requirements.txt`
+- Install dependencies with: `pip install -e .`
 
 - deactivate virtual environment by typing: `deactivate`
 

examples/getting_started_ms.py

@@ -0,0 +1,31 @@
+from mseetc.train import Train
+from mseetc.track import Track
+from mseetc.ms.ocp import casadiSolver
+
+if __name__ == '__main__':
+
+
+    # Example on how to solve an OCP
+
+    train = Train(config={'id':'NL_Intercity_VIRM6', 'max deceleration':None, 'max acceleration':{'unit':'m/s^2', 'value':0.45}}, pathJSON='../trains')
+
+    track = Track(config={'id':'00_var_speed_limit_100'}, pathJSON='../tracks')
+
+    opts = {'numIntervals':200, 'integrationMethod':'RK', 'integrationOptions':{'numApproxSteps':1}, 'energyOptimal':True}
+
+    solver = casadiSolver(train, track, opts)
+
+    df, stats = solver.solve(1541)
+
+    # print some info
+    if df is not None:
+
+        print("")
+        print("Objective value = {:.2f} {}".format(stats['Cost'], 'kWh' if solver.opts.energyOptimal else 's'))
+        print("")
+        print("Maximum acceleration: {:5.2f}, with bound {}".format(df.max()['Acceleration [m/s^2]'], train.accMax if train.accMax is not None else 'None'))
+        print("Maximum deceleration: {:5.2f}, with bound {}".format(df.min()['Acceleration [m/s^2]'], train.accMin if train.accMin is not None else 'None'))
+
+    else:
+
+        print("Solver failed!")

data.py → mseetc/data.py

@@ -1,4 +1,3 @@
-
 def dataLosses():
 
     configA = {

efficiency.py → mseetc/efficiency.py

@@ -1,9 +1,8 @@
-
 import numpy as np
 import pandas as pd
 import casadi as ca
 
-from data import dataLosses
+from .data import dataLosses
 
 def forceToLoad(force, velocity, forceMax, powerMax):
     "Convert force [N] to load [%] (force must be positive)."

ocp.py → mseetc/ms/ocp.py

@@ -2,11 +2,11 @@
 import pandas as pd
 import casadi as ca
 
-from train import *
+from ..train import *
 
-from track import computeDiscretizationPoints
+from ..track import computeDiscretizationPoints
 
-from utils import Options, var, postProcessDataFrame, splitLosses
+from ..utils import Options, var, postProcessDataFrame, splitLosses
 
 
 class OptionsCasadiSolver(Options):
@@ -407,34 +407,3 @@ def solve(self, terminalTime, initialTime=0, terminalVelocity=1, initialVelocity
             df = postProcessDataFrame(df, self.points, self.train)
 
         return df, stats
-
-
-if __name__ == '__main__':
-
-    from train import Train
-    from track import Track
-
-    # Example on how to solve an OCP
-
-    train = Train(config={'id':'NL_intercity_VIRM6', 'max deceleration':None, 'max acceleration':{'unit':'m/s^2', 'value':0.45}})
-
-    track = Track(config={'id':'00_var_speed_limit_100'})
-
-    opts = {'numIntervals':200, 'integrationMethod':'RK', 'integrationOptions':{'numApproxSteps':1}, 'energyOptimal':True}
-
-    solver = casadiSolver(train, track, opts)
-
-    df, stats = solver.solve(1541)
-
-    # print some info
-    if df is not None:
-
-        print("")
-        print("Objective value = {:.2f} {}".format(stats['Cost'], 'kWh' if solver.opts.energyOptimal else 's'))
-        print("")
-        print("Maximum acceleration: {:5.2f}, with bound {}".format(df.max()['Acceleration [m/s^2]'], train.accMax if train.accMax is not None else 'None'))
-        print("Maximum deceleration: {:5.2f}, with bound {}".format(df.min()['Acceleration [m/s^2]'], train.accMin if train.accMin is not None else 'None'))
-
-    else:
-
-        print("Solver failed!")

track.py → mseetc/track.py

@@ -6,7 +6,7 @@
 import numpy as np
 import pandas as pd
 
-from utils import checkTTOBenchVersion, convertUnit
+from .utils import checkTTOBenchVersion, convertUnit
 
 def importTuples(tuples, xLabel, yLabels):
     """

train.py → mseetc/train.py

@@ -3,7 +3,7 @@
 import numpy as np
 import casadi as ca
 
-from utils import Options, checkTTOBenchVersion, convertUnit, splitLosses
+from .utils import Options, checkTTOBenchVersion, convertUnit, splitLosses
 
 class Train():
 

utils.py → mseetc/utils.py

@@ -260,7 +260,7 @@ def postProcessDataFrame(dfIn, points, train, CVODES=True, integrateLosses=False
 
     elif integrateLosses:
 
-        from train import TrainIntegrator
+        from .train import TrainIntegrator
 
         trainIntegrator = TrainIntegrator(train.exportModel(), 'RK')
         powTr, powRgb = splitLosses(train.powerLosses)
@@ -295,7 +295,7 @@ def postProcessDataFrame(dfIn, points, train, CVODES=True, integrateLosses=False
 
     if integrateRollingResistance:
 
-        from train import TrainIntegrator
+        from .train import TrainIntegrator
 
         trainIntegrator = TrainIntegrator(train.exportModel(), 'RK')
         trainIntegrator.initRollingResistance(solver='CVODES')

setup.py

@@ -0,0 +1,13 @@
+from setuptools import setup, find_packages
+
+setup(
+    name='mseetc',
+    version='0.0.1',
+    url='https://github.com/dkouzoup/ms-eetc.git',
+    author='Dimitris Kouzoupis',
+    description='Multiple shooting for computationally \
+        efficient train trajectory optimization',
+    packages=find_packages(),    
+    install_requires=['numpy == 1.22.2', 'pandas == 1.4.0', \
+        'casadi==3.6.3', 'matplotlib==3.5.1', 'progressbar2'],
+)

simulations/figure10.py

@@ -5,11 +5,11 @@
 import pandas as pd
 import matplotlib.pyplot as plt
 
-from train import Train
-from track import Track
-from ocp import casadiSolver
+from mseetc.train import Train
+from mseetc.track import Track
+from mseetc.ms.ocp import casadiSolver
 
-from utils import latexify
+from mseetc.utils import latexify
 
 vMin = 1
 

simulations/figure2.py

@@ -1,13 +1,10 @@
-import sys
-sys.path.append('..')
-
 import numpy as np
 
 import matplotlib.pyplot as plt
 
-from utils import latexify, show, saveFig
-from train import Train
-from efficiency import motorLossesFunction, loadToForce
+from mseetc.utils import latexify, show, saveFig
+from mseetc.train import Train
+from mseetc.efficiency import motorLossesFunction, loadToForce
 
 
 def plotSplines(train, data):

simulations/figure3.py

@@ -1,13 +1,10 @@
-import sys
-sys.path.append('..')
-
 import numpy as np
 
 import matplotlib.pyplot as plt
 from matplotlib.transforms import Bbox
 
-from utils import latexify, show, saveFig
-from efficiency import loadToForce, totalLossesFunction
+from mseetc.utils import latexify, show, saveFig
+from mseetc.efficiency import loadToForce, totalLossesFunction
 
 
 def plotSpline(loads, velocities, splineFun, forceMax, powerMax, axObj=None, type='3d'):
@@ -99,7 +96,7 @@ def plotSplines(loads, velocities, splineFun1, splineFun2, forceMax, powerMax, p
 
 if __name__ == '__main__':
 
-    from train import Train
+    from mseetc.train import Train
 
     train = Train(config={'id':'NL_Intercity_VIRM6'}, pathJSON='../trains')
 

simulations/figure4.py

@@ -1,14 +1,11 @@
-import sys
-sys.path.append('..')
-
 import pandas as pd
 import numpy as np
 import casadi as ca
 
 import matplotlib.pyplot as plt
 
-from utils import vecToNum, IVP, latexify, show, saveFig
-from train import Train, TrainIntegrator
+from mseetc.utils import vecToNum, IVP, latexify, show, saveFig
+from mseetc.train import Train, TrainIntegrator
 
 
 if __name__ == '__main__':

simulations/figure5.py

@@ -1,15 +1,12 @@
-import sys
-sys.path.append('..')
-
 import json
 
 import matplotlib.pyplot as plt
 
-from ocp import casadiSolver
-from train import Train
-from track import Track
-from utils import latexify, show, saveFig, postProcessDataFrame
-from efficiency import totalLossesFunction
+from mseetc.ms.ocp import casadiSolver
+from mseetc.train import Train
+from mseetc.track import Track
+from mseetc.utils import latexify, show, saveFig, postProcessDataFrame
+from mseetc.efficiency import totalLossesFunction
 
 
 def plot(df0b_list, df1b_list, df2b_list, tp, figSize=None, filename=None):

simulations/figure6.py

@@ -1,16 +1,13 @@
-import sys
-sys.path.append('..')
-
 import json
 
 import numpy as np
 import matplotlib.pyplot as plt
 
-from utils import postProcessDataFrame, latexify, show, saveFig
-from train import Train
-from track import Track, computeAltitude
-from ocp import casadiSolver
-from efficiency import totalLossesFunction
+from mseetc.utils import postProcessDataFrame, latexify, show, saveFig
+from mseetc.train import Train
+from mseetc.track import Track, computeAltitude
+from mseetc.ms.ocp import casadiSolver
+from mseetc.efficiency import totalLossesFunction
 
 
 def plotThreeTrajectories(df0, df1, df2, withSpeedLimits=False, withAltitude=False, figSize=None, \

simulations/figure7.py

@@ -6,7 +6,7 @@
 
 from figure6 import runSimulation
 
-from utils import latexify, show, saveFig
+from mseetc.utils import latexify, show, saveFig
 
 
 def plotColormapZV(df_perfect, df_static, df_dynamic, train, figSize=None, filename=None):

simulations/table3.py

@@ -1,15 +1,12 @@
-import sys
-sys.path.append('..')
-
 import json
 
 import pandas as pd
 
-from utils import postProcessDataFrame
-from train import Train
-from track import Track
-from ocp import casadiSolver
-from efficiency import totalLossesFunction
+from mseetc.utils import postProcessDataFrame
+from mseetc.train import Train
+from mseetc.track import Track
+from mseetc.ms.ocp import casadiSolver
+from mseetc.efficiency import totalLossesFunction
 
 
 if __name__ == '__main__':

unitTests/curvatureResistance/curvatureResistance.py

@@ -3,12 +3,10 @@
 import sys
 import unittest
 
-sys.path.append('../..')
-
-from efficiency import totalLossesFunction
-from ocp import casadiSolver
-from train import Train
-from track import Track
+from mseetc.efficiency import totalLossesFunction
+from mseetc.ocp import casadiSolver
+from mseetc.train import Train
+from mseetc.track import Track
 
 
 class TestCurvatureResistance(unittest.TestCase):
@@ -290,4 +288,4 @@ def testClothoidApproximation(self):
 
 if __name__ == '__main__':
 
-    unittest.main()
+    unittest.main()