Fixed an issue with time promotion in the new Radau implementation.

dymos/examples/balanced_field/doc/test_doc_balanced_field_length.py

@@ -257,3 +257,7 @@ def test_balanced_field_length_for_docs(self):
         assert_near_equal(2114.387, sol_r_f_rto, tolerance=0.01)
         assert_near_equal(2114.387, sim_r_f_climb, tolerance=0.01)
         assert_near_equal(2114.387, sim_r_f_rto, tolerance=0.01)
+
+
+if __name__ == '__main__':
+    unittest.main()

dymos/examples/brachistochrone/test/test_brachistochrone_control_rate_targets.py

@@ -138,7 +138,7 @@ def test_brachistochrone_control_rate_targets(self):
 
                     with self.subTest(f'{tx_name=} {control_target_method=} {control_type=}'):
 
-                        p = om.Problem(model=om.Group())
+                        p = om.Problem(model=om.Group(), reports=True)
                         p.driver = om.ScipyOptimizeDriver()
                         p.driver.declare_coloring()
 
@@ -170,7 +170,7 @@ def test_brachistochrone_control_rate_targets(self):
 
                         phase.add_control('int_theta', lower=0.0, upper=None, fix_initial=True,
                                           rate_targets=_unspecified if control_target_method == 'implicit' else ['theta'],
-                                          control_type=control_type, order=7)
+                                          control_type=control_type, order=7, continuity=True)
 
                         phase.add_parameter('g', units='m/s**2', opt=False, val=9.80665)
 
@@ -187,7 +187,7 @@ def test_brachistochrone_control_rate_targets(self):
 
                         phase.set_state_val('x', [0, 10])
                         phase.set_state_val('y', [10, 5])
-                        phase.set_state_val('v', [0, 9.9])
+                        phase.set_state_val('v', [0.001, 9.9])
                         phase.set_control_val('int_theta', [0, 100], units='deg*s')
 
                         p.run_model()

dymos/examples/brachistochrone/test/test_ex_brachistochrone_vector_states.py

@@ -11,7 +11,7 @@
 OPT, OPTIMIZER = set_pyoptsparse_opt('SNOPT')
 
 
-# @use_tempdirs
+@use_tempdirs
 class TestBrachistochroneVectorStatesExample(unittest.TestCase):
 
     def assert_results(self, p):

dymos/phase/test/test_time_targets.py

@@ -136,18 +136,11 @@ def _make_problem(self, transcription, num_seg, transcription_order=3, input_ini
 
         p.setup(check=True, force_alloc_complex=True)
 
-        p['phase0.t_initial'] = 1.0
-        p['phase0.t_duration'] = 2.0
-
-        if transcription == 'explicit-shooting':
-            p['phase0.initial_states:x'] = 0
-            p['phase0.initial_states:y'] = 10
-            p['phase0.initial_states:v'] = 0
-        else:
-            p['phase0.states:x'] = phase.interp('x', [0, 10])
-            p['phase0.states:y'] = phase.interp('y', [10, 5])
-            p['phase0.states:v'] = phase.interp('v', [0, 9.9])
-        p['phase0.controls:theta'] = phase.interp('theta', [0.01, 100.5])
+        phase.set_time_val(initial=1.0, duration=2.0)
+        phase.set_state_val('x', vals=[0, 10])
+        phase.set_state_val('y', vals=[10, 5])
+        phase.set_state_val('v', vals=[1.0E-6, 9.9])
+        phase.set_control_val('theta', vals=[0.01, 100.5], units='deg')
 
         return p
 
@@ -226,15 +219,11 @@ def test_radau(self):
 
                 time_phase_all = p[f'phase0.timeseries.{time_name}_phase'].ravel()
 
-                assert_near_equal(p['phase0.rhs_all.time_phase'][-1], 1.8016, tolerance=1.0E-3)
+                assert_near_equal(p['phase0.ode_all.time_phase'][-1], 1.8016, tolerance=1.0E-3)
 
-                assert_near_equal(p['phase0.rhs_all.t_initial'], p['phase0.t_initial'])
+                assert_near_equal(p['phase0.ode_all.time_phase'], time_phase_all)
 
-                assert_near_equal(p['phase0.rhs_all.t_duration'], p['phase0.t_duration'])
-
-                assert_near_equal(p['phase0.rhs_all.time_phase'], time_phase_all)
-
-                assert_near_equal(p['phase0.rhs_all.time'], time_all)
+                assert_near_equal(p['phase0.ode_all.time'], time_all)
 
                 exp_out = p.model.phase0.simulate()
 
@@ -360,15 +349,11 @@ def test_radau_targets_are_inputs(self):
 
         time_phase_all = p['phase0.t_phase']
 
-        assert_near_equal(p['phase0.rhs_all.time_phase'][-1], 1.8016, tolerance=1.0E-3)
-
-        assert_near_equal(p['phase0.rhs_all.t_initial'], p['phase0.t_initial'])
-
-        assert_near_equal(p['phase0.rhs_all.t_duration'], p['phase0.t_duration'])
+        assert_near_equal(p['phase0.ode_all.time_phase'][-1], 1.8016, tolerance=1.0E-3)
 
-        assert_near_equal(p['phase0.rhs_all.time_phase'], time_phase_all)
+        assert_near_equal(p['phase0.ode_all.time_phase'], time_phase_all)
 
-        assert_near_equal(p['phase0.rhs_all.time'], time_all)
+        assert_near_equal(p['phase0.ode_all.time'], time_all)
 
         exp_out = p.model._get_subsystem('phase0').simulate()
 

dymos/phase/test/test_timeseries.py

@@ -2,6 +2,7 @@
 import warnings
 
 import numpy as np
+from numpy.testing import assert_allclose
 
 from scipy.interpolate import interp1d
 
@@ -197,13 +198,11 @@ def test_timeseries_radau(self, test_smaller_timeseries=False):
         t_sol = p.get_val('phase0.timeseries.time')
         t_sim = exp_out.get_val('phase0.timeseries.time')
 
-        p.model.list_outputs()
-
         for state_name, rate_name in (('x', 'xdot'), ('y', 'ydot'), ('v', 'vdot')):
             rate_sol = p.get_val(f'phase0.timeseries.{rate_name}')
             rate_sim = exp_out.get_val(f'phase0.timeseries.{rate_name}')
             rate_t_sim = interp1d(t_sim.ravel(), rate_sim.ravel())
-            assert_near_equal(rate_t_sim(t_sol), rate_sol, tolerance=1.0E-3)
+            assert_allclose(rate_t_sim(t_sol), rate_sol, rtol=1.0E-3, atol=1.0E-3)
 
     def test_timeseries_radau_smaller_timeseries(self):
         self.test_timeseries_radau(test_smaller_timeseries=True)

dymos/transcriptions/pseudospectral/components/radau_iter_group.py

@@ -201,12 +201,10 @@ def configure_io(self, phase):
             rate_source = options['rate_source']
             shape = options['shape']
 
-            # TODO: compressed transcription is not currently supported because promoting duplicate
-            # indices currently has a bug in OpenMDAO <= 3.35.0
             for tgt in options['targets']:
                 self.promotes('ode_all', [(tgt, f'states:{name}')],
                               src_indices=om.slicer[state_src_idxs_input_to_all, ...])
-                            #   src_shape=(nin,) + shape)
+
             self.set_input_defaults(f'states:{name}', val=1.0, units=units, src_shape=(nin,) + shape)
 
             self.promotes('defects', inputs=(f'states:{name}',),

dymos/transcriptions/pseudospectral/components/test/test_radau_iter_group.py

@@ -19,7 +19,7 @@
 RadauIterGroup = GroupWrapperConfig(RadauIterGroup, [PhaseStub()])
 
 
-# @use_tempdirs
+@use_tempdirs
 class TestRadauIterGroup(unittest.TestCase):
 
     def test_solve_segments(self):

dymos/transcriptions/pseudospectral/radau_new.py

@@ -120,8 +120,8 @@ def configure_time(self, phase):
                     flat_src_idxs = True
                     src_shape = (1,)
 
-                phase.promotes('ode_all', inputs=[(t, name)], src_indices=src_idxs,
-                               flat_src_indices=flat_src_idxs, src_shape=src_shape)
+                phase.ode_iter_group.promotes('ode_all', any=[(t, name)], src_indices=src_idxs,
+                                              flat_src_indices=flat_src_idxs, src_shape=src_shape)
 
                 phase.promotes('boundary_vals', inputs=[(t, name)], src_indices=endpoint_src_idxs,
                                flat_src_indices=flat_src_idxs, src_shape=src_shape)