Updated Notebooks
Radu C. Martin
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@ -1641,7 +1641,7 @@
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"name": "python",
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"name": "python",
|
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"nbconvert_exporter": "python",
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"nbconvert_exporter": "python",
|
||||||
"pygments_lexer": "ipython3",
|
"pygments_lexer": "ipython3",
|
||||||
"version": "3.9.3"
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"version": "3.9.4"
|
||||||
},
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},
|
||||||
"toc-autonumbering": true,
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"toc-autonumbering": true,
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"toc-showcode": false,
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"toc-showcode": false,
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@ -3282,7 +3282,7 @@
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"name": "python",
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"name": "python",
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"nbconvert_exporter": "python",
|
"nbconvert_exporter": "python",
|
||||||
"pygments_lexer": "ipython3",
|
"pygments_lexer": "ipython3",
|
||||||
"version": "3.9.3"
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"version": "3.9.4"
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||||||
}
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}
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},
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},
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"nbformat": 4,
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"nbformat": 4,
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@ -361,7 +361,7 @@
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"name": "python",
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"name": "python",
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"nbconvert_exporter": "python",
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"nbconvert_exporter": "python",
|
||||||
"pygments_lexer": "ipython3",
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"pygments_lexer": "ipython3",
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"version": "3.9.3"
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"version": "3.9.4"
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}
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}
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},
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},
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"nbformat": 4,
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"nbformat": 4,
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@ -672,9 +672,6 @@
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 22,
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"execution_count": 22,
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"metadata": {
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"metadata": {
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"jupyter": {
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"source_hidden": true
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},
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"tags": []
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"tags": []
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},
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},
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"outputs": [
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"outputs": [
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@ -807,9 +804,6 @@
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 29,
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"execution_count": 29,
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"metadata": {
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"metadata": {
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"jupyter": {
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"source_hidden": true
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},
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"tags": []
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"tags": []
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},
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},
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"outputs": [
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"outputs": [
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@ -844,7 +838,7 @@
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"cell_type": "markdown",
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"cell_type": "markdown",
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"metadata": {},
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"metadata": {},
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||||||
"source": [
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"source": [
|
||||||
"Add the outputs to the experimental df and export the result: "
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"Add the outputs to the experimental df: "
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]
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]
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},
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},
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{
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{
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@ -1482,7 +1476,7 @@
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"name": "python",
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"name": "python",
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"nbconvert_exporter": "python",
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"nbconvert_exporter": "python",
|
||||||
"pygments_lexer": "ipython3",
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"pygments_lexer": "ipython3",
|
||||||
"version": "3.9.2"
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"version": "3.9.4"
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||||||
},
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},
|
||||||
"toc-autonumbering": false,
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"toc-autonumbering": false,
|
||||||
"toc-showmarkdowntxt": false,
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"toc-showmarkdowntxt": false,
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986
Notebooks/34_train_gp_from_existing_data.ipynb
Normal file
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@ -0,0 +1,986 @@
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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 1,
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||||||
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"id": "16537827-7386-4163-b95f-2997fc020a2c",
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||||||
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"metadata": {},
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||||||
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"outputs": [],
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||||||
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"source": [
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||||||
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"from pathlib import Path\n",
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||||||
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"from shutil import copyfile\n",
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"import pickle"
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]
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},
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{
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||||||
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"cell_type": "markdown",
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"id": "a517af1c-4204-45c9-aae4-865a2cb259e9",
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"metadata": {},
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||||||
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"source": [
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"Data manipulation"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"id": "62628e60-28c6-4a9a-8a81-22e5bfd74722",
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||||||
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"metadata": {},
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||||||
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"outputs": [],
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||||||
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"source": [
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||||||
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"import numpy as np\n",
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"import pandas as pd"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"id": "0fa93674-d4e7-4b36-ab3a-ebb11df12ed3",
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"metadata": {},
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"outputs": [],
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"source": [
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||||||
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"from sklearn.preprocessing import MinMaxScaler, RobustScaler\n",
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"from sklearn.exceptions import NotFittedError"
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]
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},
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{
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"cell_type": "markdown",
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"id": "acb33a41-06b9-4a1d-9ea7-6a2d87b1f4fb",
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||||||
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"metadata": {},
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||||||
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"source": [
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"Plotting / Visualisation"
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]
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},
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{
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||||||
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"cell_type": "code",
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||||||
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"execution_count": 4,
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"id": "a42ae056-7511-4e17-b4ba-981fbcfaf922",
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||||||
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"metadata": {},
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||||||
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"outputs": [],
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||||||
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"source": [
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||||||
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"import matplotlib.pyplot as plt"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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||||||
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"id": "0f8b23d5-e253-408b-907f-6f9990a98a96",
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||||||
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"metadata": {},
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"outputs": [],
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||||||
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"source": [
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||||||
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"%matplotlib inline\n",
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||||||
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"plt.rcParams[\"figure.figsize\"] = (15, 6)"
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]
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},
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{
|
||||||
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"cell_type": "markdown",
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||||||
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"id": "90fdac33-eed4-4ab4-b2b1-de0f1f27727b",
|
||||||
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"metadata": {},
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||||||
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"source": [
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||||||
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"Gaussian Process Regression"
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||||||
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]
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||||||
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},
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{
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||||||
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"cell_type": "code",
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||||||
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"execution_count": 6,
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||||||
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"id": "e629471f-350e-4af3-83df-377794a20a02",
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||||||
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"metadata": {},
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||||||
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"outputs": [],
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||||||
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"source": [
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||||||
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"import gpflow\n",
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||||||
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"import tensorflow as tf"
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]
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||||||
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},
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{
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||||||
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"cell_type": "code",
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||||||
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"execution_count": 7,
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||||||
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"id": "b33dbca7-4419-4201-8d49-9fe3a5e16a33",
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||||||
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"metadata": {},
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||||||
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"outputs": [],
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||||||
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"source": [
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||||||
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"from gpflow.utilities import print_summary"
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]
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},
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||||||
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{
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||||||
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"cell_type": "code",
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||||||
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"execution_count": 8,
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||||||
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"id": "fe8d81a8-f8ec-41d0-8a6c-77ee73619def",
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||||||
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"metadata": {},
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||||||
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"outputs": [],
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||||||
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"source": [
|
||||||
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"gpflow.config.set_default_summary_fmt(\"notebook\")"
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||||||
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]
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||||||
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},
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||||||
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{
|
||||||
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"cell_type": "markdown",
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||||||
|
"id": "0aba0df5-b0e3-4738-bb61-1dad869d1ea3",
|
||||||
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"metadata": {},
|
||||||
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"source": [
|
||||||
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"## Load previously exported data"
|
||||||
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]
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||||||
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},
|
||||||
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{
|
||||||
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"cell_type": "code",
|
||||||
|
"execution_count": 9,
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||||||
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"id": "a8bf0b3f-1236-41c5-ba72-7e274a75d22f",
|
||||||
|
"metadata": {},
|
||||||
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"outputs": [],
|
||||||
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"source": [
|
||||||
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"train_exps = ['Exp1', 'Exp3', 'Exp5', 'Exp6']\n",
|
||||||
|
"test_exps = ['Exp2', 'Exp4', 'Exp7']"
|
||||||
|
]
|
||||||
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},
|
||||||
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{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 10,
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||||||
|
"id": "3c8ad21b-8566-4d14-a13c-99e2dc3efc74",
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||||||
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"metadata": {},
|
||||||
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"outputs": [],
|
||||||
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"source": [
|
||||||
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"t_cols = ['time_h', 'time_m']\n",
|
||||||
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"w_cols = ['SolRad', 'OutsideTemp']\n",
|
||||||
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"u_cols = ['SimulatedHeat']\n",
|
||||||
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"y_cols = ['SimulatedTemp']"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 11,
|
||||||
|
"id": "ad00a16f-7cb6-44a6-90e7-ecc07003ffad",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"t_lags = 4\n",
|
||||||
|
"w_lags = 1\n",
|
||||||
|
"u_lags = 3\n",
|
||||||
|
"y_lags = 3"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 12,
|
||||||
|
"id": "e3225bc5-70b1-4b27-9893-8d0aae750bc9",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"#dict_cols = pickle.load(open(Path(\"dict_cols.pkl\"), 'rb'))\n",
|
||||||
|
"#dict_cols"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 13,
|
||||||
|
"id": "815913ad-73b3-407c-8e05-e3acfa65d73c",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
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"dict_cols = {\n",
|
||||||
|
" 't': (t_lags, t_cols),\n",
|
||||||
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" 'w': (w_lags, w_cols),\n",
|
||||||
|
" 'u': (u_lags, u_cols),\n",
|
||||||
|
" 'y': (y_lags, y_cols)\n",
|
||||||
|
"}"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 14,
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||||||
|
"id": "b1574455-ece7-4a45-92a9-70410f73266e",
|
||||||
|
"metadata": {},
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||||||
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"outputs": [],
|
||||||
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"source": [
|
||||||
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"dfs_train = pickle.load(open(Path(\"dfs_train.pkl\"), 'rb'))\n",
|
||||||
|
"dfs_test = pickle.load(open(Path(\"dfs_test.pkl\"), 'rb'))"
|
||||||
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]
|
||||||
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},
|
||||||
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{
|
||||||
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"cell_type": "code",
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||||||
|
"execution_count": 15,
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||||||
|
"id": "0ebe637c-ad84-4393-9199-6ba088462132",
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||||||
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"metadata": {},
|
||||||
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"outputs": [],
|
||||||
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"source": [
|
||||||
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"scaler = pickle.load(open(Path(\"scaler.pkl\"), 'rb'))"
|
||||||
|
]
|
||||||
|
},
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{
|
||||||
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"cell_type": "code",
|
||||||
|
"execution_count": 16,
|
||||||
|
"id": "136ba207-b4a7-427d-bdb2-0321110be9b6",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"def get_scaled_df(df, dict_cols, scaler):\n",
|
||||||
|
" \n",
|
||||||
|
" t_list = dict_cols['t'][1]\n",
|
||||||
|
" w_list = dict_cols['w'][1]\n",
|
||||||
|
" u_list = dict_cols['u'][1]\n",
|
||||||
|
" y_list = dict_cols['y'][1]\n",
|
||||||
|
" \n",
|
||||||
|
" df_local = df[t_list + w_list + u_list + y_list]\n",
|
||||||
|
" df_scaled = df_local.to_numpy()\n",
|
||||||
|
" \n",
|
||||||
|
" try:\n",
|
||||||
|
" df_scaled = scaler.transform(df_scaled)\n",
|
||||||
|
" except NotFittedError:\n",
|
||||||
|
" df_scaled = scaler.fit_transform(df_scaled)\n",
|
||||||
|
" \n",
|
||||||
|
" df_scaled = pd.DataFrame(df_scaled, index = df_local.index, columns = df_local.columns)\n",
|
||||||
|
" \n",
|
||||||
|
" return df_scaled"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 17,
|
||||||
|
"id": "d5130037-26f7-4f47-8382-81b12a131e2d",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"df_train = pd.concat(dfs_train)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 18,
|
||||||
|
"id": "a1d9c9f8-6689-40b4-8ae7-75395b343de2",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"data": {
|
||||||
|
"text/plain": [
|
||||||
|
"35185.23586737608"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"execution_count": 18,
|
||||||
|
"metadata": {},
|
||||||
|
"output_type": "execute_result"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"np.linalg.cond(df_train.to_numpy())"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 19,
|
||||||
|
"id": "b862da6c-9bca-4647-aeec-ee861c11293c",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"df_train_sc = get_scaled_df(df_train, dict_cols, scaler)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 20,
|
||||||
|
"id": "c0c18759-db54-4c46-8875-535b28d9ede6",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"data": {
|
||||||
|
"text/plain": [
|
||||||
|
"7.478002157732377"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"execution_count": 20,
|
||||||
|
"metadata": {},
|
||||||
|
"output_type": "execute_result"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"np.linalg.cond(df_train_sc.to_numpy())"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 21,
|
||||||
|
"id": "5b39e5c3-94ca-4765-aa6b-1426b226ca27",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"dfs_train_sc = []\n",
|
||||||
|
"dfs_test_sc = []\n",
|
||||||
|
"for df in dfs_train:\n",
|
||||||
|
" df_sc = get_scaled_df(df, dict_cols, scaler)\n",
|
||||||
|
" dfs_train_sc.append(df_sc)\n",
|
||||||
|
" \n",
|
||||||
|
"for df in dfs_test:\n",
|
||||||
|
" df_sc = get_scaled_df(df, dict_cols, scaler)\n",
|
||||||
|
" dfs_test_sc.append(df_sc)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 22,
|
||||||
|
"id": "e8c97d70-2c97-4db8-9e2e-636086bd6271",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"def data_to_gpr(df, dict_cols):\n",
|
||||||
|
" \n",
|
||||||
|
" t_list = dict_cols['t'][1]\n",
|
||||||
|
" w_list = dict_cols['w'][1]\n",
|
||||||
|
" u_list = dict_cols['u'][1]\n",
|
||||||
|
" y_list = dict_cols['y'][1]\n",
|
||||||
|
" \n",
|
||||||
|
" df_gpr = df[t_list + w_list + u_list + y_list].copy()\n",
|
||||||
|
" \n",
|
||||||
|
" for lags, names in dict_cols.values():\n",
|
||||||
|
" for name in names:\n",
|
||||||
|
" col_idx = df_gpr.columns.get_loc(name)\n",
|
||||||
|
" for lag in range(1, lags + 1):\n",
|
||||||
|
" df_gpr.insert(col_idx + lag, f\"{name}_{lag}\", df_gpr.loc[:, name].shift(lag))\n",
|
||||||
|
"\n",
|
||||||
|
" df_gpr.dropna(inplace = True)\n",
|
||||||
|
" \n",
|
||||||
|
" return df_gpr"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 23,
|
||||||
|
"id": "b351b32a-7018-4c90-8aa0-7c0be5461c2e",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"#dfs_gpr_train = pickle.load(open(Path(\"dfs_gpr_train.pkl\"), 'rb'))\n",
|
||||||
|
"#dfs_gpr_test = pickle.load(open(Path(\"dfs_gpr_test.pkl\"), 'rb'))"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 24,
|
||||||
|
"id": "b0453fdf-58f3-49e6-bdea-ebe5940422e2",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"data": {
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <th></th>\n",
|
||||||
|
" <th>time_h</th>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <th>time_m_4</th>\n",
|
||||||
|
" <th>...</th>\n",
|
||||||
|
" <th>OutsideTemp</th>\n",
|
||||||
|
" <th>OutsideTemp_1</th>\n",
|
||||||
|
" <th>SimulatedHeat</th>\n",
|
||||||
|
" <th>SimulatedHeat_1</th>\n",
|
||||||
|
" <th>SimulatedHeat_2</th>\n",
|
||||||
|
" <th>SimulatedHeat_3</th>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <th></th>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <th></th>\n",
|
||||||
|
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|
||||||
|
" <th></th>\n",
|
||||||
|
" <th></th>\n",
|
||||||
|
" <th></th>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <tr>\n",
|
||||||
|
" <th>2017-06-01 20:20:00+02:00</th>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>-0.272727</td>\n",
|
||||||
|
" <td>-0.454545</td>\n",
|
||||||
|
" <td>-0.636364</td>\n",
|
||||||
|
" <td>-0.818182</td>\n",
|
||||||
|
" <td>-1.000000</td>\n",
|
||||||
|
" <td>...</td>\n",
|
||||||
|
" <td>0.058824</td>\n",
|
||||||
|
" <td>0.058824</td>\n",
|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
" <td>-0.580115</td>\n",
|
||||||
|
" <td>-0.580115</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>-0.076890</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
" <th>2017-06-01 20:25:00+02:00</th>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>-0.636364</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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||||||
|
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>-0.094006</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
" <th>2017-06-01 20:30:00+02:00</th>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.090909</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>-0.454545</td>\n",
|
||||||
|
" <td>-0.636364</td>\n",
|
||||||
|
" <td>...</td>\n",
|
||||||
|
" <td>0.058824</td>\n",
|
||||||
|
" <td>0.058824</td>\n",
|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>-0.179560</td>\n",
|
||||||
|
" <td>-0.132679</td>\n",
|
||||||
|
" </tr>\n",
|
||||||
|
" <tr>\n",
|
||||||
|
" <th>2017-06-01 20:35:00+02:00</th>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.272727</td>\n",
|
||||||
|
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|
||||||
|
" <td>-0.090909</td>\n",
|
||||||
|
" <td>-0.272727</td>\n",
|
||||||
|
" <td>-0.454545</td>\n",
|
||||||
|
" <td>...</td>\n",
|
||||||
|
" <td>0.058824</td>\n",
|
||||||
|
" <td>0.058824</td>\n",
|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>-0.222268</td>\n",
|
||||||
|
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|
||||||
|
" <td>-0.179560</td>\n",
|
||||||
|
" </tr>\n",
|
||||||
|
" <tr>\n",
|
||||||
|
" <th>2017-06-01 20:40:00+02:00</th>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
" <td>0.73913</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>...</td>\n",
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
" <td>-0.904139</td>\n",
|
||||||
|
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|
||||||
|
" <td>-0.247166</td>\n",
|
||||||
|
" <td>-0.234855</td>\n",
|
||||||
|
" <td>-0.222268</td>\n",
|
||||||
|
" <td>-0.208254</td>\n",
|
||||||
|
" </tr>\n",
|
||||||
|
" </tbody>\n",
|
||||||
|
"</table>\n",
|
||||||
|
"<p>5 rows × 22 columns</p>\n",
|
||||||
|
"</div>"
|
||||||
|
],
|
||||||
|
"text/plain": [
|
||||||
|
" time_h time_h_1 time_h_2 time_h_3 time_h_4 \\\n",
|
||||||
|
"timestamp \n",
|
||||||
|
"2017-06-01 20:20:00+02:00 0.73913 0.73913 0.73913 0.73913 0.73913 \n",
|
||||||
|
"2017-06-01 20:25:00+02:00 0.73913 0.73913 0.73913 0.73913 0.73913 \n",
|
||||||
|
"2017-06-01 20:30:00+02:00 0.73913 0.73913 0.73913 0.73913 0.73913 \n",
|
||||||
|
"2017-06-01 20:35:00+02:00 0.73913 0.73913 0.73913 0.73913 0.73913 \n",
|
||||||
|
"2017-06-01 20:40:00+02:00 0.73913 0.73913 0.73913 0.73913 0.73913 \n",
|
||||||
|
"\n",
|
||||||
|
" time_m time_m_1 time_m_2 time_m_3 time_m_4 \\\n",
|
||||||
|
"timestamp \n",
|
||||||
|
"2017-06-01 20:20:00+02:00 -0.272727 -0.454545 -0.636364 -0.818182 -1.000000 \n",
|
||||||
|
"2017-06-01 20:25:00+02:00 -0.090909 -0.272727 -0.454545 -0.636364 -0.818182 \n",
|
||||||
|
"2017-06-01 20:30:00+02:00 0.090909 -0.090909 -0.272727 -0.454545 -0.636364 \n",
|
||||||
|
"2017-06-01 20:35:00+02:00 0.272727 0.090909 -0.090909 -0.272727 -0.454545 \n",
|
||||||
|
"2017-06-01 20:40:00+02:00 0.454545 0.272727 0.090909 -0.090909 -0.272727 \n",
|
||||||
|
"\n",
|
||||||
|
" ... OutsideTemp OutsideTemp_1 SimulatedHeat \\\n",
|
||||||
|
"timestamp ... \n",
|
||||||
|
"2017-06-01 20:20:00+02:00 ... 0.058824 0.058824 -0.904139 \n",
|
||||||
|
"2017-06-01 20:25:00+02:00 ... 0.058824 0.058824 -0.904139 \n",
|
||||||
|
"2017-06-01 20:30:00+02:00 ... 0.058824 0.058824 -0.904139 \n",
|
||||||
|
"2017-06-01 20:35:00+02:00 ... 0.058824 0.058824 -0.904139 \n",
|
||||||
|
"2017-06-01 20:40:00+02:00 ... 0.058824 0.058824 -0.904139 \n",
|
||||||
|
"\n",
|
||||||
|
" SimulatedHeat_1 SimulatedHeat_2 SimulatedHeat_3 \\\n",
|
||||||
|
"timestamp \n",
|
||||||
|
"2017-06-01 20:20:00+02:00 -0.580115 -0.580115 -0.580115 \n",
|
||||||
|
"2017-06-01 20:25:00+02:00 -0.904139 -0.580115 -0.580115 \n",
|
||||||
|
"2017-06-01 20:30:00+02:00 -0.904139 -0.904139 -0.580115 \n",
|
||||||
|
"2017-06-01 20:35:00+02:00 -0.904139 -0.904139 -0.904139 \n",
|
||||||
|
"2017-06-01 20:40:00+02:00 -0.904139 -0.904139 -0.904139 \n",
|
||||||
|
"\n",
|
||||||
|
" SimulatedTemp SimulatedTemp_1 SimulatedTemp_2 \\\n",
|
||||||
|
"timestamp \n",
|
||||||
|
"2017-06-01 20:20:00+02:00 -0.179560 -0.132679 -0.094006 \n",
|
||||||
|
"2017-06-01 20:25:00+02:00 -0.208254 -0.179560 -0.132679 \n",
|
||||||
|
"2017-06-01 20:30:00+02:00 -0.222268 -0.208254 -0.179560 \n",
|
||||||
|
"2017-06-01 20:35:00+02:00 -0.234855 -0.222268 -0.208254 \n",
|
||||||
|
"2017-06-01 20:40:00+02:00 -0.247166 -0.234855 -0.222268 \n",
|
||||||
|
"\n",
|
||||||
|
" SimulatedTemp_3 \n",
|
||||||
|
"timestamp \n",
|
||||||
|
"2017-06-01 20:20:00+02:00 -0.076890 \n",
|
||||||
|
"2017-06-01 20:25:00+02:00 -0.094006 \n",
|
||||||
|
"2017-06-01 20:30:00+02:00 -0.132679 \n",
|
||||||
|
"2017-06-01 20:35:00+02:00 -0.179560 \n",
|
||||||
|
"2017-06-01 20:40:00+02:00 -0.208254 \n",
|
||||||
|
"\n",
|
||||||
|
"[5 rows x 22 columns]"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"execution_count": 24,
|
||||||
|
"metadata": {},
|
||||||
|
"output_type": "execute_result"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"dfs_gpr_train = []\n",
|
||||||
|
"for df_sc in dfs_train_sc:\n",
|
||||||
|
" dfs_gpr_train.append(data_to_gpr(df_sc, dict_cols))\n",
|
||||||
|
"df_gpr_train = pd.concat(dfs_gpr_train)\n",
|
||||||
|
"df_gpr_train.head()"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 25,
|
||||||
|
"id": "8b866f02-084a-4ec1-b269-818949461530",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"#df_gpr_train = pd.concat(dfs_gpr_train)\n",
|
||||||
|
"\n",
|
||||||
|
"df_input_train = df_gpr_train.drop(columns = dict_cols['u'][1] + dict_cols['y'][1])\n",
|
||||||
|
"df_output_train = df_gpr_train[dict_cols['y'][1]]\n",
|
||||||
|
"\n",
|
||||||
|
"np_input_train = df_input_train.to_numpy()\n",
|
||||||
|
"np_output_train = df_output_train.to_numpy().reshape(-1, 1)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 26,
|
||||||
|
"id": "288c99da-56c2-4216-819e-b3722f2a502c",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"## Define Kernel"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 27,
|
||||||
|
"id": "dadb3f43-af78-4cb6-98c6-408559f62479",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"nb_dims = np_input_train.shape[1]\n",
|
||||||
|
"rational_dims = np.arange(0, (dict_cols['t'][0] + 1) * len(dict_cols['t'][1]), 1)\n",
|
||||||
|
"nb_rational_dims = len(rational_dims)\n",
|
||||||
|
"squared_dims = np.arange(nb_rational_dims, nb_dims, 1)\n",
|
||||||
|
"nb_squared_dims = len(squared_dims)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 28,
|
||||||
|
"id": "9bca461d-b4f9-4f9f-a6d6-65f7601fa020",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"name": "stdout",
|
||||||
|
"output_type": "stream",
|
||||||
|
"text": [
|
||||||
|
"rational dims: 10\n",
|
||||||
|
"squared dims: 10\n"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"print(f\"rational dims: {nb_rational_dims}\")\n",
|
||||||
|
"print(f\"squared dims: {nb_squared_dims}\")"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 29,
|
||||||
|
"id": "dc8ef81f-271c-4e7a-8eb7-8981557cf7bb",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"squared_l = [1e-4] * nb_squared_dims\n",
|
||||||
|
"rational_l = [1e-7] * nb_rational_dims"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 30,
|
||||||
|
"id": "da302d5c-cb00-47e5-9cad-6e4de21eceb2",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"squared_l = np.linspace(0.01, 1, nb_squared_dims)\n",
|
||||||
|
"rational_l = np.linspace(0.01, 1, nb_rational_dims)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 31,
|
||||||
|
"id": "61caaaba-7527-4437-a7bf-62b5594c147c",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"k0 = gpflow.kernels.SquaredExponential(lengthscales = squared_l, active_dims = squared_dims, variance = 2)\n",
|
||||||
|
"k1 = gpflow.kernels.Constant()\n",
|
||||||
|
"k2 = gpflow.kernels.RationalQuadratic(lengthscales = rational_l, active_dims = rational_dims, variance = 2)\n",
|
||||||
|
"k3 = gpflow.kernels.Periodic(k2)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 32,
|
||||||
|
"id": "87e3c3a2-4e67-4181-bd2d-22d684b7ce03",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"data": {
|
||||||
|
"text/html": [
|
||||||
|
"<table>\n",
|
||||||
|
"<thead>\n",
|
||||||
|
"<tr><th>name </th><th>class </th><th>transform </th><th>prior </th><th>trainable </th><th>shape </th><th>dtype </th><th>value </th></tr>\n",
|
||||||
|
"</thead>\n",
|
||||||
|
"<tbody>\n",
|
||||||
|
"<tr><td>Product.kernels[0].kernels[0].variance </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>2.0 </td></tr>\n",
|
||||||
|
"<tr><td>Product.kernels[0].kernels[0].lengthscales</td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>(10,) </td><td>float64</td><td>[0.01, 0.12, 0.23...</td></tr>\n",
|
||||||
|
"<tr><td>Product.kernels[0].kernels[1].variance </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>1.0 </td></tr>\n",
|
||||||
|
"<tr><td>Product.kernels[1].variance </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>2.0 </td></tr>\n",
|
||||||
|
"<tr><td>Product.kernels[1].lengthscales </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>(10,) </td><td>float64</td><td>[0.01, 0.12, 0.23...</td></tr>\n",
|
||||||
|
"<tr><td>Product.kernels[1].alpha </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>1.0 </td></tr>\n",
|
||||||
|
"</tbody>\n",
|
||||||
|
"</table>"
|
||||||
|
],
|
||||||
|
"text/plain": [
|
||||||
|
"<IPython.core.display.HTML object>"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"metadata": {},
|
||||||
|
"output_type": "display_data"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"k = (k0 + k1) * k2\n",
|
||||||
|
"print_summary(k)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "markdown",
|
||||||
|
"id": "4af25a43-15c9-4543-af73-3c313b5fc7af",
|
||||||
|
"metadata": {},
|
||||||
|
"source": [
|
||||||
|
"## Compile Model"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 33,
|
||||||
|
"id": "99da48d2-f04e-4ef8-a248-bc9b82fdbabd",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"data": {
|
||||||
|
"text/html": [
|
||||||
|
"<table>\n",
|
||||||
|
"<thead>\n",
|
||||||
|
"<tr><th>name </th><th>class </th><th>transform </th><th>prior </th><th>trainable </th><th>shape </th><th>dtype </th><th>value </th></tr>\n",
|
||||||
|
"</thead>\n",
|
||||||
|
"<tbody>\n",
|
||||||
|
"<tr><td>GPR.kernel.kernels[0].kernels[0].variance </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>2.0 </td></tr>\n",
|
||||||
|
"<tr><td>GPR.kernel.kernels[0].kernels[0].lengthscales</td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>(10,) </td><td>float64</td><td>[0.01, 0.12, 0.23...</td></tr>\n",
|
||||||
|
"<tr><td>GPR.kernel.kernels[0].kernels[1].variance </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>1.0 </td></tr>\n",
|
||||||
|
"<tr><td>GPR.kernel.kernels[1].variance </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>2.0 </td></tr>\n",
|
||||||
|
"<tr><td>GPR.kernel.kernels[1].lengthscales </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>(10,) </td><td>float64</td><td>[0.01, 0.12, 0.23...</td></tr>\n",
|
||||||
|
"<tr><td>GPR.kernel.kernels[1].alpha </td><td>Parameter</td><td>Softplus </td><td> </td><td>True </td><td>() </td><td>float64</td><td>1.0 </td></tr>\n",
|
||||||
|
"<tr><td>GPR.likelihood.variance </td><td>Parameter</td><td>Softplus + Shift</td><td> </td><td>True </td><td>() </td><td>float64</td><td>1.0 </td></tr>\n",
|
||||||
|
"</tbody>\n",
|
||||||
|
"</table>"
|
||||||
|
],
|
||||||
|
"text/plain": [
|
||||||
|
"<IPython.core.display.HTML object>"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"metadata": {},
|
||||||
|
"output_type": "display_data"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"m = gpflow.models.GPR(\n",
|
||||||
|
" data = (np_input_train, np_output_train), \n",
|
||||||
|
" kernel = k, \n",
|
||||||
|
" mean_function = None\n",
|
||||||
|
" )\n",
|
||||||
|
"print_summary(m)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "markdown",
|
||||||
|
"id": "08f41235-12df-4e9c-bf63-e7a4390cf21a",
|
||||||
|
"metadata": {},
|
||||||
|
"source": [
|
||||||
|
"## Train Model"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 34,
|
||||||
|
"id": "9e5e2138-b342-4d44-8987-b7758b0daa6b",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"opt = gpflow.optimizers.Scipy()"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 35,
|
||||||
|
"id": "fcfb78e0-2a3b-4a16-a621-6698abdaf3ab",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"from datetime import datetime"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 36,
|
||||||
|
"id": "c449b100-acff-414d-a648-c4233879c253",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"ename": "InvalidArgumentError",
|
||||||
|
"evalue": " Input matrix is not invertible.\n\t [[node gradient_tape/triangular_solve/MatrixTriangularSolve (defined at /usr/lib/python3.9/site-packages/gpflow/optimizers/scipy.py:173) ]] [Op:__inference__tf_eval_1118]\n\nErrors may have originated from an input operation.\nInput Source operations connected to node gradient_tape/triangular_solve/MatrixTriangularSolve:\n Cholesky (defined at /usr/lib/python3.9/site-packages/gpflow/models/gpr.py:87)\n\nFunction call stack:\n_tf_eval\n",
|
||||||
|
"output_type": "error",
|
||||||
|
"traceback": [
|
||||||
|
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
|
||||||
|
"\u001b[0;31mInvalidArgumentError\u001b[0m Traceback (most recent call last)",
|
||||||
|
"\u001b[0;32m<ipython-input-36-5f570574e163>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[0mstart_time\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mdatetime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mnow\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 2\u001b[0;31m \u001b[0mopt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mminimize\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mm\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtraining_loss\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mm\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtrainable_variables\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 3\u001b[0m \u001b[0mprint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34mf\"Finished fitting in {datetime.now() - start_time}\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 4\u001b[0m \u001b[0mprint_summary\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mm\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/gpflow/optimizers/scipy.py\u001b[0m in \u001b[0;36mminimize\u001b[0;34m(self, closure, variables, method, step_callback, compile, **scipy_kwargs)\u001b[0m\n\u001b[1;32m 88\u001b[0m \u001b[0mscipy_kwargs\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mupdate\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdict\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mcallback\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mcallback\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 89\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 90\u001b[0;31m return scipy.optimize.minimize(\n\u001b[0m\u001b[1;32m 91\u001b[0m \u001b[0mfunc\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0minitial_params\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mjac\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmethod\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mmethod\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mscipy_kwargs\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 92\u001b[0m )\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/_minimize.py\u001b[0m in \u001b[0;36mminimize\u001b[0;34m(fun, x0, args, method, jac, hess, hessp, bounds, constraints, tol, callback, options)\u001b[0m\n\u001b[1;32m 617\u001b[0m **options)\n\u001b[1;32m 618\u001b[0m \u001b[0;32melif\u001b[0m \u001b[0mmeth\u001b[0m \u001b[0;34m==\u001b[0m \u001b[0;34m'l-bfgs-b'\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 619\u001b[0;31m return _minimize_lbfgsb(fun, x0, args, jac, bounds,\n\u001b[0m\u001b[1;32m 620\u001b[0m callback=callback, **options)\n\u001b[1;32m 621\u001b[0m \u001b[0;32melif\u001b[0m \u001b[0mmeth\u001b[0m \u001b[0;34m==\u001b[0m \u001b[0;34m'tnc'\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/lbfgsb.py\u001b[0m in \u001b[0;36m_minimize_lbfgsb\u001b[0;34m(fun, x0, args, jac, bounds, disp, maxcor, ftol, gtol, eps, maxfun, maxiter, iprint, callback, maxls, finite_diff_rel_step, **unknown_options)\u001b[0m\n\u001b[1;32m 358\u001b[0m \u001b[0;31m# until the completion of the current minimization iteration.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 359\u001b[0m \u001b[0;31m# Overwrite f and g:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 360\u001b[0;31m \u001b[0mf\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mg\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfunc_and_grad\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 361\u001b[0m \u001b[0;32melif\u001b[0m \u001b[0mtask_str\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstartswith\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34mb'NEW_X'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 362\u001b[0m \u001b[0;31m# new iteration\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/_differentiable_functions.py\u001b[0m in \u001b[0;36mfun_and_grad\u001b[0;34m(self, x)\u001b[0m\n\u001b[1;32m 258\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray_equal\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 259\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_update_x_impl\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 260\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_update_fun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 261\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_update_grad\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 262\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mf\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mg\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/_differentiable_functions.py\u001b[0m in \u001b[0;36m_update_fun\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 224\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0m_update_fun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 225\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mf_updated\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 226\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_update_fun_impl\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 227\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mf_updated\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mTrue\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 228\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
|
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"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/_differentiable_functions.py\u001b[0m in \u001b[0;36mupdate_fun\u001b[0;34m()\u001b[0m\n\u001b[1;32m 131\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 132\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mupdate_fun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 133\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mf\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfun_wrapped\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 134\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 135\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_update_fun_impl\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mupdate_fun\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
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"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/_differentiable_functions.py\u001b[0m in \u001b[0;36mfun_wrapped\u001b[0;34m(x)\u001b[0m\n\u001b[1;32m 128\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mfun_wrapped\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 129\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mnfev\u001b[0m \u001b[0;34m+=\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 130\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mfun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 131\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 132\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mupdate_fun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
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|
"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/optimize.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, x, *args)\u001b[0m\n\u001b[1;32m 72\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0m__call__\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 73\u001b[0m \u001b[0;34m\"\"\" returns the the function value \"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 74\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_compute_if_needed\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 75\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_value\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 76\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
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|
"\u001b[0;32m/usr/lib/python3.9/site-packages/scipy/optimize/optimize.py\u001b[0m in \u001b[0;36m_compute_if_needed\u001b[0;34m(self, x, *args)\u001b[0m\n\u001b[1;32m 66\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mall\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m \u001b[0;34m==\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mor\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_value\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mNone\u001b[0m \u001b[0;32mor\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mjac\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 67\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mx\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0masarray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcopy\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 68\u001b[0;31m \u001b[0mfg\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfun\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 69\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mjac\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfg\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 70\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_value\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfg\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
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|
"\u001b[0;32m/usr/lib/python3.9/site-packages/gpflow/optimizers/scipy.py\u001b[0m in \u001b[0;36m_eval\u001b[0;34m(x)\u001b[0m\n\u001b[1;32m 111\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 112\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0m_eval\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mndarray\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;34m->\u001b[0m \u001b[0mTuple\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mndarray\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mndarray\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 113\u001b[0;31m \u001b[0mloss\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mgrad\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0m_tf_eval\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtf\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mconvert_to_tensor\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 114\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mloss\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mnumpy\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mastype\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfloat64\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mgrad\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mnumpy\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mastype\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfloat64\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 115\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
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||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/tensorflow/python/eager/def_function.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, *args, **kwds)\u001b[0m\n\u001b[1;32m 826\u001b[0m \u001b[0mtracing_count\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mexperimental_get_tracing_count\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 827\u001b[0m \u001b[0;32mwith\u001b[0m \u001b[0mtrace\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mTrace\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_name\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mas\u001b[0m \u001b[0mtm\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 828\u001b[0;31m \u001b[0mresult\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_call\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwds\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 829\u001b[0m \u001b[0mcompiler\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;34m\"xla\"\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_experimental_compile\u001b[0m \u001b[0;32melse\u001b[0m \u001b[0;34m\"nonXla\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 830\u001b[0m \u001b[0mnew_tracing_count\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mexperimental_get_tracing_count\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/tensorflow/python/eager/def_function.py\u001b[0m in \u001b[0;36m_call\u001b[0;34m(self, *args, **kwds)\u001b[0m\n\u001b[1;32m 860\u001b[0m \u001b[0;31m# In this case we have not created variables on the first call. So we can\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 861\u001b[0m \u001b[0;31m# run the first trace but we should fail if variables are created.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 862\u001b[0;31m \u001b[0mresults\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_stateful_fn\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwds\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 863\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_created_variables\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 864\u001b[0m raise ValueError(\"Creating variables on a non-first call to a function\"\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/tensorflow/python/eager/function.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m 2940\u001b[0m (graph_function,\n\u001b[1;32m 2941\u001b[0m filtered_flat_args) = self._maybe_define_function(args, kwargs)\n\u001b[0;32m-> 2942\u001b[0;31m return graph_function._call_flat(\n\u001b[0m\u001b[1;32m 2943\u001b[0m filtered_flat_args, captured_inputs=graph_function.captured_inputs) # pylint: disable=protected-access\n\u001b[1;32m 2944\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/tensorflow/python/eager/function.py\u001b[0m in \u001b[0;36m_call_flat\u001b[0;34m(self, args, captured_inputs, cancellation_manager)\u001b[0m\n\u001b[1;32m 1916\u001b[0m and executing_eagerly):\n\u001b[1;32m 1917\u001b[0m \u001b[0;31m# No tape is watching; skip to running the function.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 1918\u001b[0;31m return self._build_call_outputs(self._inference_function.call(\n\u001b[0m\u001b[1;32m 1919\u001b[0m ctx, args, cancellation_manager=cancellation_manager))\n\u001b[1;32m 1920\u001b[0m forward_backward = self._select_forward_and_backward_functions(\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/tensorflow/python/eager/function.py\u001b[0m in \u001b[0;36mcall\u001b[0;34m(self, ctx, args, cancellation_manager)\u001b[0m\n\u001b[1;32m 553\u001b[0m \u001b[0;32mwith\u001b[0m \u001b[0m_InterpolateFunctionError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 554\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0mcancellation_manager\u001b[0m \u001b[0;32mis\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 555\u001b[0;31m outputs = execute.execute(\n\u001b[0m\u001b[1;32m 556\u001b[0m \u001b[0mstr\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msignature\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mname\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 557\u001b[0m \u001b[0mnum_outputs\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_num_outputs\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/tensorflow/python/eager/execute.py\u001b[0m in \u001b[0;36mquick_execute\u001b[0;34m(op_name, num_outputs, inputs, attrs, ctx, name)\u001b[0m\n\u001b[1;32m 57\u001b[0m \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 58\u001b[0m \u001b[0mctx\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mensure_initialized\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 59\u001b[0;31m tensors = pywrap_tfe.TFE_Py_Execute(ctx._handle, device_name, op_name,\n\u001b[0m\u001b[1;32m 60\u001b[0m inputs, attrs, num_outputs)\n\u001b[1;32m 61\u001b[0m \u001b[0;32mexcept\u001b[0m \u001b[0mcore\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_NotOkStatusException\u001b[0m \u001b[0;32mas\u001b[0m \u001b[0me\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;31mInvalidArgumentError\u001b[0m: Input matrix is not invertible.\n\t [[node gradient_tape/triangular_solve/MatrixTriangularSolve (defined at /usr/lib/python3.9/site-packages/gpflow/optimizers/scipy.py:173) ]] [Op:__inference__tf_eval_1118]\n\nErrors may have originated from an input operation.\nInput Source operations connected to node gradient_tape/triangular_solve/MatrixTriangularSolve:\n Cholesky (defined at /usr/lib/python3.9/site-packages/gpflow/models/gpr.py:87)\n\nFunction call stack:\n_tf_eval\n"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"start_time = datetime.now()\n",
|
||||||
|
"opt.minimize(m.training_loss, m.trainable_variables)\n",
|
||||||
|
"print(f\"Finished fitting in {datetime.now() - start_time}\")\n",
|
||||||
|
"print_summary(m)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "markdown",
|
||||||
|
"id": "7dd49280-bb3f-4903-a339-b7225a56ae16",
|
||||||
|
"metadata": {},
|
||||||
|
"source": [
|
||||||
|
"## Evaluate performance on training data"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"id": "1bf833f2-83d7-4af4-8d4c-d3a663c18b53",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"nb_plts = len(dfs_gpr_train)"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"id": "063ef841-2708-421c-9793-f878ac8a6e1e",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"plt.figure(figsize = (20, 20))\n",
|
||||||
|
"\n",
|
||||||
|
"for idx, df_iter in enumerate(dfs_gpr_train):\n",
|
||||||
|
" plt.subplot(nb_plts, 1, idx + 1)\n",
|
||||||
|
" df_input_iter = df_iter.drop(columns = dict_cols['y'][1] + dict_cols['u'][1])\n",
|
||||||
|
" df_output_iter = df_iter[dict_cols['y'][1]]\n",
|
||||||
|
" np_input_iter = df_input_iter.to_numpy()\n",
|
||||||
|
" np_output_iter = df_output_iter.to_numpy().reshape(-1, 1)\n",
|
||||||
|
" \n",
|
||||||
|
" mean, var = m.predict_f(np_input_iter)\n",
|
||||||
|
" \n",
|
||||||
|
" plt.plot(df_iter.index, np_output_iter[:, :], label = 'Measured data')\n",
|
||||||
|
" plt.plot(df_iter.index, mean[:, :], label = 'Gaussian Process Prediction')\n",
|
||||||
|
" plt.fill_between(\n",
|
||||||
|
" df_iter.index, \n",
|
||||||
|
" mean[:, 0] - 1.96 * np.sqrt(var[:, 0]),\n",
|
||||||
|
" mean[:, 0] + 1.96 * np.sqrt(var[:, 0]),\n",
|
||||||
|
" alpha = 0.2\n",
|
||||||
|
" )\n",
|
||||||
|
" plt.title(f\"Model Performance on training data: {train_exps[idx]}\")\n",
|
||||||
|
" plt.legend()\n",
|
||||||
|
"plt.show()"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "markdown",
|
||||||
|
"id": "1d7d8ca2-1c2d-42dc-a1d2-1f4af11c9d19",
|
||||||
|
"metadata": {},
|
||||||
|
"source": [
|
||||||
|
"## Evaluate performance on test data"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"id": "fc73ac1e-024b-4c62-9f2a-4a61b776ecb5",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"dfs_gpr_test = []\n",
|
||||||
|
"for df_sc in dfs_test_sc:\n",
|
||||||
|
" dfs_gpr_test.append(data_to_gpr(df_sc, dict_cols))"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"id": "095c0b27-3faa-4225-a91c-3d18f2a033f0",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"plt.figure(figsize = (20, 20))\n",
|
||||||
|
"\n",
|
||||||
|
"for idx, df_iter in enumerate(dfs_gpr_test):\n",
|
||||||
|
" plt.subplot(nb_plts, 1, idx + 1)\n",
|
||||||
|
" df_input_iter = df_iter.drop(columns = dict_cols['y'][1] + dict_cols['u'][1])\n",
|
||||||
|
" df_output_iter = df_iter[dict_cols['y'][1]]\n",
|
||||||
|
" np_input_iter = df_input_iter.to_numpy()\n",
|
||||||
|
" np_output_iter = df_output_iter.to_numpy().reshape(-1, 1)\n",
|
||||||
|
" \n",
|
||||||
|
" mean, var = m.predict_f(np_input_iter)\n",
|
||||||
|
" \n",
|
||||||
|
" plt.plot(df_iter.index, np_output_iter[:, :], label = 'Measured data')\n",
|
||||||
|
" plt.plot(df_iter.index, mean[:, :], label = 'Gaussian Process Prediction')\n",
|
||||||
|
" plt.fill_between(\n",
|
||||||
|
" df_iter.index, \n",
|
||||||
|
" mean[:, 0] - 1.96 * np.sqrt(var[:, 0]),\n",
|
||||||
|
" mean[:, 0] + 1.96 * np.sqrt(var[:, 0]),\n",
|
||||||
|
" alpha = 0.2\n",
|
||||||
|
" )\n",
|
||||||
|
" plt.title(f\"Model Performance on test data: {test_exps[idx]}\")\n",
|
||||||
|
" plt.legend()\n",
|
||||||
|
"plt.show()"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"metadata": {
|
||||||
|
"kernelspec": {
|
||||||
|
"display_name": "Python 3",
|
||||||
|
"language": "python",
|
||||||
|
"name": "python3"
|
||||||
|
},
|
||||||
|
"language_info": {
|
||||||
|
"codemirror_mode": {
|
||||||
|
"name": "ipython",
|
||||||
|
"version": 3
|
||||||
|
},
|
||||||
|
"file_extension": ".py",
|
||||||
|
"mimetype": "text/x-python",
|
||||||
|
"name": "python",
|
||||||
|
"nbconvert_exporter": "python",
|
||||||
|
"pygments_lexer": "ipython3",
|
||||||
|
"version": "3.9.4"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"nbformat": 4,
|
||||||
|
"nbformat_minor": 5
|
||||||
|
}
|
||||||
2961
Notebooks/35_gp_with_trieste_from_data-Copy1.ipynb
Normal file
3197
Notebooks/36_gp_with_trieste_from_data-Copy1.ipynb
Normal file
3722
Notebooks/37_gp_with_new_data.ipynb
Normal file
|
|
@ -1879,7 +1879,7 @@
|
||||||
"name": "python",
|
"name": "python",
|
||||||
"nbconvert_exporter": "python",
|
"nbconvert_exporter": "python",
|
||||||
"pygments_lexer": "ipython3",
|
"pygments_lexer": "ipython3",
|
||||||
"version": "3.9.3"
|
"version": "3.9.4"
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
"nbformat": 4,
|
"nbformat": 4,
|
||||||
|
|
|
||||||
1769
Notebooks/42_casadi_callback_speed.ipynb
Normal file
|
|
@ -259,7 +259,6 @@
|
||||||
"source": [
|
"source": [
|
||||||
"def get_gpr_horizon_array(W, x0, u):\n",
|
"def get_gpr_horizon_array(W, x0, u):\n",
|
||||||
" \n",
|
" \n",
|
||||||
" \n",
|
|
||||||
" n_rows = W.shape[0]\n",
|
" n_rows = W.shape[0]\n",
|
||||||
" \n",
|
" \n",
|
||||||
" n_w = W.shape[1]\n",
|
" n_w = W.shape[1]\n",
|
||||||
|
|
@ -2368,7 +2367,7 @@
|
||||||
"name": "python",
|
"name": "python",
|
||||||
"nbconvert_exporter": "python",
|
"nbconvert_exporter": "python",
|
||||||
"pygments_lexer": "ipython3",
|
"pygments_lexer": "ipython3",
|
||||||
"version": "3.9.3"
|
"version": "3.9.4"
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
"nbformat": 4,
|
"nbformat": 4,
|
||||||
|
|
|
||||||
304
Notebooks/51_simulink_controller.ipynb
Normal file
|
|
@ -0,0 +1,304 @@
|
||||||
|
{
|
||||||
|
"cells": [
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 1,
|
||||||
|
"id": "73e650e9-ebe9-4ea4-9eb6-8ea978cf25fa",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"name": "stdout",
|
||||||
|
"output_type": "stream",
|
||||||
|
"text": [
|
||||||
|
"/home/radu/Projects/Master-Project/Simulink\n"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"cd ../Simulink"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 2,
|
||||||
|
"id": "4fc6f955-8ece-4796-9479-275515ecfef3",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"import matlab.engine"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 3,
|
||||||
|
"id": "c13d599d-9b97-4178-876c-f40418cae602",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"import matplotlib.pyplot as plt"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 23,
|
||||||
|
"id": "df5fd736-702f-420e-94e1-885e4c1d3f0c",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"class SimulinkPlant:\n",
|
||||||
|
" def __init__(self,modelName = 'plant'):\n",
|
||||||
|
" \n",
|
||||||
|
" self.modelName = modelName #The name of the Simulink Model (To be placed in the same directory as the Python Code) \n",
|
||||||
|
" #Logging the variables\n",
|
||||||
|
" self.yHist = 0 \n",
|
||||||
|
" self.tHist = 0 \n",
|
||||||
|
" \n",
|
||||||
|
" def setControlAction(self,u):\n",
|
||||||
|
" #Helper Function to set value of control action\n",
|
||||||
|
" self.eng.set_param('{}/u'.format(self.modelName),'value',str(u),nargout=0)\n",
|
||||||
|
" \n",
|
||||||
|
" def getHistory(self):\n",
|
||||||
|
" #Helper Function to get Plant Output and Time History\n",
|
||||||
|
" return self.eng.eval('out.y'),self.eng.workspace['tout']\n",
|
||||||
|
" \n",
|
||||||
|
" def connectToMatlab(self):\n",
|
||||||
|
" \n",
|
||||||
|
" print(\"Starting matlab\")\n",
|
||||||
|
" self.eng = matlab.engine.start_matlab()\n",
|
||||||
|
" \n",
|
||||||
|
" print(\"Connected to Matlab\")\n",
|
||||||
|
" \n",
|
||||||
|
" #Load the model\n",
|
||||||
|
" self.eng.eval(\"model = '{}'\".format(self.modelName),nargout=0)\n",
|
||||||
|
" self.eng.eval(\"load_system(model)\",nargout=0)\n",
|
||||||
|
" \n",
|
||||||
|
" #Initialize Control Action to 0\n",
|
||||||
|
" self.setControlAction(0)\n",
|
||||||
|
" print(\"Initialized Model\")\n",
|
||||||
|
" \n",
|
||||||
|
" #Start Simulation and then Instantly pause\n",
|
||||||
|
" self.eng.set_param(self.modelName,'SimulationCommand','start','SimulationCommand','pause',nargout=0)\n",
|
||||||
|
" self.yHist,self.tHist = self.getHistory()\n",
|
||||||
|
" \n",
|
||||||
|
" def connectController(self,controller):\n",
|
||||||
|
" self.controller = controller\n",
|
||||||
|
" self.controller.initialize()\n",
|
||||||
|
" \n",
|
||||||
|
" def simulate(self):\n",
|
||||||
|
" # Control Loop\n",
|
||||||
|
" while(self.eng.get_param(self.modelName,'SimulationStatus') != ('stopped' or 'terminating')):\n",
|
||||||
|
" \n",
|
||||||
|
" #Generate the Control action based on the past outputs\n",
|
||||||
|
" u = self.controller.getControlEffort(self.yHist,self.tHist)\n",
|
||||||
|
" \n",
|
||||||
|
" #Set that Control Action\n",
|
||||||
|
" self.setControlAction(u)\n",
|
||||||
|
" \n",
|
||||||
|
" #Pause the Simulation for each timestep\n",
|
||||||
|
" self.eng.set_param(self.modelName,'SimulationCommand','continue','SimulationCommand','pause',nargout=0)\n",
|
||||||
|
" \n",
|
||||||
|
" self.yHist,self.tHist = self.getHistory()\n",
|
||||||
|
" \n",
|
||||||
|
" def disconnect(self):\n",
|
||||||
|
" self.eng.set_param(self.modelName,'SimulationCommand','stop',nargout=0)\n",
|
||||||
|
" self.eng.quit()"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 24,
|
||||||
|
"id": "5822db6e-2a7a-41b9-b684-b05804c74406",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"class PIController:\n",
|
||||||
|
" def __init__(self):\n",
|
||||||
|
" \n",
|
||||||
|
" #Maintain a History of Variables\n",
|
||||||
|
" self.yHist = []\n",
|
||||||
|
" self.tHist = []\n",
|
||||||
|
" self.uHist = []\n",
|
||||||
|
" self.eSum = 0\n",
|
||||||
|
" \n",
|
||||||
|
" def initialize(self):\n",
|
||||||
|
" \n",
|
||||||
|
" #Initialize the graph\n",
|
||||||
|
" self.fig, = plt.plot(self.tHist,self.yHist)\n",
|
||||||
|
" plt.xlim(0,10)\n",
|
||||||
|
" plt.ylim(0,20)\n",
|
||||||
|
" plt.ylabel(\"Plant Output\")\n",
|
||||||
|
" plt.xlabel(\"Time(s)\")\n",
|
||||||
|
" plt.title(\"Plant Response\")\n",
|
||||||
|
" \n",
|
||||||
|
" def updateGraph(self):\n",
|
||||||
|
" # Update the Graph\n",
|
||||||
|
" self.fig.set_xdata(self.tHist)\n",
|
||||||
|
" self.fig.set_ydata(self.yHist)\n",
|
||||||
|
" plt.pause(0.1)\n",
|
||||||
|
" plt.show()\n",
|
||||||
|
" \n",
|
||||||
|
" \n",
|
||||||
|
" \n",
|
||||||
|
" def getControlEffort(self,yHist,tHist):\n",
|
||||||
|
" \n",
|
||||||
|
" # Returns control action based on past outputs\n",
|
||||||
|
" \n",
|
||||||
|
" self.yHist = yHist\n",
|
||||||
|
" self.tHist = tHist\n",
|
||||||
|
" \n",
|
||||||
|
" self.updateGraph()\n",
|
||||||
|
" \n",
|
||||||
|
" \n",
|
||||||
|
" \n",
|
||||||
|
" if(type(self.yHist) == float):\n",
|
||||||
|
" y = self.yHist\n",
|
||||||
|
" else:\n",
|
||||||
|
" y = self.yHist[-1][0]\n",
|
||||||
|
" \n",
|
||||||
|
" # Set Point is 10\n",
|
||||||
|
" e = 10-y\n",
|
||||||
|
" \n",
|
||||||
|
" self.eSum += e\n",
|
||||||
|
" u = 1*e + 0.001*self.eSum\n",
|
||||||
|
" \n",
|
||||||
|
" print(y)\n",
|
||||||
|
" self.uHist.append(u)\n",
|
||||||
|
" return u"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 25,
|
||||||
|
"id": "bac4afc7-4cfd-4d58-9563-d60a022c02a6",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"name": "stdout",
|
||||||
|
"output_type": "stream",
|
||||||
|
"text": [
|
||||||
|
"Starting matlab\n",
|
||||||
|
"Connected to Matlab\n",
|
||||||
|
"Initialized Model\n"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"ename": "MatlabExecutionError",
|
||||||
|
"evalue": "\n File /opt/tmw/MATLAB-r2020b/toolbox/matlab/external/engines/engine_api/+matlab/+internal/+engine/getVariable.m, line 27, in getVariable\nUndefined variable 'tout'.\n",
|
||||||
|
"output_type": "error",
|
||||||
|
"traceback": [
|
||||||
|
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
|
||||||
|
"\u001b[0;31mMatlabExecutionError\u001b[0m Traceback (most recent call last)",
|
||||||
|
"\u001b[0;32m<ipython-input-25-f6fdbeb35af3>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[0mplant\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mSimulinkPlant\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmodelName\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m\"polydome_python\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 2\u001b[0m \u001b[0;31m#Establishes a Connection\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 3\u001b[0;31m \u001b[0mplant\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mconnectToMatlab\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 4\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0;31m#Instantiates the controller\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m<ipython-input-23-3a9dacf5f0ab>\u001b[0m in \u001b[0;36mconnectToMatlab\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 32\u001b[0m \u001b[0;31m#Start Simulation and then Instantly pause\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 33\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mset_param\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmodelName\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'SimulationCommand'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'start'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'SimulationCommand'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'pause'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mnargout\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 34\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0myHist\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtHist\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetHistory\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 35\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 36\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mconnectController\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mcontroller\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m<ipython-input-23-3a9dacf5f0ab>\u001b[0m in \u001b[0;36mgetHistory\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 13\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mgetHistory\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 14\u001b[0m \u001b[0;31m#Helper Function to get Plant Output and Time History\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 15\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meval\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'out.y'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mworkspace\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m'tout'\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 16\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 17\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mconnectToMatlab\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/matlabengine.py\u001b[0m in \u001b[0;36m__getitem__\u001b[0;34m(self, attr)\u001b[0m\n\u001b[1;32m 118\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__validate_identity\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mattr\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 119\u001b[0m \u001b[0m_method\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mMatlabFunc\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_engine\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m\"matlab.internal.engine.getVariable\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 120\u001b[0;31m \u001b[0mfuture\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0m_method\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mattr\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 121\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mfuture\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 122\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/matlabengine.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m 68\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mFutureResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_engine\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfuture\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mnargs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stdout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stderr\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfeval\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 70\u001b[0;31m return FutureResult(self._engine(), future, nargs, _stdout,\n\u001b[0m\u001b[1;32m 71\u001b[0m _stderr, feval=True).result()\n\u001b[1;32m 72\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/futureresult.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 65\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTypeError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'TimeoutCannotBeNegative'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 66\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 67\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__future\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mresult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 68\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mcancel\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/fevalfuture.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 80\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTimeoutError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'MatlabFunctionTimeout'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 81\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 82\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetFEvalResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_future\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_nargout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mout\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_out\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0merr\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_err\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 83\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_retrieved\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mTrue\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 84\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;31mMatlabExecutionError\u001b[0m: \n File /opt/tmw/MATLAB-r2020b/toolbox/matlab/external/engines/engine_api/+matlab/+internal/+engine/getVariable.m, line 27, in getVariable\nUndefined variable 'tout'.\n"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"plant = SimulinkPlant(modelName=\"polydome_python\")\n",
|
||||||
|
"#Establishes a Connection\n",
|
||||||
|
"plant.connectToMatlab()\n",
|
||||||
|
"\n",
|
||||||
|
"#Instantiates the controller\n",
|
||||||
|
"controller = PIController()\n",
|
||||||
|
"plant.connectController(controller)\n",
|
||||||
|
"\n",
|
||||||
|
"#Control Loop\n",
|
||||||
|
"plant.simulate()\n",
|
||||||
|
"\n",
|
||||||
|
"#Closes Connection to MATLAB\n",
|
||||||
|
"plant.disconnect()"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 28,
|
||||||
|
"id": "478001a0-5e15-405e-9b91-1761ef137f4a",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"ename": "MatlabExecutionError",
|
||||||
|
"evalue": "Attempt to execute SCRIPT ans as a function:\n/opt/tmw/MATLAB-r2020b/toolbox/matlab/lang/ans.m\n",
|
||||||
|
"output_type": "error",
|
||||||
|
"traceback": [
|
||||||
|
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
|
||||||
|
"\u001b[0;31mMatlabExecutionError\u001b[0m Traceback (most recent call last)",
|
||||||
|
"\u001b[0;32m<ipython-input-28-03a3d9f7ade5>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mplant\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meval\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'ans'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/matlabengine.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m 68\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mFutureResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_engine\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfuture\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mnargs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stdout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stderr\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfeval\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 70\u001b[0;31m return FutureResult(self._engine(), future, nargs, _stdout,\n\u001b[0m\u001b[1;32m 71\u001b[0m _stderr, feval=True).result()\n\u001b[1;32m 72\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/futureresult.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 65\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTypeError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'TimeoutCannotBeNegative'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 66\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 67\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__future\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mresult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 68\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mcancel\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/fevalfuture.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 80\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTimeoutError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'MatlabFunctionTimeout'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 81\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 82\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetFEvalResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_future\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_nargout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mout\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_out\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0merr\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_err\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 83\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_retrieved\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mTrue\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 84\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
|
||||||
|
"\u001b[0;31mMatlabExecutionError\u001b[0m: Attempt to execute SCRIPT ans as a function:\n/opt/tmw/MATLAB-r2020b/toolbox/matlab/lang/ans.m\n"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"plant.eng.eval('ans')"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 21,
|
||||||
|
"id": "dfaa3294-60bf-4086-9ec4-e9794f8adf0d",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"plant.eng.workspace['y'] = 14"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 22,
|
||||||
|
"id": "d9f4ca79-f401-43ef-bdcb-deb8152aeaad",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"data": {
|
||||||
|
"text/plain": [
|
||||||
|
"14"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"execution_count": 22,
|
||||||
|
"metadata": {},
|
||||||
|
"output_type": "execute_result"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"plant.eng.workspace['y']"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"id": "d6034609-2a8c-4b90-a8bd-8502f5cf6e76",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": []
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"metadata": {
|
||||||
|
"kernelspec": {
|
||||||
|
"display_name": "Python 3",
|
||||||
|
"language": "python",
|
||||||
|
"name": "python3"
|
||||||
|
},
|
||||||
|
"language_info": {
|
||||||
|
"codemirror_mode": {
|
||||||
|
"name": "ipython",
|
||||||
|
"version": 3
|
||||||
|
},
|
||||||
|
"file_extension": ".py",
|
||||||
|
"mimetype": "text/x-python",
|
||||||
|
"name": "python",
|
||||||
|
"nbconvert_exporter": "python",
|
||||||
|
"pygments_lexer": "ipython3",
|
||||||
|
"version": "3.9.4"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"nbformat": 4,
|
||||||
|
"nbformat_minor": 5
|
||||||
|
}
|
||||||
105
Notebooks/52_mpc_server.ipynb
Normal file
|
|
@ -0,0 +1,105 @@
|
||||||
|
{
|
||||||
|
"cells": [
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 1,
|
||||||
|
"id": "69938cfc-3188-4458-bdc1-87d87d9e9380",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"from pathlib import Path\n",
|
||||||
|
"import pickle"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 2,
|
||||||
|
"id": "e2214d3e-f7cf-4e6d-840e-70f35f7ce311",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"import numpy as np\n",
|
||||||
|
"import pandas as pd"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 3,
|
||||||
|
"id": "0a0c4438-e0cc-44db-b04a-7f0f9c01f14a",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"import gpflow\n",
|
||||||
|
"import tensorflow as tf"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 4,
|
||||||
|
"id": "77493d54-0a7c-474d-b20a-00b94755a984",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"import casadi as cs"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 5,
|
||||||
|
"id": "ff16257e-e721-4798-beb9-d7927cb658f8",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"import matplotlib.pyplot as plt"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 7,
|
||||||
|
"id": "0688ff0a-d6e8-45a8-b03a-f8e875d987b2",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [
|
||||||
|
{
|
||||||
|
"ename": "SyntaxError",
|
||||||
|
"evalue": "invalid syntax (<ipython-input-7-004fb9cd5ffa>, line 1)",
|
||||||
|
"output_type": "error",
|
||||||
|
"traceback": [
|
||||||
|
"\u001b[0;36m File \u001b[0;32m\"<ipython-input-7-004fb9cd5ffa>\"\u001b[0;36m, line \u001b[0;32m1\u001b[0m\n\u001b[0;31m from ./../server_implementation/controllers import GP_MPCcontroller\u001b[0m\n\u001b[0m ^\u001b[0m\n\u001b[0;31mSyntaxError\u001b[0m\u001b[0;31m:\u001b[0m invalid syntax\n"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"source": [
|
||||||
|
"from ./../server_implementation/controllers import GP_MPCcontroller"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"id": "e44ecaf3-b9ac-473c-a088-551648d69322",
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": []
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"metadata": {
|
||||||
|
"kernelspec": {
|
||||||
|
"display_name": "Python 3",
|
||||||
|
"language": "python",
|
||||||
|
"name": "python3"
|
||||||
|
},
|
||||||
|
"language_info": {
|
||||||
|
"codemirror_mode": {
|
||||||
|
"name": "ipython",
|
||||||
|
"version": 3
|
||||||
|
},
|
||||||
|
"file_extension": ".py",
|
||||||
|
"mimetype": "text/x-python",
|
||||||
|
"name": "python",
|
||||||
|
"nbconvert_exporter": "python",
|
||||||
|
"pygments_lexer": "ipython3",
|
||||||
|
"version": "3.9.4"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"nbformat": 4,
|
||||||
|
"nbformat_minor": 5
|
||||||
|
}
|
||||||
829
Notebooks/70_Server_result_analysis.ipynb
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