Source code for pybamm.expression_tree.operations.convert_to_casadi

#
# Convert a PyBaMM expression tree to a CasADi expression tree
#
import pybamm
import casadi
import numpy as np
from scipy import special


[docs]class CasadiConverter(object): def __init__(self, casadi_symbols=None): self._casadi_symbols = casadi_symbols or {} pybamm.citations.register("Andersson2019")
[docs] def convert(self, symbol, t, y, y_dot, inputs): """ This function recurses down the tree, converting the PyBaMM expression tree to a CasADi expression tree Parameters ---------- symbol : :class:`pybamm.Symbol` The symbol to convert t : :class:`casadi.MX` A casadi symbol representing time y : :class:`casadi.MX` A casadi symbol representing state vectors y_dot : :class:`casadi.MX` A casadi symbol representing time derivatives of state vectors inputs : dict A dictionary of casadi symbols representing parameters Returns ------- :class:`casadi.MX` The converted symbol """ try: return self._casadi_symbols[symbol] except KeyError: # Change inputs to empty dictionary if it's None inputs = inputs or {} casadi_symbol = self._convert(symbol, t, y, y_dot, inputs) self._casadi_symbols[symbol] = casadi_symbol return casadi_symbol
def _convert(self, symbol, t, y, y_dot, inputs): """See :meth:`CasadiConverter.convert()`.""" if isinstance( symbol, ( pybamm.Scalar, pybamm.Array, pybamm.Time, pybamm.InputParameter, ), ): return casadi.MX(symbol.evaluate(t, y, y_dot, inputs)) elif isinstance(symbol, pybamm.StateVector): if y is None: raise ValueError("Must provide a 'y' for converting state vectors") return casadi.vertcat(*[y[y_slice] for y_slice in symbol.y_slices]) elif isinstance(symbol, pybamm.StateVectorDot): if y_dot is None: raise ValueError("Must provide a 'y_dot' for converting state vectors") return casadi.vertcat(*[y_dot[y_slice] for y_slice in symbol.y_slices]) elif isinstance(symbol, pybamm.BinaryOperator): left, right = symbol.children # process children converted_left = self.convert(left, t, y, y_dot, inputs) converted_right = self.convert(right, t, y, y_dot, inputs) if isinstance(symbol, pybamm.Modulo): return casadi.fmod(converted_left, converted_right) if isinstance(symbol, pybamm.Minimum): return casadi.fmin(converted_left, converted_right) if isinstance(symbol, pybamm.Maximum): return casadi.fmax(converted_left, converted_right) # _binary_evaluate defined in derived classes for specific rules return symbol._binary_evaluate(converted_left, converted_right) elif isinstance(symbol, pybamm.UnaryOperator): converted_child = self.convert(symbol.child, t, y, y_dot, inputs) if isinstance(symbol, pybamm.AbsoluteValue): return casadi.fabs(converted_child) if isinstance(symbol, pybamm.Floor): return casadi.floor(converted_child) if isinstance(symbol, pybamm.Ceiling): return casadi.ceil(converted_child) return symbol._unary_evaluate(converted_child) elif isinstance(symbol, pybamm.Function): converted_children = [ self.convert(child, t, y, y_dot, inputs) for child in symbol.children ] # Special functions if symbol.function == np.min: return casadi.mmin(*converted_children) elif symbol.function == np.max: return casadi.mmax(*converted_children) elif symbol.function == np.abs: return casadi.fabs(*converted_children) elif symbol.function == np.sqrt: return casadi.sqrt(*converted_children) elif symbol.function == np.sin: return casadi.sin(*converted_children) elif symbol.function == np.arcsinh: return casadi.arcsinh(*converted_children) elif symbol.function == np.arccosh: return casadi.arccosh(*converted_children) elif symbol.function == np.tanh: return casadi.tanh(*converted_children) elif symbol.function == np.cosh: return casadi.cosh(*converted_children) elif symbol.function == np.sinh: return casadi.sinh(*converted_children) elif symbol.function == np.cos: return casadi.cos(*converted_children) elif symbol.function == np.exp: return casadi.exp(*converted_children) elif symbol.function == np.log: return casadi.log(*converted_children) elif symbol.function == np.sign: return casadi.sign(*converted_children) elif symbol.function == special.erf: return casadi.erf(*converted_children) elif isinstance(symbol, pybamm.Interpolant): if symbol.interpolator == "linear": solver = "linear" elif symbol.interpolator == "cubic": solver = "bspline" elif symbol.interpolator == "pchip": raise NotImplementedError( "The interpolator 'pchip' is not supported by CasAdi. " "Use 'linear' or 'cubic' instead. " "Alternatively, set 'model.convert_to_format = 'python'' " "and use a non-CasADi solver. " ) else: # pragma: no cover raise NotImplementedError( "Unknown interpolator: {0}".format(symbol.interpolator) ) if len(converted_children) == 1: return casadi.interpolant( "LUT", solver, symbol.x, symbol.y.flatten() )(*converted_children) elif len(converted_children) in [2, 3]: LUT = casadi.interpolant( "LUT", solver, symbol.x, symbol.y.ravel(order="F") ) res = LUT(casadi.hcat(converted_children).T).T return res else: # pragma: no cover raise ValueError( "Invalid converted_children count: {0}".format( len(converted_children) ) ) elif symbol.function.__name__.startswith("elementwise_grad_of_"): differentiating_child_idx = int(symbol.function.__name__[-1]) # Create dummy symbolic variables in order to differentiate using CasADi dummy_vars = [ casadi.MX.sym("y_" + str(i)) for i in range(len(converted_children)) ] func_diff = casadi.gradient( symbol.differentiated_function(*dummy_vars), dummy_vars[differentiating_child_idx], ) # Create function and evaluate it using the children casadi_func_diff = casadi.Function("func_diff", dummy_vars, [func_diff]) return casadi_func_diff(*converted_children) # Other functions else: return symbol._function_evaluate(converted_children) elif isinstance(symbol, pybamm.Concatenation): converted_children = [ self.convert(child, t, y, y_dot, inputs) for child in symbol.children ] if isinstance(symbol, (pybamm.NumpyConcatenation, pybamm.SparseStack)): return casadi.vertcat(*converted_children) # DomainConcatenation specifies a particular ordering for the concatenation, # which we must follow elif isinstance(symbol, pybamm.DomainConcatenation): slice_starts = [] all_child_vectors = [] for i in range(symbol.secondary_dimensions_npts): child_vectors = [] for child_var, slices in zip( converted_children, symbol._children_slices ): for child_dom, child_slice in slices.items(): slice_starts.append(symbol._slices[child_dom][i].start) child_vectors.append( child_var[child_slice[i].start : child_slice[i].stop] ) all_child_vectors.extend( [v for _, v in sorted(zip(slice_starts, child_vectors))] ) return casadi.vertcat(*all_child_vectors) else: raise TypeError( """ Cannot convert symbol of type '{}' to CasADi. Symbols must all be 'linear algebra' at this stage. """.format( type(symbol) ) )