Brach example fix (#66)

* removed singularity from initial guess in brachistochrone example.  added more tests

* version 0.9.1 -> 0.9.2

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.9.1
+current_version = 0.9.2
 commit = False
 tag = False
 

docs/source/conf.py

@@ -71,7 +71,7 @@
 # built documents.
 #
 # The short X.Y version.
-version = u'0.9.1'
+version = u'0.9.2'
 # The full version, including alpha/beta/rc tags.
 release = version
 

dymos/__init__.py

@@ -1,6 +1,6 @@
 from __future__ import print_function, division, absolute_import
 
-__version__ = '0.9.1'
+__version__ = '0.9.2'
 
 from .ode_options import ODEOptions, declare_time, declare_state, declare_parameter
 from .phases.phase_factory import Phase

dymos/examples/brachistochrone/ex_brachistochrone.py

@@ -11,7 +11,7 @@
 from dymos import Phase
 from dymos.examples.brachistochrone.brachistochrone_ode import BrachistochroneODE
 
-OPTIMIZER = 'SlSQP'
+OPTIMIZER = 'SLSQP'
 SHOW_PLOTS = True
 
 
@@ -64,7 +64,7 @@ def brachistochrone_min_time(
     p['phase0.states:x'] = phase.interpolate(ys=[0, 10], nodes='state_input')
     p['phase0.states:y'] = phase.interpolate(ys=[10, 5], nodes='state_input')
     p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9], nodes='state_input')
-    p['phase0.controls:theta'] = phase.interpolate(ys=[0, 100], nodes='control_input')
+    p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100], nodes='control_input')
     p['phase0.design_parameters:g'] = 9.80665
 
     p.run_model()

dymos/examples/brachistochrone/test/test_ex_brachistochrone.py

@@ -21,7 +21,7 @@ def tearDownClass(cls):
             if os.path.exists(filename):
                 os.remove(filename)
 
-    def run_asserts(self, p, transcription):
+    def run_asserts(self, p):
         t_initial = p.model.phase0.get_values('time')[0]
         tf = p.model.phase0.get_values('time')[-1]
 
@@ -51,11 +51,30 @@ def run_asserts(self, p, transcription):
 
         assert_almost_equal(thetaf, 100.12, decimal=0)
 
-    @parameterized.expand(product(
-        ['gauss-lobatto', 'radau-ps'],
-    ))
-    def test_ex_brachistochrone(self, transcription='radau-ps'):
+    def test_ex_brachistochrone_radau_compressed(self):
         ex_brachistochrone.SHOW_PLOTS = True
-        p = ex_brachistochrone.brachistochrone_min_time(transcription=transcription)
-        self.run_asserts(p, transcription)
+        p = ex_brachistochrone.brachistochrone_min_time(transcription='radau-ps',
+                                                        compressed=True)
+        self.run_asserts(p)
+        self.tearDown()
+
+    def test_ex_brachistochrone_radau_uncompressed(self):
+        ex_brachistochrone.SHOW_PLOTS = True
+        p = ex_brachistochrone.brachistochrone_min_time(transcription='radau-ps',
+                                                        compressed=False)
+        self.run_asserts(p)
+        self.tearDown()
+
+    def test_ex_brachistochrone_gl_compressed(self):
+        ex_brachistochrone.SHOW_PLOTS = True
+        p = ex_brachistochrone.brachistochrone_min_time(transcription='gauss-lobatto',
+                                                        compressed=True)
+        self.run_asserts(p)
+        self.tearDown()
+
+    def test_ex_brachistochrone_gl_uncompressed(self):
+        ex_brachistochrone.SHOW_PLOTS = True
+        p = ex_brachistochrone.brachistochrone_min_time(transcription='gauss-lobatto',
+                                                        compressed=False)
+        self.run_asserts(p)
         self.tearDown()

setup.py

@@ -3,7 +3,7 @@
 
 
 setup(name='dymos',
-    version='0.9.1',
+    version='0.9.2',
     description='Open-Source Optimization of Dynamic Multidiscplinary Systems',
     url='https://github.com/OpenMDAO/dymos',
     classifiers=[