Fix for opt_duration=False errors (#62)

* fix for fixing initial time and duration.  externally sourcing these require the set_time_options argument input_initial=True or input_duration=True.  If they are externally sourced, all optimiation-related options to input/duration are irrelevlant.  Options opt_initial/opt_duration are DEPRECATED in favor of fix_initial/fix_duration.

* Updated examples to use time options fix_initial or fix_duration.  Tests for the double integrator are used to test inputting values for initial time and duration, and associated warnings.

* test for deprecation warning if user uses opt_initial or opt_duration in set_time_options

* bumped patch -> 0.9.1

* removed explicit mode in setup to update with current OpenMDAO

* skip unittests that use assertWarns when python version < 3.3

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.9.0
+current_version = 0.9.1
 commit = False
 tag = False
 

docs/source/conf.py

@@ -71,7 +71,7 @@
 # built documents.
 #
 # The short X.Y version.
-version = u'0.9.0'
+version = u'0.9.1'
 # The full version, including alpha/beta/rc tags.
 release = version
 

docs/source/user_guide/phases/variables.rst

@@ -17,7 +17,11 @@ In |project|, time is characterized by two variables:
 * `t_initial` - The initial time of the phase
 * `t_duration` - The duration of the phase
 
-The bounds, scaling, and units of these variables may be set using `set_time_options`.
+The bounds, scaling, and units of these variables may be set using `set_time_options`.  In addition,
+the user can specify that the initial time or duration of a phase is to be connected to some
+external output by specifying `input_initial = True` or `input_duration = True`.  In the case of
+fixed initial time or duration, or input initial time or duration, the optimization-related options
+have no effect and a warning will be raised if they are used.
 
 .. embed-options::
     dymos.phases.options

dymos/__init__.py

@@ -1,6 +1,6 @@
 from __future__ import print_function, division, absolute_import
 
-__version__ = '0.9.0'
+__version__ = '0.9.1'
 
 from .ode_options import ODEOptions, declare_time, declare_state, declare_parameter
 from .phases.phase_factory import Phase

dymos/examples/aircraft_steady_flight/ex_aircraft_steady_flight.py

@@ -82,7 +82,7 @@ def ex_aircraft_steady_flight(optimizer='SLSQP', transcription='gauss-lobatto'):
 
     p.model.linear_solver = DirectSolver(assemble_jac=True)
 
-    p.setup(mode='fwd')
+    p.setup()
 
     p['phase0.t_initial'] = 0.0
     p['phase0.t_duration'] = 3600.0

dymos/examples/aircraft_steady_flight/flight_equlibrium/test/test_flight_equilibrium_group.py

@@ -55,7 +55,7 @@ def setUpClass(cls):
         cls.p.model.connect('W_total', 'flight_equilibrium.W_total')
         cls.p.model.connect('q', ('aero.q', 'flight_equilibrium.q'))
 
-        cls.p.setup(check=True, mode='fwd', force_alloc_complex=True)
+        cls.p.setup(check=True, force_alloc_complex=True)
 
         cls.p.run_model()
 

dymos/examples/aircraft_steady_flight/propulsion/test/test_propulsion_group.py

@@ -32,7 +32,7 @@ def setUpClass(cls):
         cls.p.model.connect('pres', 'propulsion.pres')
         cls.p.model.connect('CT', 'propulsion.CT')
 
-        cls.p.setup(mode='fwd', force_alloc_complex=True)
+        cls.p.setup(force_alloc_complex=True)
 
         cls.p.run_model()
 

dymos/examples/aircraft_steady_flight/test/test_aircraft_cruise.py

@@ -79,7 +79,7 @@ def test_cruise_results(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 1.515132 * 3600.0

dymos/examples/aircraft_steady_flight/test/test_aircraft_ode.py

@@ -50,7 +50,7 @@ def setUpClass(cls):
         cls.p.model.linear_solver = DirectSolver(assemble_jac=True)
         cls.p.model.options['assembled_jac_type'] = 'csc'
 
-        cls.p.setup(check=True, mode='fwd')
+        cls.p.setup(check=True)
 
         cls.p.run_model()
 

dymos/examples/aircraft_steady_flight/test/test_doc_aircraft_steady_flight.py

@@ -77,7 +77,7 @@ def test_steady_aircraft_for_docs(self):
 
         p.model.linear_solver = DirectSolver(assemble_jac=True)
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 3600.0

dymos/examples/brachistochrone/ex_brachistochrone.py

@@ -40,7 +40,7 @@ def brachistochrone_min_time(
 
     p.model.add_subsystem('phase0', phase)
 
-    phase.set_time_options(opt_initial=False, duration_bounds=(.5, 10))
+    phase.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
 
     phase.set_state_options('x', fix_initial=True, fix_final=True)
     phase.set_state_options('y', fix_initial=True, fix_final=True)
@@ -56,7 +56,7 @@ def brachistochrone_min_time(
 
     p.model.options['assembled_jac_type'] = top_level_jacobian.lower()
     p.model.linear_solver = DirectSolver(assemble_jac=True)
-    p.setup(mode='fwd', check=True)
+    p.setup(check=True)
 
     p['phase0.t_initial'] = 0.0
     p['phase0.t_duration'] = 2.0

dymos/examples/brachistochrone/test/test_doc_brach_run_simul_derivs.py

@@ -43,7 +43,7 @@ def test_brachistochrone_for_docs_gauss_lobatto_simul_derivs(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0

dymos/examples/brachistochrone/test/test_doc_brach_run_without_simul_derivs.py

@@ -41,7 +41,7 @@ def test_brachistochrone_for_docs_gauss_lobatto_without_simul_derivs(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0

dymos/examples/brachistochrone/test/test_doc_brachistochrone.py

@@ -47,7 +47,7 @@ def test_brachistochrone_for_docs_gauss_lobatto(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='rev')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0

dymos/examples/brachistochrone/test/test_doc_brachistochrone_implicit_recorder.py

@@ -62,7 +62,7 @@ def test_brachistochrone_recording_for_docs(self):
         p.model.add_recorder(rec)
         phase.add_recorder(rec)
 
-        p.setup(mode='rev')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0

dymos/examples/brachistochrone/test/test_path_constraints.py

@@ -38,7 +38,7 @@ def test_control_rate_path_constraint_gl(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0
@@ -88,7 +88,7 @@ def test_control_rate2_path_constraint_gl(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0
@@ -138,7 +138,7 @@ def test_control_rate_path_constraint_radau(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0
@@ -188,7 +188,7 @@ def test_control_rate2_path_constraint_radau(self):
         p.model.linear_solver = DirectSolver(assemble_jac=True)
         p.model.options['assembled_jac_type'] = 'csc'
 
-        p.setup(mode='fwd')
+        p.setup()
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 2.0

dymos/examples/double_integrator/ex_double_integrator.py

@@ -20,7 +20,7 @@ def double_integrator_direct_collocation(transcription='gauss-lobatto', top_leve
 
     p.model.add_subsystem('phase0', phase)
 
-    phase.set_time_options(initial_bounds=(0, 0), duration_bounds=(1.0, 1.0))
+    phase.set_time_options(fix_initial=True, fix_duration=True)
 
     phase.set_state_options('x', fix_initial=True)
     phase.set_state_options('v', fix_initial=True, fix_final=True)
@@ -34,7 +34,7 @@ def double_integrator_direct_collocation(transcription='gauss-lobatto', top_leve
     p.model.linear_solver = DirectSolver(assemble_jac=True)
     p.model.options['assembled_jac_type'] = top_level_jacobian.lower()
 
-    p.setup(mode='fwd', check=True)
+    p.setup(check=True)
 
     p['phase0.t_initial'] = 0.0
     p['phase0.t_duration'] = 1.0
@@ -49,5 +49,4 @@ def double_integrator_direct_collocation(transcription='gauss-lobatto', top_leve
 
 
 if __name__ == '__main__':
-    prob = double_integrator_direct_collocation(transcription='radau-ps', optimizer='SLSQP',
-                                                compressed=True)
+    prob = double_integrator_direct_collocation(transcription='radau-ps', compressed=True)

dymos/examples/double_integrator/test/test_doc_double_integrator.py

@@ -40,7 +40,7 @@ def test_double_integrator_for_docs(self):
 
         p.model.linear_solver = DirectSolver(assemble_jac=True)
 
-        p.setup(mode='fwd', check=True)
+        p.setup(check=True)
 
         p['phase0.t_initial'] = 0.0
         p['phase0.t_duration'] = 1.0