mission_type

type, public, extends(numdiff_type) :: mission_type

the mission [this is a numdiff_type for organizational purposes.... rethink this maybe ...

Inherits

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Inherited by

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Components

Type	Visibility	Attributes		Name		Initial
character(len=:),	public,	allocatable	::	initial_guess_from_file			to read the initial guess from a JSOn file
logical,	public		::	use_splined_ephemeris	=	.false.	if true, the ephemeris is splined
real(kind=wp),	public		::	dt_spline_sec	=	3600.0_wp	time step in seconds for spline step [1 hr]
logical,	public		::	pointmass_central_body	=	.false.	if true, the central body is a pointmass (moon). otherwise, the `grav` model is used.
type(geopotential_model_pines),	public,	pointer	::	grav	=>	null()	central body geopotential model [global]
class(jpl_ephemeris),	public,	pointer	::	eph	=>	null()	the ephemeris [global]
type(segment),	public,	dimension(:), allocatable	::	segs			the list of segments
real(kind=wp),	public,	dimension(:), allocatable	::	xscale			opt var scale factors
real(kind=wp),	public,	dimension(:), allocatable	::	dpert_			opt var dpert factors [rename because already in base class]
real(kind=wp),	public,	dimension(:), allocatable	::	fscale			function scale factors
character(len=20),	public,	dimension(:), allocatable	::	xname			opt var names
character(len=:),	public,	allocatable	::	N_or_S			'N' or 'S'
character(len=:),	public,	allocatable	::	L1_or_L2			'L1' or 'L2'
logical,	public		::	solve	=	.true.	run the nle solver to solve the problem
logical,	public		::	generate_plots	=	.true.	to generate the python plots
logical,	public		::	generate_trajectory_files	=	.true.	to export the txt trajectory files.
logical,	public		::	generate_json_trajectory_file	=	.false.	to export the JSON trajectory file for the solution (contains inertial and rotating data). This one is used by the PyVista python script for plotting
logical,	public		::	generate_guess_and_solution_files	=	.true.	to export the json guess and solution files.
logical,	public		::	generate_kernel	=	.false.	to generate a spice kernel (bsp) of the solution [this requires the external mkspk SPICE tool]
logical,	public		::	generate_defect_file	=	.false.	generate the file that shows the pos/vel constraint defects for the solution
logical,	public		::	generate_eclipse_files	=	.false.	generate the eclipse data file for the solution
logical,	public		::	run_pyvista_script	=	.false.	run the pyvista script to generate the interacdtive 3d plot
real(kind=wp),	public		::	r_eclipse_bubble	=	0.0_wp	radius of the "eclipse bubble" [km]
real(kind=wp),	public		::	eclipse_dt_step	=	3600.0_wp	dense time step output for eclipse calculations in sec [1 hour]
integer,	public		::	eclipse_filetype	=	1	type of eclipse file: 1=csv or 2=json
integer,	public		::	epoch_mode	=	1	1 - calendar date was specified, 2 - ephemeris time was specified
integer,	public		::	year	=	0	epoch of first point (first periapsis crossing)
integer,	public		::	month	=	0	epoch of first point (first periapsis crossing)
integer,	public		::	day	=	0	epoch of first point (first periapsis crossing)
integer,	public		::	hour	=	0	epoch of first point (first periapsis crossing)
integer,	public		::	minute	=	0	epoch of first point (first periapsis crossing)
real(kind=wp),	public		::	sec	=	zero	epoch of first point (first periapsis crossing)
real(kind=wp),	public		::	et_ref	=	zero	ephemeris time reference epoch [sec] (all times relative to this). this is computed from the year,month,day,hour,minute,sec values if `epoch_mode=1`
integer,	public		::	n_revs	=	10	Number of revs in the Halo.
real(kind=wp),	public		::	rtol	=	1.0e-12_wp	integrator rtol
real(kind=wp),	public		::	atol	=	1.0e-12_wp	integrator atol
real(kind=wp),	public		::	nlesolver_tol	=	1.0e-6_wp	nlesolver tol
real(kind=wp),	public,	dimension(:), allocatable	::	initial_r			if `fix_initial_r` is True, this can be used to specify the initial `r` (moon-centered earth-moon rotating frame)
character(len=:),	public,	allocatable	::	ephemeris_file			the JPL ephemeris file to load
character(len=:),	public,	allocatable	::	gravfile			spherical harmonic gravity coeff file (Moon) example: 'data/grav/gggrx_0020pm_sha.tab'
character(len=:),	public,	allocatable	::	patch_point_file			Halo CR3BP patch point solution file example: 'data/L2_halos.json'
logical,	public		::	patch_point_file_is_periapsis	=	.false.	if the state in the patch point file are periapsis states (false means they are apoapsis states. the ones in L2_halos.json are apoapsis states)
type(patch_point),	public		::	periapsis			Patchpoint Periapse State
type(patch_point),	public		::	quarter			Patchpoint 1/4 Rev State
type(patch_point),	public		::	apoapsis			Patchpoint 1/2 Rev State
real(kind=wp),	public		::	period	=	0.0_wp	Halo period [days]
real(kind=wp),	public		::	period8	=	0.0_wp	1/8 of Halo period [days]
logical,	public		::	fix_initial_time	=	.false.	to fix the initial epoch in the mission
logical,	public		::	fix_initial_r	=	.false.	fix the initial periapsis position vector (x,y,z)
integer,	public		::	fix_ry_at_end_of_rev	=	0	fix ry at the end of the specified rev (at periapsis) not used if `<= 0`.
logical,	public		::	fix_final_ry_and_vx	=	.false.	fix ry and vx at the end of the last rev (at periapsis)
integer,	public		::	solver_mode	=	1	use sparse or dense solver: 1 - dense (LAPACK) 2 - sparse (LSQR) 3 - sparse (LUSOL) 4 - sparse (LMSR) 5 - sparse (qr_mumps)

Type-Bound Procedures

procedure, public :: init => initialize_the_mission

public subroutine initialize_the_mission(me, x)

Initialize the mission.

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me
real(kind=wp),	intent(out),	optional,	dimension(:), allocatable	::	x	initial guess

procedure, public :: plot => plot_trajectory

public subroutine plot_trajectory(me, filename, export_trajectory, draw_trajectory, only_first_rev)

Plot the trajectory using matplotlib and/or generate a text file (for MKSPK)

Arguments

Type	Intent	Optional		Name
class(mission_type),	intent(inout)		::	me
character(len=*),	intent(in)		::	filename	plot file name [without extension]
logical,	intent(in),	optional	::	export_trajectory	if true, a text trajectory file is also produced (that can be read by MKSPK) [default is False]
logical,	intent(in),	optional	::	draw_trajectory	if true [Default], a matplotlib plot is generated
logical,	intent(in),	optional	::	only_first_rev	to only do the first rev [Default is False]

procedure, public :: export_trajectory_json_file

public subroutine export_trajectory_json_file(me, filename, only_first_rev)

Export the trajectory JSON file.

Arguments

Type	Intent	Optional		Name
class(mission_type),	intent(inout)		::	me
character(len=*),	intent(in)		::	filename	plot file name [without extension]
logical,	intent(in),	optional	::	only_first_rev	to only do the first rev [Default is False]

procedure, public :: write_optvars_to_file

public subroutine write_optvars_to_file(me, filename, x)

Write the current x variables to a file (compatible with the Copernicus optvar file).

Arguments

Type	Intent	Attributes		Name
class(mission_type),	intent(inout)		::	me
character(len=*),	intent(in)		::	filename	file name [without extension]
real(kind=wp),	intent(in),	dimension(:)	::	x	solver opt vars vector

procedure, public :: constraint_violations

public subroutine constraint_violations(me, x, f, funcs_to_compute)

Computes the constraint violation vector for the mission.

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me
real(kind=wp),	intent(in),		dimension(:)	::	x	opt var vector for the mission [n]
real(kind=wp),	intent(out),		dimension(:)	::	f	constraint violation vector for the mission [m]
integer,	intent(in),	optional,	dimension(:)	::	funcs_to_compute	the indices of f to compute

procedure, public :: print_constraint_defects

public subroutine print_constraint_defects(me, filename)

Print the r and v constraint defect norms for each segment constraint.

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(in)			::	me
character(len=*),	intent(in)			::	filename	csv file to write to

procedure, public :: generate_eclipse_data

public subroutine generate_eclipse_data(me, fileprefix, filetype)

Propagate all the segments with a dense time step and export the Eclipsing data w.r.t. Earth. In this file, any point <0 is in eclipse.

Arguments

Type	Intent	Optional		Name
class(mission_type),	intent(inout)		::	me
character(len=*),	intent(in)		::	fileprefix	file prefix for the csv file (case name will be added)
integer,	intent(in),	optional	::	filetype	type of output file: 1=csv [default] or 2=json

procedure, public :: get_problem_arrays

public subroutine get_problem_arrays(me, x, f)

Get the arrays for the problem

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(in)			::	me
real(kind=wp),	intent(out),	optional,	dimension(:)	::	x	opt var vector [scaled]
real(kind=wp),	intent(out),	optional,	dimension(:)	::	f	constraint violations

procedure, public :: put_x_in_segments

public subroutine put_x_in_segments(me, x_scaled)

Take the x vector from the solver, and use it to populate all the segments

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me
real(kind=wp),	intent(in),		dimension(:)	::	x_scaled	opt var vector (scaled)

procedure, public :: get_x_from_json_file

public subroutine get_x_from_json_file(me, x)

Read the JSON solution file and put the x vector in the mission. Can be used to restart a solution from a previous run (e.g., with different settings, as long as the fundamental problem isn't changed).

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me
real(kind=wp),	intent(out),		dimension(:), allocatable	::	x	scaled `x` vector

procedure, public :: get_scales_from_segs

public subroutine get_scales_from_segs(me)

Populate the xscale and fscale problem arrays from the segment data.

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me

procedure, public :: segs_to_propagate

public subroutine segs_to_propagate(me, funcs_to_compute, isegs_to_propagate)

Given the functions to be computed, returns the segments that need to be propagated.

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me
integer,	intent(in),	optional,	dimension(:)	::	funcs_to_compute	the indices of f to compute
integer,	intent(out),		dimension(:), allocatable	::	isegs_to_propagate	segment numbers

procedure, public :: get_sparsity_pattern

public subroutine get_sparsity_pattern(me, irow, icol, linear_irow, linear_icol, linear_vals, maxgrp, ngrp)

Returns the sparsity pattern for the "forward-backward" Halo problem.

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me
integer,	intent(out),		dimension(:), allocatable	::	irow	sparsity pattern nonzero elements row indices
integer,	intent(out),		dimension(:), allocatable	::	icol	sparsity pattern nonzero elements column indices
integer,	intent(out),	optional,	dimension(:), allocatable	::	linear_irow	linear sparsity pattern nonzero elements row indices
integer,	intent(out),	optional,	dimension(:), allocatable	::	linear_icol	linear sparsity pattern nonzero elements column indices
real(kind=wp),	intent(out),	optional,	dimension(:), allocatable	::	linear_vals	linear sparsity values (constant elements of the Jacobian)
integer,	intent(out),	optional		::	maxgrp	DSM sparsity partition
integer,	intent(out),	optional,	dimension(:), allocatable	::	ngrp	DSM sparsity partition

procedure, public :: define_problem_size

public pure subroutine define_problem_size(me, n, m, n_segs, n_nonzero, full_problem)

Returns the size variables for the "forward-backward" formulation of the problem.

Arguments

Type	Intent	Optional		Name
class(mission_type),	intent(in)		::	me
integer,	intent(out),	optional	::	n	number of opt vars for the solver
integer,	intent(out),	optional	::	m	number of equality constraints for the solver
integer,	intent(out),	optional	::	n_segs	number of segments
integer,	intent(out),	optional	::	n_nonzero	number of nonzero elements in the Jacobian
logical,	intent(in),	optional	::	full_problem	if true (default) always return the results for the full problem (i.e., without fixing any of the variables)

procedure, public :: get_case_name

public function get_case_name(me) result(case_name)

Returns a string that can be used for file names, etc. (read the values of the global variables).

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(in)			::	me

Return Value character(len=:), allocatable

procedure, public :: generate_patch_points

public subroutine generate_patch_points(me, lstar, tstar, period, x0, z0, ydot0, pp)

Generates the patch points (unnormalized, moon-centered) from the CR3BP normalized guess.

Arguments

Type	Intent	Attributes		Name
class(mission_type),	intent(inout)		::	me
real(kind=wp),	intent(in)		::	lstar
real(kind=wp),	intent(in)		::	tstar
real(kind=wp),	intent(in)		::	period
real(kind=wp),	intent(in)		::	x0
real(kind=wp),	intent(in)		::	z0
real(kind=wp),	intent(in)		::	ydot0
type(patch_point),	intent(out),	dimension(3)	::	pp	periapsis, quarter, apoapsis patch points

procedure, public :: update_epoch

public subroutine update_epoch(me)

Update the variables for the reference epoch in the mission class. Either computes the et from the calendar state, or vice versa.

Arguments

Type	Intent	Optional	Attributes		Name
class(mission_type),	intent(inout)			::	me

Source Code

    type,extends(numdiff_type) :: mission_type

        !! the mission [this is a `numdiff_type` for
        !! organizational purposes.... rethink this maybe ...

        character(len=:),allocatable :: initial_guess_from_file !! to read the initial guess from a JSOn file

        logical :: use_splined_ephemeris = .false. !! if true, the ephemeris is splined
        real(wp) :: dt_spline_sec = 3600.0_wp !! time step in seconds for spline step [1 hr]

        logical :: pointmass_central_body = .false. !! if true, the central body is a pointmass (moon).
                                                   !! otherwise, the `grav` model is used.
        type(geopotential_model_pines),pointer :: grav => null() !! central body geopotential model [global]
        class(jpl_ephemeris),pointer :: eph => null()            !! the ephemeris [global]

        type(segment),dimension(:),allocatable :: segs  !! the list of segments

        real(wp),dimension(:),allocatable :: xscale  !! opt var scale factors
        real(wp),dimension(:),allocatable :: dpert_  !! opt var dpert factors [rename because already in base class]
        real(wp),dimension(:),allocatable :: fscale  !! function scale factors
        character(len=20),dimension(:),allocatable :: xname !! opt var names

        character(len=:),allocatable :: N_or_S      !! 'N' or 'S'
        character(len=:),allocatable :: L1_or_L2    !! 'L1' or 'L2'

        logical :: solve = .true. !! run the nle solver to solve the problem
        logical :: generate_plots = .true.  !! to generate the python plots
        logical :: generate_trajectory_files = .true.  !! to export the txt trajectory files.
        logical :: generate_json_trajectory_file = .false. !! to export the JSON trajectory file for the solution
                                                           !! (contains inertial and rotating data). This one is used
                                                           !! by the PyVista python script for plotting
        logical :: generate_guess_and_solution_files = .true.  !! to export the json guess and solution files.
        logical :: generate_kernel = .false.  !! to generate a spice kernel (bsp) of the solution
                                              !! [this requires the external mkspk SPICE tool]
        logical :: generate_defect_file = .false. !! generate the file that shows the pos/vel
                                                  !! constraint defects for the solution
        logical :: generate_eclipse_files = .false. !! generate the eclipse data file for the solution
        logical :: run_pyvista_script = .false. !! run the pyvista script to generate the interacdtive 3d plot

        real(wp) :: r_eclipse_bubble = 0.0_wp !! radius of the "eclipse bubble" [km]
        real(wp) :: eclipse_dt_step = 3600.0_wp !! dense time step output for eclipse calculations in sec [1 hour]
        integer :: eclipse_filetype = 1 !! type of eclipse file: 1=csv or 2=json

        integer :: epoch_mode = 1 !! 1 - calendar date was specified, 2 - ephemeris time was specified
        integer :: year   = 0 !! epoch of first point (first periapsis crossing)
        integer :: month  = 0 !! epoch of first point (first periapsis crossing)
        integer :: day    = 0 !! epoch of first point (first periapsis crossing)
        integer :: hour   = 0 !! epoch of first point (first periapsis crossing)
        integer :: minute = 0 !! epoch of first point (first periapsis crossing)
        real(wp) :: sec   = zero !! epoch of first point (first periapsis crossing)
        real(wp) :: et_ref = zero  !! ephemeris time reference epoch [sec]
                                   !! (all times relative to this).
                                   !! this is computed from the year,month,day,hour,minute,sec values
                                   !! if `epoch_mode=1`

        integer :: n_revs = 10  !! Number of revs in the Halo.

        real(wp) :: rtol = 1.0e-12_wp !! integrator rtol
        real(wp) :: atol = 1.0e-12_wp !! integrator atol
        real(wp) :: nlesolver_tol = 1.0e-6_wp !! nlesolver tol

        real(wp),dimension(:),allocatable :: initial_r
            !! if `fix_initial_r` is True, this can be used
            !! to specify the initial `r` (moon-centered earth-moon rotating frame)

        character(len=:),allocatable :: ephemeris_file !! the JPL ephemeris file to load
        ! [note: these are build using the get_third_party script in FAT.
        !  the files are platform (and maybe compiler specific)
        !  'data/eph/JPLEPH.421'               !! JPL DE421 ephemeris file [mac,gfortran]
        !  'data/eph/JPLEPH_intel_mac.421'     !! [mac,ifort]
        !  'data/eph/JPLEPH_windows_ifort.421' !! [windows,ifort]

        ! environment and integrator parameters:

        character(len=:),allocatable :: gravfile  !! spherical harmonic gravity coeff file (Moon)
        !! example: 'data/grav/gggrx_0020pm_sha.tab'

        character(len=:),allocatable :: patch_point_file   !! Halo CR3BP patch point solution file
        !! example: 'data/L2_halos.json'
        logical :: patch_point_file_is_periapsis = .false. !! if the state in the patch point file are periapsis states
                                                           !! (false means they are apoapsis states.
                                                           !! the ones in L2_halos.json are apoapsis states)

        ! the initial guess for the Halo:
        ! This is for the "forward/backward" version of the transcription from the paper.
        type(patch_point) :: periapsis    !! Patchpoint Periapse State
        type(patch_point) :: quarter      !! Patchpoint 1/4 Rev State
        type(patch_point) :: apoapsis     !! Patchpoint 1/2 Rev State
        real(wp) :: period  = 0.0_wp !! Halo period [days]
        real(wp) :: period8 = 0.0_wp !! 1/8 of Halo period [days]

        ! optional problem inputs
        ! [can remove some of the variables from the optimization problem]
        logical :: fix_initial_time = .false. !! to fix the initial epoch in the mission
        logical :: fix_initial_r = .false. !! fix the initial periapsis position vector (x,y,z)
        integer :: fix_ry_at_end_of_rev = 0 !! fix ry at the end of the specified rev (at periapsis)
                                            !! not used if `<= 0`.
        logical :: fix_final_ry_and_vx = .false. !! fix ry and vx at the end of the last rev (at periapsis)

        integer :: solver_mode = 1  !! use sparse or dense solver:
                                    !!
                                    !! * 1 - dense (LAPACK)
                                    !! * 2 - sparse (LSQR)
                                    !! * 3 - sparse (LUSOL)
                                    !! * 4 - sparse (LMSR)
                                    !! * 5 - sparse (qr_mumps)

    contains

        procedure,public :: init => initialize_the_mission
        procedure,public :: plot => plot_trajectory
        procedure,public :: export_trajectory_json_file

        procedure,public :: write_optvars_to_file
        procedure,public :: constraint_violations
        procedure,public :: print_constraint_defects
        procedure,public :: generate_eclipse_data
        procedure :: get_problem_arrays
        procedure :: put_x_in_segments
        procedure :: get_x_from_json_file
        procedure :: get_scales_from_segs
        procedure :: segs_to_propagate
        procedure :: get_sparsity_pattern
        procedure :: define_problem_size
        procedure :: get_case_name
        procedure :: generate_patch_points
        procedure :: update_epoch

    end type mission_type

mission_type Derived Type

Contents

Variables

Type-Bound Procedures

Source Code

type, public, extends(numdiff_type) :: mission_type

Inherits

Inherited by

Components

Type-Bound Procedures

procedure, public :: init => initialize_the_mission

public subroutine initialize_the_mission(me, x)

Arguments

procedure, public :: plot => plot_trajectory

public subroutine plot_trajectory(me, filename, export_trajectory, draw_trajectory, only_first_rev)

Arguments

procedure, public :: export_trajectory_json_file

public subroutine export_trajectory_json_file(me, filename, only_first_rev)

Arguments

procedure, public :: write_optvars_to_file

public subroutine write_optvars_to_file(me, filename, x)

Arguments

procedure, public :: constraint_violations

public subroutine constraint_violations(me, x, f, funcs_to_compute)

Arguments

procedure, public :: print_constraint_defects

public subroutine print_constraint_defects(me, filename)

Arguments

procedure, public :: generate_eclipse_data

public subroutine generate_eclipse_data(me, fileprefix, filetype)

Arguments

procedure, public :: get_problem_arrays

public subroutine get_problem_arrays(me, x, f)

Arguments

procedure, public :: put_x_in_segments

public subroutine put_x_in_segments(me, x_scaled)

Arguments

procedure, public :: get_x_from_json_file

public subroutine get_x_from_json_file(me, x)

Arguments

procedure, public :: get_scales_from_segs

public subroutine get_scales_from_segs(me)

Arguments

procedure, public :: segs_to_propagate

public subroutine segs_to_propagate(me, funcs_to_compute, isegs_to_propagate)

Arguments

procedure, public :: get_sparsity_pattern

public subroutine get_sparsity_pattern(me, irow, icol, linear_irow, linear_icol, linear_vals, maxgrp, ngrp)

Arguments

procedure, public :: define_problem_size

public pure subroutine define_problem_size(me, n, m, n_segs, n_nonzero, full_problem)

Arguments

procedure, public :: get_case_name

public function get_case_name(me) result(case_name)

Arguments

Return Value character(len=:), allocatable

procedure, public :: generate_patch_points

public subroutine generate_patch_points(me, lstar, tstar, period, x0, z0, ydot0, pp)

Arguments

procedure, public :: update_epoch

public subroutine update_epoch(me)

Arguments

Source Code