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TestFlatSys.test_kinematic_car_ocp[basis3-prev-None-trust-constr] fails on aarch64 #918
Description
TestFlatSys.test_kinematic_car_ocp[basis3-prev-None-trust-constr] fails on openSUSE Tumbleweed aarch64, apparently because The maximum number of function evaluations is exceeded.:
[ 225s] =================================== FAILURES ===================================
[ 225s] ______ TestFlatSys.test_kinematic_car_ocp[basis3-prev-None-trust-constr] _______
[ 225s]
[ 225s] self = <control.tests.flatsys_test.TestFlatSys object at 0xffff90722850>
[ 225s] vehicle_flat = <FlatSystem:sys[3596]:['v', 'delta']->['x', 'y', 'theta']>
[ 225s] basis = <BSplineFamily: nvars=None, degree=[8], smoothness=[7]>, guess = 'prev'
[ 225s] constraints = None, method = 'trust-constr'
[ 225s]
[ 225s] @pytest.mark.parametrize(
[ 225s] "basis, guess, constraints, method", [
[ 225s] (fs.PolyFamily(8, T=10), 'prev', None, None),
[ 225s] (fs.BezierFamily(8, T=10), 'linear', None, None),
[ 225s] (fs.BSplineFamily([0, 10], 8), None, None, None),
[ 225s] (fs.BSplineFamily([0, 10], 8), 'prev', None, 'trust-constr'),
[ 225s] (fs.BSplineFamily([0, 10], [6, 8], vars=2), 'prev', None, None),
[ 225s] (fs.BSplineFamily([0, 5, 10], 5), 'linear', None, 'slsqp'),
[ 225s] (fs.BSplineFamily([0, 10], 8), None, ([8, -0.1], [12, 0.1]), None),
[ 225s] (fs.BSplineFamily([0, 5, 10], 5, 3), None, None, None),
[ 225s] ])
[ 225s] def test_kinematic_car_ocp(
[ 225s] self, vehicle_flat, basis, guess, constraints, method):
[ 225s]
[ 225s] # Define the endpoints of the trajectory
[ 225s] x0 = [0., -2., 0.]; u0 = [10., 0.]
[ 225s] xf = [40., 2., 0.]; uf = [10., 0.]
[ 225s] Tf = 4
[ 225s] timepts = np.linspace(0, Tf, 10)
[ 225s]
[ 225s] # Find trajectory between initial and final conditions
[ 225s] traj_p2p = fs.point_to_point(
[ 225s] vehicle_flat, Tf, x0, u0, xf, uf, basis=basis)
[ 225s]
[ 225s] # Verify that the trajectory computation is correct
[ 225s] x, u = traj_p2p.eval(timepts)
[ 225s] np.testing.assert_array_almost_equal(x0, x[:, 0])
[ 225s] np.testing.assert_array_almost_equal(u0, u[:, 0])
[ 225s] np.testing.assert_array_almost_equal(xf, x[:, -1])
[ 225s] np.testing.assert_array_almost_equal(uf, u[:, -1])
[ 225s]
[ 225s] #
[ 225s] # Re-solve as optimal control problem
[ 225s] #
[ 225s]
[ 225s] # Define the cost function (mainly penalize steering angle)
[ 225s] traj_cost = opt.quadratic_cost(
[ 225s] vehicle_flat, None, np.diag([0.1, 10]), x0=xf, u0=uf)
[ 225s]
[ 225s] # Set terminal cost to bring us close to xf
[ 225s] terminal_cost = opt.quadratic_cost(
[ 225s] vehicle_flat, 1e3 * np.eye(3), None, x0=xf)
[ 225s]
[ 225s] # Implement terminal constraints if specified
[ 225s] if constraints:
[ 225s] input_constraints = opt.input_range_constraint(
[ 225s] vehicle_flat, *constraints)
[ 225s] else:
[ 225s] input_constraints = None
[ 225s]
[ 225s] # Use a straight line as an initial guess for the trajectory
[ 225s] if guess == 'prev':
[ 225s] initial_guess = traj_p2p.eval(timepts)[0][0:2]
[ 225s] elif guess == 'linear':
[ 225s] initial_guess = np.array(
[ 225s] [x0[i] + (xf[i] - x0[i]) * timepts/Tf for i in (0, 1)])
[ 225s] else:
[ 225s] initial_guess = None
[ 225s]
[ 225s] # Solve the optimal trajectory
[ 225s] traj_ocp = fs.solve_flat_ocp(
[ 225s] vehicle_flat, timepts, x0, u0,
[ 225s] cost=traj_cost, constraints=input_constraints,
[ 225s] terminal_cost=terminal_cost, basis=basis,
[ 225s] initial_guess=initial_guess,
[ 225s] minimize_kwargs={'method': method},
[ 225s] )
[ 225s] xd, ud = traj_ocp.eval(timepts)
[ 225s]
[ 225s] if not traj_ocp.success:
[ 225s] # Known failure cases
[ 225s] if re.match(".*precision loss.*", traj_ocp.message):
[ 225s] pytest.xfail("precision loss in some configurations")
[ 225s]
[ 225s] elif re.match("Iteration limit.*", traj_ocp.message) and \
[ 225s] re.match(
[ 225s] "conda ubuntu-3.* Generic", os.getenv('JOBNAME', '')) and \
[ 225s] re.match("1.24.[012]", np.__version__):
[ 225s] pytest.xfail("gh820: iteration limit exceeded")
[ 225s]
[ 225s] else:
[ 225s] # Dump out information to allow creation of an exception
[ 225s] print("Message:", traj_ocp.message)
[ 225s] print("Platform:", platform.platform())
[ 225s] print("Python:", platform.python_version())
[ 225s] print("NumPy version:", np.__version__)
[ 225s] np.show_config()
[ 225s] print("JOBNAME:", os.getenv('JOBNAME'))
[ 225s]
[ 225s] > pytest.fail(
[ 225s] "unknown failure; view output to identify configuration")
[ 225s] E Failed: unknown failure; view output to identify configuration
[ 225s]
[ 225s] control/tests/flatsys_test.py:227: Failed
[ 225s] ----------------------------- Captured stdout call -----------------------------
[ 225s] Message: The maximum number of function evaluations is exceeded.
[ 225s] Platform: Linux-6.3.7-1-default-aarch64-with-glibc2.37
[ 225s] Python: 3.9.16
[ 225s] NumPy version: 1.24.2
[ 225s] blas_armpl_info:
[ 225s] NOT AVAILABLE
[ 225s] blas_mkl_info:
[ 225s] NOT AVAILABLE
[ 225s] blis_info:
[ 225s] NOT AVAILABLE
[ 225s] openblas_info:
[ 225s] NOT AVAILABLE
[ 225s] accelerate_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_3_10_blas_threads_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_3_10_blas_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_blas_threads_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_blas_info:
[ 225s] NOT AVAILABLE
[ 225s] blas_info:
[ 225s] libraries = ['cblas', 'blas', 'blas']
[ 225s] library_dirs = ['/usr/lib64']
[ 225s] include_dirs = ['/usr/local/include']
[ 225s] language = c
[ 225s] define_macros = [('HAVE_CBLAS', None)]
[ 225s] blas_opt_info:
[ 225s] define_macros = [('NO_ATLAS_INFO', 1), ('HAVE_CBLAS', None)]
[ 225s] libraries = ['cblas', 'blas', 'blas']
[ 225s] library_dirs = ['/usr/lib64']
[ 225s] include_dirs = ['/usr/local/include']
[ 225s] language = c
[ 225s] lapack_armpl_info:
[ 225s] NOT AVAILABLE
[ 225s] lapack_mkl_info:
[ 225s] NOT AVAILABLE
[ 225s] openblas_lapack_info:
[ 225s] NOT AVAILABLE
[ 225s] openblas_clapack_info:
[ 225s] NOT AVAILABLE
[ 225s] flame_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_3_10_threads_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_3_10_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_threads_info:
[ 225s] NOT AVAILABLE
[ 225s] atlas_info:
[ 225s] NOT AVAILABLE
[ 225s] lapack_info:
[ 225s] libraries = ['lapack', 'lapack']
[ 225s] library_dirs = ['/usr/lib64']
[ 225s] language = f77
[ 225s] lapack_opt_info:
[ 225s] libraries = ['lapack', 'lapack', 'cblas', 'blas', 'blas']
[ 225s] library_dirs = ['/usr/lib64']
[ 225s] language = c
[ 225s] define_macros = [('NO_ATLAS_INFO', 1), ('HAVE_CBLAS', None)]
[ 225s] include_dirs = ['/usr/local/include']
[ 225s] Supported SIMD extensions in this NumPy install:
[ 225s] baseline = NEON,NEON_FP16,NEON_VFPV4,ASIMD
[ 225s] found = ASIMDHP,ASIMDDP
[ 225s] not found = ASIMDFHM
[ 225s] JOBNAME: None
[ 225s] =============================== warnings summary ===============================
[ 225s] control/tests/flatsys_test.py::TestFlatSys::test_kinematic_car_ocp[basis3-prev-None-trust-constr]
[ 225s] /home/abuild/rpmbuild/BUILD/control-0.9.4/control/flatsys/flatsys.py:882: UserWarning: unable to solve optimal control problem
[ 225s] scipy.optimize.minimize: 'The maximum number of function evaluations is exceeded.'
[ 225s] warnings.warn(
[ 225s]
[ 225s] control/tests/freqresp_test.py::test_superimpose
[ 225s] /home/abuild/rpmbuild/BUILD/control-0.9.4/control/tests/freqresp_test.py:129: UserWarning: Attempt to set non-positive xlim on a log-scaled axis will be ignored.
[ 225s] plt.clf()
[ 225s]
[ 225s] control/tests/optimal_test.py::test_optimal_doc[shooting-3-None-xfail]
[ 225s] control/tests/optimal_test.py::test_optimal_doc[shooting-3-zero-xfail]
[ 225s] /home/abuild/rpmbuild/BUILD/control-0.9.4/control/optimal.py:928: UserWarning: unable to solve optimal control problem
[ 225s] scipy.optimize.minimize returned Positive directional derivative for linesearch
[ 225s] warnings.warn(
[ 225s]
[ 225s] control/tests/xferfcn_test.py::TestXferFcn::test_printing_zpk[zeros5-poles5-0-\n0\n-\n1\n]
[ 225s] /usr/lib64/python3.9/site-packages/scipy/signal/_filter_design.py:1746: BadCoefficients: Badly conditioned filter coefficients (numerator): the results may be meaningless
[ 225s] warnings.warn("Badly conditioned filter coefficients (numerator): the "
[ 225s]
[ 225s] control/tests/xferfcn_test.py::TestXferFcn::test_printing_zpk[zeros5-poles5-0-\n0\n-\n1\n]
[ 225s] /usr/lib64/python3.9/site-packages/scipy/signal/_filter_design.py:1091: RuntimeWarning: invalid value encountered in divide
[ 225s] b /= b[0]
[ 225s]
[ 225s] -- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
[ 225s] =========================== short test summary info ============================
[ 225s] SKIPPED [1] control/tests/frd_test.py:519: pandas not installed
[ 225s] SKIPPED [1] control/tests/matlab2_test.py:204: skipping test_check_convert_shape, need to update test
[ 225s] SKIPPED [1] control/tests/matlab2_test.py:275: need to update test
[ 225s] SKIPPED [1] control/tests/passivity_test.py:14: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/passivity_test.py:31: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/passivity_test.py:41: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/passivity_test.py:62: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/passivity_test.py:83: cvxopt not installed
[ 225s] SKIPPED [5] control/tests/passivity_test.py:101: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/passivity_test.py:113: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/passivity_test.py:124: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/passivity_test.py:132: cvxopt not installed
[ 225s] SKIPPED [1] control/tests/statesp_test.py:185: obsolete test
[ 225s] SKIPPED [4] control/tests/timeresp_test.py:418: test system does not settle
[ 225s] SKIPPED [6] control/tests/timeresp_test.py:874: No continuous forced_response without time vector.
[ 225s] SKIPPED [1] control/tests/timeresp_test.py:1179: pandas not installed
[ 225s] SKIPPED [1] control/tests/type_conversion_test.py:163: future test; conversions not yet fully implemented
[ 225s] SKIPPED [1] control/tests/xferfcn_test.py:90: outdated test
[ 225s] SKIPPED [2] control/tests/xferfcn_test.py:741: .__matmul__ not implemented
[ 225s] XFAIL control/tests/flatsys_test.py::TestFlatSys::test_kinematic_car[basis3] - reason: system is open loop unstable => errors can build
[ 225s] XFAIL control/tests/lti_test.py::TestLTI::test_timebaseEqual_deprecated[None-True-True] - returns false
[ 225s] XFAIL control/tests/optimal_test.py::test_optimal_doc[shooting-3-None-xfail] - reason: optimization fails to converge
[ 225s] XFAIL control/tests/optimal_test.py::test_optimal_doc[shooting-3-zero-xfail] - reason: optimization fails to converge
[ 225s] XFAIL control/tests/optimal_test.py::test_optimal_doc[shooting-3-input-endpoint] - reason: optimization does not converge to endpoint
[ 225s] XFAIL control/tests/optimal_test.py::test_optimal_doc[shooting-5-input-endpoint] - reason: optimization does not converge to endpoint
[ 225s] XFAIL control/tests/optimal_test.py::test_optimal_doc[collocation-3-u0-endpoint] - reason: optimization does not converge to endpoint
[ 225s] XFAIL control/tests/optimal_test.py::test_optimal_doc[collocation-5-u0-endpoint] - reason: optimization does not converge to endpoint
[ 225s] XFAIL control/tests/statefbk_test.py::TestStatefbk::testLQR_warning - warning not implemented
[ 225s] XFAIL control/tests/statefbk_test.py::TestStatefbk::testDLQR_warning - warning not implemented
[ 225s] FAILED control/tests/flatsys_test.py::TestFlatSys::test_kinematic_car_ocp[basis3-prev-None-trust-constr]
[ 225s] = 1 failed, 3381 passed, 32 skipped, 1 deselected, 10 xfailed, 6 warnings in 177.78s (0:02:57) =
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