python エラーの意味

Question

Opengoddardというオープンソースを使って、最適化のコードを作っています。"ValueError: all the input arrays must have same number of dimensions"というエラーが出るのですが、どの部分のことを指しているのか、その原因を知りたいです。
def dynamics(prob, obj, section):内に問題があるのではと思いましたが出力してみると計算できているようなのでここではないのかもしれないと思っています。
よろしくお願いします。

from __future__ import print_function
import numpy as np
import matplotlib.pyplot as plt
from scipy import optimize
from OpenGoddard.optimize import Problem, Guess, Condition, Dynamics


class Orbiter:
    def __init__(self):
        self.a0 = 3.67
        self.vr0 = 0.0
        self.vt0 = 1.0
        self.af = 6.31
        self.vrf = 0.0
        self.vtf = 0.76
        self.e_0 = 0.7
        self.ef = 0.0
        self.tf_max = 1000
        self.mu = 3.98e14
        self.R = 6678000

        self.u_max = 0.01


def dynamics(prob, obj, section):
    a   = prob.states(0, section)
    vr  = prob.states(1, section)
    vt  = prob.states(2, section)

    e = prob.states(3, section)

    ur1 = prob.controls(0, section)
    ur2 = prob.controls(1, section)
    ut1 = prob.controls(2, section)
    ut2 = prob.controls(3, section)



    def h(E, t):
        return E - np.sin(E) -  np.sqrt(obj.mu/obj.R**3)*t

    ts = prob.time_update()

    ret = [optimize.fsolve(h, x0=0, args=t) for t in ts]


    r = a * (1 -e * np.cos(ret))

    print(ret)
    
    print(r)
    print(r.ndim)

    print(a.ndim)
    print(ts.ndim)

    dx = Dynamics(prob, section)
    dx[0] = vr
    dx[1] = vt**2 / r - 1 / r**2 + (ur1 - ur2)
    dx[2] = - vr * vt / r + (ut1 - ut2)

    return dx()




def cost(prob, obj):
    return 0.0



def running_cost(prob, obj):

    tf = prob.time_final(-1)

    return tf


# ========================
plt.close("all")
plt.ion()
# Program Starting Point
time_init = [0.0, 250]
n = [60]
num_states = [4]
num_controls = [4]
max_iteration = 10

flag_savefig = True

savefig_dir = "10_Low_Thrust_Orbit_Transfer/"

# ------------------------
# set OpenGoddard class for algorithm determination
prob = Problem(time_init, n, num_states, num_controls, max_iteration)
obj = Orbiter()

# ========================
# Initial parameter guess
a_init = Guess.linear(prob.time_all_section, obj.a0, obj.af)
# Guess.plot(prob.time_all_section, r_init, "r", "time", "r")
# if(flag_savefig):plt.savefig(savefig_dir + "guess_r" + savefig_add + ".png")

vr_init = Guess.linear(prob.time_all_section, obj.vr0, obj.vrf)
# Guess.plot(prob.time_all_section, vr_init, "vr", "time", "vr")
# if(flag_savefig):plt.savefig(savefig_dir + "guess_vr" + savefig_add + ".png")

vt_init = Guess.linear(prob.time_all_section, obj.vt0, obj.vtf)
# Guess.plot(prob.time_all_section, theta_init, "vt", "time", "vt")
# if(flag_savefig):plt.savefig(savefig_dir + "guess_vt" + savefig_add + ".png")

ur1_init = Guess.linear(prob.time_all_section, obj.u_max, obj.u_max)
# Guess.plot(prob.time_all_section, ur1_init, "ur1", "time", "ur1")
# if(flag_savefig):plt.savefig(savefig_dir + "guess_ur1" + savefig_add + ".png")

ut1_init = Guess.linear(prob.time_all_section, obj.u_max, obj.u_max)
# Guess.plot(prob.time_all_section, ut1_init, "ut1", "time", "ut1")
# if(flag_savefig):plt.savefig(savefig_dir + "guess_ut1" + savefig_add + ".png")


e_init = Guess.linear(prob.time_all_section, obj.e_0, obj.ef)

prob.set_states_all_section(0, a_init)
prob.set_states_all_section(1, vr_init)
prob.set_states_all_section(2, vt_init)
prob.set_states_all_section(3, e_init)
prob.set_controls_all_section(0, ur1_init)
prob.set_controls_all_section(2, ut1_init)


# ========================
# Main Process
# Assign problem to SQP solver
prob.dynamics = [dynamics]
prob.knot_states_smooth = []
prob.cost = cost
prob.running_cost = running_cost
prob.equality = equality
prob.inequality = inequality


def display_func():
    tf = prob.time_final(-1)
    print("tf: {0:.5f}".format(tf))


prob.solve(obj, display_func, ftol=1e-12)

C:\Users\Desktop\python_lesson>python 10_Low_Thrust_Orbit_Transfer18.py
---- iteration : 1 ----
C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\scipy\optimize\minpack.py:163: RuntimeWarning: The iteration is not making good progress, as measured by the
  improvement from the last ten iterations.
  warnings.warn(msg, RuntimeWarning)
[array([0.]), array([0.0047688]), array([0.18201816]), array([0.23317758]), array([0.27906686]), array([0.32133838]), array([0.36088484]), array([0.39825701]), array([0.4338237]), array([0.4678461]), array([0.50051683]), array([0.53198233]), array([0.56235664]), array([0.59173019]), array([0.62017582]), array([0.64775288]), array([0.67451021]), array([0.70048831]), array([0.72572096]), array([0.75023649]), array([0.77405871]), array([0.79720768]), array([0.81970031]), array([0.84155088]), array([0.86277137]), array([0.88337187]), array([0.90336079]), array([0.92274509]), array([0.94153054]), array([0.95972178]), array([0.97732256]), array([0.9943358]), array([1.01076372]), array([1.02660791]), array([1.04186946]), array([1.05654898]), array([1.07064668]), array([1.08416244]), array([1.09709585]), array([1.10944628]), array([1.12121286]), array([1.13239459]), array([1.14299033]), array([1.15299884]), array([1.16241884]), array([1.17124896]), array([1.17948786]), array([1.18713417]), array([1.19418656]), array([1.20064373]), array([1.20650445]), array([1.21176755]), array([1.21643195]), array([1.22049666]), array([1.22396081]), array([1.22682362]), array([1.22908446]), array([1.23074278]), array([1.23179807]), array([1.23224674])]
[[1.101      1.10448568 1.11269118 ... 6.2855214  6.30268738 6.31      ]
 [1.10102921 1.10451488 1.11272036 ... 6.28552157 6.30268743 6.31      ]
 [1.1434389  1.1469122  1.15508836 ... 6.28577436 6.30276297 6.31      ]
 ...
 [2.81314197 2.81612826 2.82315001 ... 6.29572687 6.30573728 6.31      ]
 [2.81569825 2.8186838  2.82570378 ... 6.29574211 6.30574183 6.31      ]
 [2.81678536 2.81977059 2.82678982 ... 6.29574859 6.30574377 6.31      ]]
2
1
1
Traceback (most recent call last):
  File "10_Low_Thrust_Orbit_Transfer18.py", line 229, in <module>
    prob.solve(obj, display_func, ftol=1e-12)
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\OpenGoddard\optimize.py", line 683, in solve
    "ftol": ftol})
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\scipy\optimize\_minimize.py", line 611, in minimize
    constraints, callback=callback, **options)
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\scipy\optimize\slsqp.py", line 313, in _minimize_slsqp
    for c in cons['eq']]))
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\scipy\optimize\slsqp.py", line 313, in <listcomp>
    for c in cons['eq']]))
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\OpenGoddard\optimize.py", line 649, in for_solver
    return func(arg0, arg1)
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\OpenGoddard\optimize.py", line 620, in equality_add
    dx = self.dynamics[i](self, obj, i)
  File "10_Low_Thrust_Orbit_Transfer18.py", line 74, in dynamics
    return dx()
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\OpenGoddard\optimize.py", line 1057, in __call__
    dx = np.hstack((dx, temp))
  File "C:\Users\AppData\Local\Programs\Python\Python36-32\lib\site-packages\numpy\core\shape_base.py", line 286, in hstack
    return _nx.concatenate(arrs, 0)
ValueError: all the input arrays must have same number of dimensions

Comments

[yamato_user]

エラー内容だけ見ると、「全ての入力配列が同じ次元でないといけない」と言っています。ライブラリの関数に突っ込む配列の次元数を確認しましたか？

[YYY9856]

ありがとございます。input arrays とはこのコード内でいうと何を指しているのでしょうか？

[yamato_user]

エラー内容もコードブロックで囲んでください。見にくいです

[yamato_user]

あと、実行しているファイル名は何ですか？

[YYY9856]

ファイル名は10_Low_Thrust_Orbit_Transfer18.pyです。

[t_obara]

prob.solve に起因してエラーが出ているようですが、それは把握されているのですか？

[YYY9856]

配列の種類が違うことが原因だと考えているのですが、どこが原因なのかが分かっていません。

[YYY9856]

prob.solveにエラーが発生していることは把握しています。

Answer 1

rは1次元配列でないといけないのに、retが2次元配列のためにr = a * (1 -e * np.cos(ret))も2次元配列になっていることが原因だと思います。
教えてくださった方々、ありがとうございました。