def define_settings(unsafe_box):
'get the hylaa settings object'
step = math.pi / 6
max_time = 3 * math.pi
settings = HylaaSettings(step, max_time)
settings.process_urgent_guards = True
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = Aggregated.DEAGG_LEAVES_FIRST
settings.aggstrat.agg_type = Aggregated.AGG_CONVEX_HULL
plot_settings = settings.plot
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim_dir = 0
plot_settings.ydim_dir = 1
plot_settings.label.x_label = '$x$'
plot_settings.label.y_label = '$y$'
cols = []
line = [(-10, -3), (10, -3)]
cols.append(
collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(2),
linestyle='dashed'))
line = []
line.append((unsafe_box[0][0], unsafe_box[1][0]))
line.append((unsafe_box[0][1], unsafe_box[1][0]))
line.append((unsafe_box[0][1], unsafe_box[1][1]))
line.append((unsafe_box[0][0], unsafe_box[1][1]))
line.append((unsafe_box[0][0], unsafe_box[1][0]))
cols.append(
collections.LineCollection([line],
animated=True,
colors=('red'),
linewidths=(2),
linestyle='dashed'))
settings.plot.extra_collections = cols
plot_settings.plot_mode = PlotSettings.PLOT_VIDEO
plot_settings.filename = 'ha_deagg.mp4'
plot_settings.video_fps = 4
plot_settings.video_extra_frames = 12 # extra frames at the end of a video so it doesn't end so abruptly
plot_settings.video_pause_frames = 2 # frames to render in video whenever a 'pause' occurs
plot_settings.label.axes_limits = [-6, 6, -4, 6]
plot_settings.label.y_label = '$y$'
plot_settings.label.x_label = '$x$'
plot_settings.label.title = 'Deaggregation Demo'
return settings
def test_over_time_range():
'test plotting over time with aggergation (time range)'
ha = HybridAutomaton()
mode_a = ha.new_mode('A')
mode_b = ha.new_mode('B')
# dynamics: x' = a, a' = 0
mode_a.set_dynamics([[0, 1], [0, 0]])
mode_b.set_dynamics([[0, 1], [0, 0]])
# invariant: x <= 2.5
mode_a.set_invariant([[1, 0]], [2.5])
trans1 = ha.new_transition(mode_a, mode_b, 'first')
trans1.set_guard_true()
# initial set has x0 = [0, 0]
init_lpi = lputil.from_box([(0, 0), (1, 1)], mode_a)
init_list = [StateSet(init_lpi, mode_a)]
# settings, step size = 1.0
settings = HylaaSettings(1.0, 4.0)
settings.stdout = HylaaSettings.STDOUT_DEBUG
settings.process_urgent_guards = True
settings.plot.plot_mode = PlotSettings.PLOT_NONE
settings.plot.store_plot_result = True
settings.plot.xdim_dir = None
settings.plot.ydim_dir = 0
result = Core(ha, settings).run(init_list)
polys = [obj[0] for obj in result.plot_data.mode_to_obj_list[0][mode_b.name]]
# expected with aggegregation: [0, 2.5] -> [1, 3.5] -> [2, 4.5] -> [3, 5.5] -> [4, 6.5]
# 4 steps because invariant is allowed to be false for the final step
assert len(polys) == 5, "expected invariant to become false after 5 steps"
for i in range(5):
assert_verts_is_box(polys[i], [[i, i + 3.0], [i, i + 3.0]])
def test_agg_ha():
'test aggregation with the harmonic oscillator dynamics'
ha = HybridAutomaton('Deaggregation Example')
m1 = ha.new_mode('green')
m1.set_dynamics([[0, 1], [-1, 0]])
m2 = ha.new_mode('cyan')
m2.set_dynamics([[0, 0, 0], [0, 0, -2], [0, 0, 0]])
t1 = ha.new_transition(m1, m2)
t1.set_guard_true()
reset_mat = [[1, 0], [0, 1], [0, 0]]
t1.set_reset(reset_mat, [[0], [0], [1]], [[1], [-1]], [1, -1]) # create 3rd variable with a0 = 1
mode = ha.modes['green']
init_lpi = lputil.from_box([(-5, -4), (-0.5, 0.5)], mode)
init_list = [StateSet(init_lpi, mode)]
step = math.pi/4
settings = HylaaSettings(step, 2*step)
settings.process_urgent_guards = True
settings.plot.plot_mode = PlotSettings.PLOT_NONE
settings.stdout = HylaaSettings.STDOUT_DEBUG
core = Core(ha, settings)
core.setup(init_list)
core.do_step() # pop
#xs, ys = zip(*core.cur_state.verts(core.plotman))
#plt.plot(xs, ys, 'k-')
core.do_step() # 0
#xs, ys = zip(*core.cur_state.verts(core.plotman))
#plt.plot(xs, ys, 'k-')
core.do_step() # 1
#xs, ys = zip(*core.cur_state.verts(core.plotman))
#plt.plot(xs, ys, 'k-')
core.do_step() # 2
assert len(core.aggdag.waiting_list) > 1
#for state in core.waiting_list:
# xs, ys = zip(*state.verts(core.plotman))
# plt.plot(xs, ys, 'k-')
core.do_step() # pop
assert not core.aggdag.waiting_list
lpi = core.aggdag.get_cur_state().lpi
# 3 constraints from basis matrix
# 2 aggregation directions from premode arnoldi, +1 from null space
# + 2 more aggregation directions from box (3rd is omited since it's exactly the same as null space direction)
#print(lpi)
#xs, ys = zip(*core.cur_state.verts(core.plotman))
#plt.plot(xs, ys, 'r--')
#plt.show()
assert lpi.get_num_rows() == 3 + 2 * (5)
assert lputil.is_point_in_lpi((-5, 2, 1), lpi)
def make_settings(unsafe_box):
'make the reachability settings object'
# see hylaa.settings for a list of reachability settings
settings = HylaaSettings(1.0, 20.0)
settings.process_urgent_guards = True
settings.stdout = HylaaSettings.STDOUT_VERBOSE
settings.plot.video_pause_frames = 5
settings.plot.video_fps = 5
settings.plot.plot_mode = PlotSettings.PLOT_NONE
settings.plot.interactive_skip_count = 5
#settings.plot.plot_mode = PlotSettings.PLOT_VIDEO
#settings.plot.filename = "deagg_example.mp4"
settings.stop_on_aggregated_error = False
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = Aggregated.DEAGG_LEAVES_FIRST
settings.plot.extra_collections = []
settings.plot.label = []
ls = LabelSettings()
ls.axes_limits = [-1, 12, -1, 6]
settings.plot.label.append(ls)
ls.big(size=24)
ls.x_label = '$x$'
ls.y_label = '$y$'
cols = []
line = [(3.5, -20), (3.5, 20)]
cols.append(
collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(2),
linestyle='dashed'))
line = [(-20, 3.5), (20, 3.5)]
cols.append(
collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(2),
linestyle='dashed'))
# x >= 1.1 x <= 1.9, y >= 2.7, y <= 4.3
line = []
line.append((unsafe_box[0][0], unsafe_box[1][0]))
line.append((unsafe_box[0][1], unsafe_box[1][0]))
line.append((unsafe_box[0][1], unsafe_box[1][1]))
line.append((unsafe_box[0][0], unsafe_box[1][1]))
line.append((unsafe_box[0][0], unsafe_box[1][0]))
cols.append(
collections.LineCollection([line],
animated=True,
colors=('red'),
linewidths=(2),
linestyle='dashed'))
settings.plot.extra_collections.append(cols)
return settings
def make_settings(safe):
'make the reachability settings object'
# see hylaa.settings for a list of reachability settings
settings = HylaaSettings(1.0, 200.0) # step: 0.1, bound: 200.0
settings.stop_on_aggregated_error = False
settings.process_urgent_guards = True
#settings.aggstrat = MyAggergated()
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = Aggregated.DEAGG_LEAVES_FIRST
settings.stdout = HylaaSettings.STDOUT_VERBOSE
settings.plot.plot_mode = PlotSettings.PLOT_NONE
settings.plot.filename = "rendezvous_full_passivity.png"
settings.plot.plot_size = (8, 9)
#settings.plot.video_pause_frames = 10
#settings.plot.plot_mode = PlotSettings.PLOT_VIDEO
#settings.plot.filename = "rendezvous_full_passivity.mp4"
settings.plot.xdim_dir = [0] * 3
settings.plot.ydim_dir = [1] * 3
settings.plot.grid = False
settings.plot.label = []
settings.plot.extra_collections = []
for _ in range(3):
ls = LabelSettings()
settings.plot.label.append(ls)
ls.big(size=24)
ls.x_label = '$x$'
ls.y_label = '$y$'
y = 57.735
line = [(-100, y), (-100, -y), (0, 0), (-100, y)]
c1 = collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(1),
linestyle='dashed')
rad = 0.2
line = [(-rad, -rad), (-rad, rad), (rad, rad), (rad, -rad),
(-rad, -rad)]
c2 = collections.LineCollection([line],
animated=True,
colors=('red'),
linewidths=(2))
settings.plot.extra_collections.append([c1, c2])
settings.plot.label[0].axes_limits = [-950, 400, -450, 70]
#settings.plot.label[1].axes_limits = [-150, 50, -70, 70]
settings.plot.label[1].axes_limits = [-80, 5, -30, 5]
settings.plot.label[2].axes_limits = [-3, 1.5, -1.5, 1.5]
return settings