def plot_strategy(ab, mealy):
"""Plot strategic transitions on PPP.
Assumes that mealy is feasible for ab.
@type ab: L{AbstractPwa} or L{AbstractSwitched}
@type mealy: L{transys.MealyMachine}
"""
proj_mealy = project_strategy_on_partition(ab.ppp, mealy)
ax = plot_partition(ab.ppp, proj_mealy, color_seed=0)
return ax
def plot_trajectory(ppp, x0, u_seq, ssys,
ax=None, color_seed=None):
"""Plots a PropPreservingPartition and the trajectory generated by x0
input sequence u_seq.
See Also
========
C{plot_partition}, plot
@type ppp: L{PropPreservingPartition}
@param x0: initial state
@param u_seq: matrix where each row contains an input
@param ssys: system dynamics
@param color_seed: see C{plot_partition}
@return: axis object
"""
if ax is None:
ax, fig = newax()
plot_partition(plot_numbers=False, ax=ax, show=False)
A = ssys.A
B = ssys.B
if ssys.K is not None:
K = ssys.K
else:
K = np.zeros(x0.shape)
x = x0.flatten()
x_arr = x0
for i in range(u_seq.shape[0]):
x = np.dot(A, x).flatten() +\
np.dot(B, u_seq[i, :] ).flatten() +\
K.flatten()
x_arr = np.vstack([x_arr, x.flatten()])
ax.plot(x_arr[:,0], x_arr[:,1], 'o-')
return ax
