Ejemplos de signals en Python

Ejemplo n.º 1

from math import pi as PI

import numpy as np
import sympy as sp

import temporal_logic.signal_tl as stl

SIGNALS = ('x_d', 'y_d', 'z_d', 'roll', 'pitch', 'yaw', 'dot_x', 'dot_y',
           'dot_z', 'dot_roll', 'dot_pitch', 'dot_yaw', 'x_g', 'y_g', 'z_g',
           'collision')

dt = 50e-3  # s

(x_d, y_d, z_d, roll_d, pitch_d, yaw_d, dotx, doty, dotz, dotax, dotay, dotaz,
 x_g, y_g, z_g, collision) = stl.signals(SIGNALS)

drone_pos = sp.Matrix([x_d, y_d, z_d])
drone_ori = sp.Matrix([roll_d, pitch_d, yaw_d])
drone_lv = sp.Matrix([dotx, doty, dotz])
drone_av = sp.Matrix([dotax, dotay, dotaz])

goal_pos = sp.Matrix([x_g, y_g, z_g])

POSITION_SPEC = stl.Predicate((goal_pos - drone_pos).norm() <= 0.01)

GOAL_VELOCITY_SPEC = POSITION_SPEC >> stl.Predicate(
    drone_lv.norm() <= 0.001)  # Reached goal => stay still

# Keep roll and pitch within 30deg
ANGLE_CONSTRAINT = (stl.Predicate(abs(roll_d) <= PI / 6)
                    & stl.Predicate(abs(pitch_d) <= PI / 6))

Ejemplo n.º 2

Archivo: cartpole.py Proyecto: CPS-VIDA/simple-bhnr

import temporal_logic.signal_tl as stl

SIGNALS = ('x', 'x_dot', 'theta', 'theta_dot')
x, x_dot, theta, theta_dot = stl.signals(SIGNALS)
SPEC = stl.G(
    stl.F(x_dot < abs(0.01)) & (abs(theta) < 5)
    & (abs(x) < 0.5) & stl.F(abs(theta) < 1))

Ejemplo n.º 3

Archivo: lunarlander.py Proyecto: CPS-VIDA/simple-bhnr

import temporal_logic.signal_tl as stl

SIGNALS = ('p_x', 'p_y', 'v_x', 'v_y', 'theta', 'avel', 'contact_l',
           'contact_r')

p_x, p_y, v_x, v_y, theta, avel, contact_l, contact_r = stl.signals(SIGNALS)

POSITION_SPEC = stl.F()

Ejemplo n.º 4

Archivo: bipedal_walker.py Proyecto: CPS-VIDA/simple-bhnr

    'lidar0',
    'lidar1',
    'lidar2',
    'lidar3',
    'lidar4',
    'lidar5',
    'lidar6',
    'lidar7',
    'lidar8',
    'lidar9',
)

(hull_angle, hull_angularVelocity, vel_x, vel_y, hip_joint_1_angle, hip_joint_1_speed, knee_joint_1_angle,
 knee_joint_1_speed, leg_1_ground_contact_flag, hip_joint_2_angle, hip_joint_2_speed, knee_joint_2_angle,
 knee_joint_2_speed, leg_2_ground_contact_flag, lidar0, lidar1, lidar2, lidar3, lidar4, lidar5, lidar6, lidar7, lidar8,
 lidar9) = stl.signals(
    SIGNALS)

SPEC = stl.G(
    stl.And(
        # Be moving forward always
        (vel_x > 1),
        # Reduce hull tilt to ~ +- 12deg
        (abs(hull_angle) <= 0.2),
        # Reduce hull angular velocity
        (abs(hull_angularVelocity) < 2),
        # Prevents running
        stl.Implies((leg_1_ground_contact_flag > 0),
                    stl.And(
                        # Set foot in 10-16 timesteps
                        stl.F(leg_2_ground_contact_flag > 0, (10, 16)),
                        # Make sure to actually lift leg

Ejemplo n.º 5

Archivo: quadrotor_position_control.py Proyecto: CPS-VIDA/elaborate-bhnr

    'x_d', 'y_d', 'z_d',
    'roll', 'pitch', 'yaw',
    'dot_x', 'dot_y', 'dot_z',
    'dot_roll', 'dot_pitch', 'dot_yaw',
    'x_g', 'y_g', 'z_g',
    'collision'
)

dt = 50e-2  # s

(x_d, y_d, z_d,
 roll_d, pitch_d, yaw_d,
 dotx, doty, dotz,
 dotax, dotay, dotaz,
 x_g, y_g, z_g,
 collision) = stl.signals(SIGNALS)

drone_pos = sp.Matrix([x_d, y_d, z_d])
drone_ori = sp.Matrix([roll_d, pitch_d, yaw_d])
drone_lv = sp.Matrix([dotx, doty, dotz])
drone_av = sp.Matrix([dotax, dotay, dotaz])

goal_pos = sp.Matrix([x_g, y_g, z_g])

POSITION_SPEC = stl.Predicate((goal_pos - drone_pos).norm() <= 0.05)

GOAL_VELOCITY_SPEC = POSITION_SPEC >> stl.Predicate(
    drone_lv.norm() <= 0.001)  # Reached goal => stay still

# Keep roll and pitch within 30deg
ANGLE_CONSTRAINT = (