def make_settings(stepsize, aggregation, axis_limits, filename):
'make the reachability settings object'
# see hylaa.settings for a list of reachability settings
settings = HylaaSettings(stepsize, 250.0) # step: 0.1, bound: 200.0
settings.plot.filename = filename
#settings.approx_model = HylaaSettings.APPROX_LGG
if aggregation == 'deagg':
settings.stop_on_aggregated_error = False
#settings.process_urgent_guards = True
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = Aggregated.DEAGG_LEAVES_FIRST
elif aggregation == 'unagg':
# dont use aggregation
settings.aggstrat = aggstrat.Unaggregated()
else:
assert aggregation == 'agg', f"unknown aggregation value {aggregation}"
settings.stdout = HylaaSettings.STDOUT_NONE
#settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
#settings.plot.filename = "rendezvous_full_passivity.png"
settings.plot.plot_size = (8, 4)
settings.plot.video_pause_frames = 2
settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
#settings.plot.filename = "rendezvous_full_passivity.mp4"
# single plot
settings.plot.xdim_dir = [0] * 1
settings.plot.ydim_dir = [1] * 1
settings.plot.grid = False
settings.plot.label = []
settings.plot.extra_collections = []
ls = LabelSettings()
settings.plot.label.append(ls)
ls.big(size=24)
ls.title = ''
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 = 5.0
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 = axis_limits
return settings
def make_settings(stepsize, aggregation):
'make the reachability settings object'
# see hylaa.settings for a list of reachability settings
settings = HylaaSettings(stepsize, 250.0) # step: 0.1, bound: 200.0
#settings.approx_model = HylaaSettings.APPROX_LGG
if aggregation == 'deagg':
settings.stop_on_aggregated_error = False
#settings.process_urgent_guards = True
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = Aggregated.DEAGG_LEAVES_FIRST
elif aggregation == 'unagg':
# dont use aggregation
settings.aggstrat = aggstrat.Unaggregated()
else:
assert aggregation == 'agg', f"unknown aggregation value {aggregation}"
settings.stdout = HylaaSettings.STDOUT_VERBOSE
#settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
settings.plot.plot_size = (8, 9)
settings.plot.video_pause_frames = 15
settings.plot.video_fps = 25
video = True
if video:
settings.plot.plot_mode = PlotSettings.PLOT_VIDEO
settings.plot.filename = "rendezvous_full_passivity.mp4"
else:
settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
settings.plot.filename = "rendezvous_full_passivity.png"
# multiplot
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 = 5
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, 200, -450, 70]
#settings.plot.label[1].axes_limits = [-150, 50, -70, 70]
settings.plot.label[1].axes_limits = [-150, 100, -80, 80]
settings.plot.label[2].axes_limits = [-40, 40, -30, 30]
return settings
def make_settings(safe, passive_time=120):
'make the reachability settings object'
# see hylaa.settings for a list of reachability settings
settings = HylaaSettings(0.1, 300.0) # step: 0.1, bound: 200.0
settings.plot.plot_mode = PlotSettings.PLOT_NONE #IMAGE
settings.stdout = HylaaSettings.STDOUT_VERBOSE
#settings.aggstrat = aggstrat.Unaggregated()
#settings.stop_on_concrete_error = False
settings.stop_on_aggregated_error = False
#settings.process_urgent_guards = True
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = aggstrat.Aggregated.DEAGG_LEAVES_FIRST
settings.plot.filename = f"rendezvous_t{passive_time:03}.png"
settings.plot.plot_size = (8, 10)
settings.plot.xdim_dir = [0, 0, 2]
settings.plot.ydim_dir = [1, 1, 3]
settings.plot.label = [LabelSettings(), LabelSettings(), LabelSettings()]
settings.plot.label[0].big(size=26)
settings.plot.label[0].title_size = 22
settings.plot.label[1].big(size=26)
settings.plot.label[2].big(size=26)
settings.plot.label[0].x_label = '$x$'
settings.plot.label[0].y_label = '$y$'
settings.plot.label[1].x_label = '$x$'
settings.plot.label[1].y_label = '$y$'
settings.plot.label[2].x_label = '$x_{vel}$'
settings.plot.label[2].y_label = '$y_{vel}$'
settings.plot.label[0].axes_limits = [-950, 200, -450, 200]
#settings.plot.label[1].axes_limits = [-10, 10, -10, 10]
settings.plot.label[1].axes_limits = [-110, 10, -110, 110]
settings.plot.label[2].axes_limits = [-5, 5, -5, 5]
y = 57.735
line = [(-100, y), (-100, -y), (0, 0), (-100, y)]
c1 = collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(2),
linestyle='dashed')
c1_copy = collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(2),
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))
c2_copy = collections.LineCollection([line],
animated=True,
colors=('red'),
linewidths=(2))
meters_per_sec_limit = 0.055 if safe else 0.05
meters_per_min_limit = meters_per_sec_limit * 60
x = meters_per_min_limit * math.cos(math.pi / 8.0)
y = meters_per_min_limit * math.sin(math.pi / 8.0)
line = [(-x, y), (-y, x), (y, x), (x, y), (x, -y), (y, -x), (-y, -x),
(-x, -y), (-x, y)]
vel_oct = collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(2),
linestyle='dashed')
r = meters_per_min_limit
patch_col = collections.PatchCollection([Circle((0, 0), r)], alpha=0.25)
settings.plot.extra_collections = [[c1_copy, c2_copy], [c1, c2],
[vel_oct, patch_col]]
return settings
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
