def test_reach_constrained():
T0 = np.array([[0, 0.5, 0.5], [0, 1, 0], [0, 0, 1]])
mdp = MDP([T0])
Vacc = np.array([0, 1, 1])
Vcon = np.array([0, 1, 0])
vlist, plist = mdp.solve_reach_constrained(Vacc, Vcon, 0.4, 4)
np.testing.assert_almost_equal(vlist[0], [1, 1, 0])
vlist, plist = mdp.solve_reach_constrained(Vacc, Vcon, 0.6, 4)
np.testing.assert_almost_equal(vlist[0], [0, 1, 0])
def test_reach_constrained2():
T0 = np.array([[0, 0.98, 0, 0, 0.01, 0.01], [0, 0, 0.98, 0, 0.01, 0.01],
[0, 0, 0, 0.98, 0.01, 0.01], [0, 0, 0, 0.98, 0.01, 0.01],
[0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 0, 1]])
T1 = np.array([[0, 0.5, 0, 0, 0.5, 0], [0, 0, 0.5, 0, 0.5, 0],
[0, 0, 0, 0, 1, 0], [0, 0, 0, 0.99, 0.01, 0],
[0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 0, 1]])
mdp = MDP([T1, T0])
Vacc = np.array([0, 0, 0, 1, 1, 0])
Vcon = np.array([0, 0, 0, 1, 0, 0])
vlist, plist = mdp.solve_reach_constrained(Vacc, Vcon, 0.94, 4)
np.testing.assert_array_less([0.95, 0.95, 0.95, 0.999, -0.0001, -0.0001],
vlist[0])
vlist, plist = mdp.solve_reach_constrained(Vacc, Vcon, 0.95, 4)
np.testing.assert_array_less(vlist[0],
[0.01, 1.01, 1.01, 1.01, 0.01, 0.01])