def test_dependencies_on_vector_components_1(self):
x = Interval(0, 1)
y = Interval(-2, 3)
a = Interval(1, 20)
vx = IntervalVector(2, x)
vy = IntervalVector(2, y)
va = IntervalVector(2, a)
vec = [4, 0.5]
ctc_add = CtcFunction(Function("b", "c", "a", "b+c-a"))
ctc_cos = CtcFunction(Function("b", "c", "a", "b+c-a"))
ctc_minus = CtcFunction(Function("b", "c", "b-c-0"))
cn = ContractorNetwork()
cn.add(ctc_add, [x, y, a])
cn.add(ctc_add, [x, y, a])
cn.contract()
self.assertEqual(x, Interval(0, 1))
self.assertEqual(y, Interval(0, 3))
self.assertEqual(a, Interval(1, 4))
self.assertEqual(cn.nb_dom(), 3)
self.assertEqual(cn.nb_ctc(), 1)
def Erode(Sb, y_init):
"""Compute A+B."""
f1 = Function("p[2]", "a[2]", "(p[0] + a[0], p[1] + a[1])")
f2 = Function("p[2]", "a[2]", "(a[0], a[1])")
sep_invB = SepInverse(~Sb, f1)
# sep_invA = SepInverse(Sa, f2)
# sep2 = sep_invB
# y_init = box
sep = ~SepProj(sep_invB, y_init, 0.001)
return sep
def SepSum2(Sa, Sb):
"""Compute A+B."""
f1 = Function("p[2]", "a[2]", "(p[0] + a[0], p[1] + a[1])")
f2 = Function("p[2]", "a[2]", "(a[0], a[1])")
sep_invB = SepInverse(Sb, f1)
sep_invA = SepInverse(Sa, f2)
sep2 = sep_invB & sep_invA
y_init = IntervalVector(2, [-oo, oo])
sep = SepProj(sep2, y_init, 0.001)
return sep
def test_singleton_variables_double_or_Vector_2(self):
x = Interval(0, 1)
y = Interval(-2, 3)
a = Interval(1, 20)
vector_y = [2, 1.]
ivx = IntervalVector(2, x)
iva = IntervalVector(2, a)
ctc_add = CtcFunction(Function("b", "c", "a", "b+c-a"))
cn = ContractorNetwork()
cn.add(ctc_add, [ivx, vector_y, iva])
cn.add(ctc_add, [ivx, vector_y, iva]) # redundant adding
cn.add(ctc_add, [ivx, vector_y, iva]) # redundant adding
cn.contract()
self.assertEqual(ivx, IntervalVector(2, [0, 1]))
self.assertEqual(vector_y, [2, 1.])
self.assertEqual(iva, IntervalVector([[2, 3], [1, 2]]))
#self.assertEqual(cn.nb_dom(), 3*3) # todo: not able to get reference from a py::list
#self.assertEqual(cn.nb_ctc(), 3+2) # todo: not able to get reference from a py::list
cn.set_name(vector_y, "y")
cn.set_name(ivx, "x")
cn.set_name(iva, "a")
cn.set_name(ctc_add, "+")
cn.print_dot_graph("cn_singleton")
def test_subvector(self):
x = IntervalVector([[0, 1], [-2, 3], [1, 20]])
ctc_add = CtcFunction(Function("b", "c", "a", "b+c-a"))
cn = ContractorNetwork()
sub_x = cn.subvector(x, 1, 2)
self.assertEqual(sub_x[0], Interval(-2, 3))
self.assertEqual(sub_x[1], Interval(1, 20))
cn.add(ctc_add, [x[0], x[1], x[2]])
cn.contract()
self.assertEqual(x[0], Interval(0, 1))
self.assertEqual(x[1], Interval(0, 3))
self.assertEqual(x[2], Interval(1, 4))
self.assertEqual(sub_x[0], Interval(0, 3))
self.assertEqual(sub_x[1], Interval(1, 4))
sub_x[0] = Interval(1, 2)
cn.trigger_all_contractors()
cn.contract()
self.assertEqual(x[1], Interval(1, 2))
def test_SIVIA(self):
l = [[-1, 1, 0], [-1, -2, 1]]
sep = SepPolygon(l)
f = Function('x', 'y', '(2*x-y, 2*y - x)')
finv = Function('x', 'y', '(1/3.0*(2*x+y),1/3.0*(2*y+x))')
# sepInv = SepInverse(sep, f)
# sepTrans = SepTransform(sep, f, finv)
Xin = IntervalVector(2, Interval(-10, 10))
Xout = IntervalVector(2, Interval(-10, 10))
eps = 0.05
# sep.separate(Xin, Xout)
pySIVIA(
Xin,
sep,
eps,
figureName='Sep',
draw_boxes=False,
)
def test_CtcFunction_on_heterogeneous_variables(self):
x = IntervalVector([[0, 1], [-2, 3]])
a = Interval(1, 20)
ctc_add = CtcFunction(Function("b[2]", "a", "b[0]+b[1]-a"))
cn = ContractorNetwork()
cn.add(ctc_add, [x, a])
cn.contract()
self.assertEqual(x[0], Interval(0, 1))
self.assertEqual(x[1], Interval(0, 3))
self.assertEqual(a, Interval(1, 4))
def test_CN_simple(self):
ctc_plus = CtcFunction(Function("a", "b", "c", "a+b-c"))
a = Interval(0, 1)
b = Interval(-1, 1)
c = Interval(1.5, 2)
cn = ContractorNetwork()
cn.add(ctc_plus, [a, b, c])
cn.contract()
self.assertEqual(a, Interval(0.5, 1))
self.assertEqual(b, Interval(0.5, 1))
self.assertEqual(c, Interval(1.5, 2))
self.assertEqual(cn.nb_dom(), 3)
self.assertEqual(cn.nb_ctc(), 1)
def test_dependencies_on_vector_components(self):
ctc_plus = CtcFunction(Function("a", "b", "c",
"a+b-c")) # algebraic constraint a+b=c
a = IntervalVector(2, [0, 1])
b = IntervalVector(2, [-1, 1])
c = IntervalVector(2, [1.5, 2])
d = IntervalVector(2, [0., 0.])
e = IntervalVectore(2)
cn = ContractorNetwork()
# Contractors are added to the graph,
# the first one contracts the vector sets, the second one then contracts the components intervals,
# and so it should trigger again the first one since components have changed.
cn.add(ctc_plus, [b, d, e])
cn.add(ctc_plus, [b, d, e])
cn.add(ctc_plus, [b, d, e])
cn.add(ctc_plus, [a[0], b[0], c[0]])
cn.add(ctc_plus, [a[0], b[0], c[0]])
cn.add(ctc_plus, [a[0], b[0], c[0]])
cn.add(ctc_plus, [a[0], b[0], c[0]])
cn.contract()
self.assertEqual(a[0], Interval(0.5, 1))
self.assertEqual(b[0], Interval(0.5, 1))
self.assertEqual(c[0], Interval(1.5, 2))
self.assertEqual(d[0], Interval(0))
self.assertEqual(e[0], Interval(0.5, 1))
# Before setting names (some vectors not added entirely):
self.assertEqual(cn.nb_dom(), 3 * 3 + 2)
# vector items contractors + ctc_plus in array mode + ctc_plus on scalar values
self.assertEqual(cn.nb_ctc(), 3 + 2 + 1)
cn.set_name(a, "a")
cn.set_name(b, "b")
cn.set_name(c, "c")
cn.set_name(d, "d")
cn.set_name(e, "e")
cn.set_name(ctc_plus, "+")
cn.print_dot_graph("cn_vector_dependencies")
self.assertEqual(cn.nb_dom(), 3 * 5)
# vector items contractors + ctc_plus in array mode + ctc_plus on scalar values
self.assertEqual(cn.nb_ctc(), 5 + 2 + 1)
def test_heterogeneous_variables_with_CtcFunction_3(self):
dt = 0.1
tdomain = Interval(0., 10.)
x = Interval(2., 2.5)
a = Tube(tdomain, dt, Interval(0., 10.))
b = Tube(tdomain, dt, Interval(7.))
ctc_add = CtcFunction(Function("x", "a", "b", "x+a-b"))
cn = ContractorNetwork()
cn.add(ctc_add, [x, a, b])
cn.contract()
self.assertEqual(x, Interval(2., 2.5))
self.assertEqual(a.codomain(), Interval(4.5, 5.))
self.assertEqual(b.codomain(), Interval(7.))
def test_simple_static_case(self):
ctc_plus = CtcFunction(Function("a", "b", "c",
"a+b-c")) # algebraic constraint a+b=c
a = IntervalVector(2, [0, 1])
b = IntervalVector(2, [-1, 1])
c = IntervalVector(2, [1.5, 2])
cn = ContractorNetwork()
cn.add(ctc_plus, [a[0], b[0], c[0]])
cn.contract()
self.assertEqual(a[0], Interval(0.5, 1))
self.assertEqual(b[0], Interval(0.5, 1))
self.assertEqual(c[0], Interval(1.5, 2))
self.assertEqual(cn.nb_dom(), 3)
self.assertEqual(cn.nb_ctc(), 1)
def test_heterogeneous_variables_with_CtcFunction_4(self):
dt = 0.1
tdomain = Interval(0., 10.)
x = Interval(2., 2.5)
a = Tube(tdomain, dt, TFunction("cos(t)"))
b = Tube(tdomain, dt)
ctc_add = CtcFunction(Function("x", "a", "b", "x+a-b"))
cn = ContractorNetwork()
cn.add(ctc_add, [x, a, b])
cn.contract()
result = Tube(tdomain, dt, TFunction("cos(t)"))
result += x
self.assertEqual(x, Interval(2., 2.5))
self.assertEqual(b, result)
def test_heterogeneous_variables_with_CtcFunction_2(self):
dt = 0.1
tdomain = Interval(0., 10.)
x = Interval(-1., 3.)
a = Tube(tdomain, dt, Interval(6., 7.))
b = Tube(tdomain, dt, Interval(7.))
ctc_add = CtcFunction(Function("x", "a", "b", "x+a-b"))
cn = ContractorNetwork()
cn.add(ctc_add, [x, a, b])
cn.contract()
cn.set_name(x, "x")
cn.set_name(a, "a")
cn.set_name(b, "b")
self.assertEqual(x, Interval(0., 1.))
self.assertEqual(a.codomain(), Interval(6., 7.))
self.assertEqual(b.codomain(), Interval(7.))
def test_dependencies_on_vector_components(self):
dt = 5.
domain = Interval(0., 20.)
x = Tube(domain, dt, Interval(-10., 10.))
v = Tube(domain, dt, Interval(0.))
ctc_deriv = CtcDeriv()
ctc_f = CtcFunction(Function("x", "xdot", "xdot+sin(x)"))
cn = ContractorNetwork()
cn.add(ctc_deriv, [x, v])
cn.add(ctc_f, [x, v])
self.assertEqual(v.codomain(), Interval(0.))
self.assertEqual(x.codomain(), Interval(-10., 10.))
self.assertEqual(x.nb_slices(), 4)
self.assertEqual(v.nb_slices(), 4)
self.assertEqual(cn.nb_ctc(), 16)
self.assertEqual(cn.nb_dom(), 10)
cn.set_fixedpoint_ratio(0.8)
cn.contract()
def test_singleton_variables_double_or_Vector_1(self):
x = Interval(0, 1)
y = Interval(-2, 3)
a = Interval(1, 20)
double_y = 1.
vector_y = [2, 1.]
ivx = IntervalVector(2, x)
ivy = IntervalVector(2, y)
iva = IntervalVector(2, a)
ctc_add = CtcFunction(Function("b", "c", "a", "b+c-a"))
cn = ContractorNetwork()
cn.add(ctc_add, [x, double_y, a])
cn.add(ctc_add, [x, double_y, a]) # redundant adding
cn.add(ctc_add, [x, double_y, a]) # redundant adding
cn.contract()
self.assertEqual(x, Interval(0, 1))
self.assertEqual(double_y, 1.)
self.assertEqual(a, Interval(1, 2))
if n.right.xin.is_flat():
n.right.xin.set_empty()
stack.extendleft([n.left, n.right])
elif X.is_empty() or X.max_diam() < eps:
n.left, n.right = None, None
# else:
# vibes.drawBox(X[0][0], X[0][1], X[1][0], X[1][1], '[y]')
if __name__ == '__main__':
from pyibex import Function, SepFwdBwd
funcs_dict = {
"SepMini": Function("x", "y", "(x - 1/2.)^2 + abs(2*y) - 1/4."),
"SepNonMini": Function("x", "y", "x^2 + abs(2*y) - x"),
}
funcs_dict = {"SepNonMini": Function("x", "y", "x^2 + abs(2*y) - x")}
# funcs_dict = { "SepNonMini" : Function("x", "y", "x^2 + y^2 + x - x + x^3 - x^3") }
vibes.beginDrawing()
X0 = IntervalVector(2, [-6, 6])
for name, func in funcs_dict.items():
vibes.newFigure(name)
sep = SepFwdBwd(func, [3, 5])
vibes.setFigureSize(600, 600)
# pySIVIA(X0, sep, 0.1, use_patch=True, color_out='#888888[#DDDDDD]',
# color_in='#888888[#444444]', color_maybe='#AAAAAA[w]')
# pySIVIA(X0, sep, 0.1, **siviaParams)
