U = box2poly(U)
W = box2poly(W)
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@
# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])
# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition) if show else None
# @partition_section_end@
# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_dynamics = discretize(cont_partition,
sys_dyn,
closed_loop=True,
N=8,
min_cell_volume=0.1,
plotit=show)
# @discretize_section_end@
# Visualize transitions in continuous domain (optional)
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
disc_dynamics.ppp2ts) if show else None
U = box2poly(U)
W = box2poly(W)
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@
# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])
# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition, show=visualize)
# @partition_section_end@
# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_dynamics = discretize(
cont_partition, sys_dyn, closed_loop=True,
N=8, min_cell_volume=0.1, plotit=visualize
)
# @discretize_section_end@
"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
disc_dynamics.ppp2ts, show=visualize)
"""Specifications"""
U = box2poly(U)
W = box2poly(W)
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@
# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])
# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition)
# @partition_section_end@
# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_params = {
'closed_loop': True,
'N': 8,
'min_cell_volume': 0.1,
'plotit': visualize,
'conservative': False
}
disc_dynamics = discretize(cont_partition, sys_dyn, **disc_params)
# @discretize_section_end@
"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts, disc_dynamics.ppp2ts)
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiOutSysDyn(A=A,B=B,C=C, E=E, K=None, Uset=U, Wset=W, domain=cont_state_space)
L = generateFilter(A, C, filter_bound, use_mosek=False)
sys_dyn_hat = sys_dyn.generateObservedDynamics(L,epsilon)
# @dynamics_section_end@
# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = shrinkPoly(box2poly([[0., 1.], [0., 1.]]),epsilon)
cont_props['lot'] = shrinkPoly(box2poly([[2., 3.], [1., 2.]]),epsilon)
# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition) if show else None
cont_partition = shrinkPartition(cont_partition, epsilon)
plot_partition(cont_partition) if show else None
# @partition_section_end@
# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_dynamics = discretize(
cont_partition, sys_dyn_hat, closed_loop=True, conservative=True,
N=1, min_cell_volume=0.01, plotit=show, trans_length=3
)
# @discretize_section_end@
"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
disc_dynamics.ppp2ts) if show else None
U = box2poly(U)
W = box2poly(W)
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@
# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])
# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition)
# @partition_section_end@
# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_params = {'closed_loop':True, 'N':8, 'min_cell_volume':0.1,
'plotit':visualize, 'conservative':False}
disc_dynamics = discretize(cont_partition, sys_dyn, **disc_params)
# @discretize_section_end@
"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
disc_dynamics.ppp2ts)
"""Specifications"""
# Environment variables and assumptions
U = box2poly(U)
W = box2poly(W)
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@
# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])
# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition, show=visualize)
# @partition_section_end@
# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_params = {
'closed_loop': True,
'N': 8,
'min_cell_volume': 0.1,
'plotit': visualize,
'conservative': False
}
disc_dynamics = discretize(cont_partition, sys_dyn, **disc_params)
# @discretize_section_end@
"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp,
