def test_exp(self):
'''test integration of x' = x'''
ha = LinearHybridAutomaton('Harmonic Oscillator')
ha.variables = ["x"]
# x' = x
a_matrix = np.array([[1]], dtype=float)
c_vector = np.array([0], dtype=float)
loc1 = ha.new_mode('loc')
loc1.set_dynamics(a_matrix, c_vector)
# x(0) = 1
init_list = [(ha.modes['loc'], HyperRectangle([(0.99, 1.01)]))]
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
settings = HylaaSettings(step=0.1,
max_time=1.1,
plot_settings=plot_settings)
settings.print_output = False
engine = HylaaEngine(ha, settings)
engine.load_waiting_list(init_list)
# pop from waiting_list (doesn't advance state)
engine.do_step()
# x(t) should be e^t
for i in xrange(10):
engine.do_step()
t = 0.1 * (i + 1)
star = engine.cur_state
self.assertTrue(star.contains_point([math.exp(t)]))
def test_rectangular(self):
'''test integration of x' = 1, y' = 2'''
ha = LinearHybridAutomaton('Harmonic Oscillator')
ha.variables = ["x", "y"]
# x' = x
loc1 = ha.new_mode('loc')
loc1.a_matrix = np.array([[0, 0], [0, 0]])
loc1.c_vector = np.array([1, 2])
# x(0) = 1, y(0) = 2
init_list = [(ha.modes['loc'],
HyperRectangle([(0.99, 1.01), (1.99, 2.01)]))]
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
settings = HylaaSettings(step=0.1,
max_time=1.1,
plot_settings=plot_settings)
settings.print_output = False
engine = HylaaEngine(ha, settings)
engine.load_waiting_list(init_list)
# x(t) = 1 + t; y(t) = 2 + 2*t
# pop from waiting_list (doesn't advance state)
engine.do_step()
for i in xrange(10):
engine.do_step()
t = 0.1 * (i + 1)
star = engine.cur_state
point = [1 + t, 2 + 2 * t]
self.assertTrue(star.contains_point(point))
