def define_settings(ha, plot):
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE if plot else PlotSettings.PLOT_NONE
max_time = 20.0
step_size = 0.005
settings = HylaaSettings(step=step_size, max_time=max_time, plot_settings=plot_settings)
settings.time_elapse.method = TimeElapseSettings.SCIPY_SIM
settings.print_output = plot
plot_settings.xdim_dir = None
plot_settings.ydim_dir = ha.modes.values()[0].output_space_csr[0].toarray()
plot_settings.filename = "hylaa_iss_constant.png"
plot_settings.max_shown_polys = None
plot_settings.label.y_label = '$y_{3}$'
plot_settings.label.x_label = 'Time'
plot_settings.label.title = '' #'Space Station (Constant Inputs)'
plot_settings.plot_size = (10, 10)
plot_settings.label.big(size=36)
plot_settings.label.tick_label_size = 24
plot_settings.extra_lines = [[(0.0, -0.00017), (20.0, -0.00017)], [(0.0, 0.00017), (20.0, 0.00017)]]
plot_settings.label.axes_limits = (0, 20, -0.0002, 0.0002)
return settings
def define_settings(plot):
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE if plot else PlotSettings.PLOT_NONE
#plot_settings.plot_mode = PlotSettings.PLOT_NONE
plot_settings.max_shown_polys = None
plot_settings.xdim = 0
plot_settings.ydim = 1
plot_settings.label.title = "Spacecraft Rendezvous"
plot_settings.filename = "rendezvous4.png"
plot_settings.plot_size = (10, 10)
plot_settings.label.big(size=32)
plot_settings.label.x_label = '$x$'
plot_settings.label.y_label = '$y$'
y = 57.735
plot_settings.extra_lines = [[(-100, y), (-100, -y), (0, 0), (-100, y)]]
settings = HylaaSettings(step=0.1, max_time=200.0, plot_settings=plot_settings)
settings.aggregation = False
settings.deaggregation = False
settings.simulation.threads = 1
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
# save to a video file
plot_settings.make_video("deaggregation.mp4", frames=150, fps=5)
#plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim = 0
plot_settings.ydim = 1
plot_settings.extra_lines = [[(-0.5, -4), (-0.5, -0), (0.5, -0),
(0.5, -4)]]
settings = HylaaSettings(step=0.25,
max_time=6.0,
plot_settings=plot_settings)
settings.process_urgent_guards = True
#settings.deaggregation = False
#settings.aggregation = False
settings.skip_step_times = True
settings.simulation.threads = 1
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim = 0
plot_settings.ydim = 3
s = HylaaSettings(step=0.1, max_time=2.0, plot_settings=plot_settings)
s.stop_when_error_reachable = False
return s
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim = 1 # 3
plot_settings.ydim = 2 # 4
settings = HylaaSettings(step=0.02, max_time=3.0, disc_dyn=False, plot_settings=plot_settings)
settings.stop_when_error_reachable = False
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim = 0
plot_settings.ydim = 1
s = HylaaSettings(step=step_size, max_time=max_time, disc_dyn=True, plot_settings=plot_settings)
s.stop_when_error_reachable = False
return s
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim = 0
plot_settings.ydim = 1
# plot_settings.make_video("acc-controllerII.mp4", frames=80, fps=2)
s = HylaaSettings(step=0.2, max_time=20.0, plot_settings=plot_settings, disc_dyn=False)
s.stop_when_error_reachable = False
return s
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
plot_settings.xdim = 0
plot_settings.ydim = 4
settings = HylaaSettings(step=0.001, max_time=0.001, plot_settings=plot_settings)
settings.print_output = False
settings.counter_example_filename = None
return settings
def define_settings(ha, limit):
'get the hylaa settings object'
plot_settings = PlotSettings()
max_time = 20.0 # 20.0
step_size = 0.005 # 0.005
settings = HylaaSettings(step=step_size,
max_time=max_time,
plot_settings=plot_settings)
settings.print_output = False
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_MATLAB
plot_settings.xdim = 0
plot_settings.ydim = 1
s = HylaaSettings(step=0.2,
max_time=2.6,
disc_dyn=False,
plot_settings=plot_settings)
s.stop_when_error_reachable = False
return s
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
plot_settings.xdim = 0
plot_settings.ydim = 8
settings = HylaaSettings(step=0.1,
max_time=30.0,
plot_settings=plot_settings)
#settings.sim_tol = 1000.0
settings.use_presimulation = True
#settings.aggregation = False
#settings.solver = 'cvxopt-glpk'
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_INTERACTIVE
plot_settings.xdim = 0
plot_settings.ydim = 1
return HylaaSettings(step=5.0E-4,
max_time=2.0,
plot_settings=plot_settings)
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim = 0
plot_settings.ydim = 1
settings = HylaaSettings(step=0.1, max_time=3.2, plot_settings=plot_settings)
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_MATLAB
plot_settings.xdim = 0
plot_settings.ydim = 1
s = HylaaSettings(step=0.2, max_time=20.0, plot_settings=plot_settings)
return s
def define_settings(ha, plot):
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE if plot else PlotSettings.PLOT_NONE
#plot_settings.plot_mode = PlotSettings.PLOT_NONE
max_time = 20.0
step_size = 0.02 if plot else 0.005 # plotting with small timesteps has lots of overhead
settings = HylaaSettings(step=step_size,
max_time=max_time,
plot_settings=plot_settings)
settings.time_elapse.method = TimeElapseSettings.SCIPY_SIM
settings.time_elapse.check_answer = False
settings.print_output = plot
#settings.interval_guard_optimization = False
#settings.time_elapse.scipy_sim.max_step = 0.001
#settings.time_elapse.scipy_sim.rtol = 1e-9
#settings.time_elapse.scipy_sim.atol = 1e-12
#settings.skip_step_times = False
plot_settings.xdim_dir = None
plot_settings.ydim_dir = ha.modes.values()[0].output_space_csr[0]
plot_settings.filename = "hylaa_iss_uncertain.png"
plot_settings.max_shown_polys = None
plot_settings.label.y_label = '$y_{3}$'
plot_settings.label.x_label = 'Time'
plot_settings.label.title = '' #'Space Station (Uncertain Inputs)'
#plot_settings.label.axes_limits = (0.4, 0.6, -0.0002, -0.0001)
plot_settings.plot_size = (10, 10)
plot_settings.label.big(size=36)
plot_settings.label.tick_label_size = 24
plot_settings.extra_lines = [[(0.0, -0.0005), (20.0, -0.0005)],
[(0.0, 0.0005), (20.0, 0.0005)]]
plot_settings.label.axes_limits = (0, 20, -0.0007, 0.0007)
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
plot_settings.xdim = 0
plot_settings.ydim = 2
settings = HylaaSettings(step=5.0E-4, max_time=2.0, plot_settings=plot_settings)
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
settings = HylaaSettings(step=0.005, max_time=20.0, plot_settings=plot_settings)
settings.simulation.sim_mode = SimulationSettings.MATRIX_EXP
settings.simulation.threads=1
return settings
def define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
plot_settings.xdim = 0
plot_settings.ydim = 1
#plot_settings.label.axes_limits = (0.9, 1.1, 2.0, 6.0)
settings = HylaaSettings(step=0.01,
max_time=2.0,
plot_settings=plot_settings)
return settings
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))
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 define_settings():
'get the hylaa settings object'
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_IMAGE
#plot_settings.plot_mode = PlotSettings.PLOT_VIDEO
#plot_settings.video_frames = 220
#plot_settings.video_filename = "out.wma"
#plot_settings.video_codec = None
plot_settings.xdim = 0
plot_settings.ydim = 1
settings = HylaaSettings(step=0.1,
max_time=10.0,
plot_settings=plot_settings)
return settings
def define_settings(stepsize):
'get the hylaa settings object'
plot_settings = PlotSettings()
#plot_settings.plot_mode = PlotSettings.PLOT_IMAGE if plot else PlotSettings.PLOT_NONE
plot_settings.plot_mode = PlotSettings.PLOT_NONE
plot_settings.max_shown_polys = None
plot_settings.xdim = 0
plot_settings.ydim = 1
plot_settings.label.title = "Spacecraft Rendezvous (Abort)"
plot_settings.filename = "rendezvous4_abort.png"
plot_settings.plot_size = (10, 10)
plot_settings.label.big(size=32)
plot_settings.label.x_label = '$x$'
plot_settings.label.y_label = '$y$'
plot_settings.label.axes_limits = [-50, 50, -50, 50]
#plot_settings.label.axes_limits = [-200, 200, -100, 100]
y = 57.735
lines1 = [(-100, y), (-100, -y), (0, 0), (-100, y)]
lines2 = [(-5, -5), (5, -5), (5, 5), (-5, 5), (-5, -5)]
plot_settings.extra_lines = [lines1, lines2]
#plot_settings.label.axes_limits = (-100, 100, -50, 0)
settings = HylaaSettings(step=stepsize,
max_time=250.0,
plot_settings=plot_settings)
settings.aggregation = False
settings.deaggregation = False
settings.skip_step_times = True
settings.print_output = False
settings.simulation.threads = 1
return settings