def test_unaggregation():
'test an unaggregated discrete transition'
ha = HybridAutomaton()
# mode one: x' = 1, t' = 1, a' = 0
m1 = ha.new_mode('m1')
m1.set_dynamics([[0, 0, 1], [0, 0, 1], [0, 0, 0]])
# mode two: x' = -1, t' = 1, a' = 0
m2 = ha.new_mode('m2')
m2.set_dynamics([[0, 0, -1], [0, 0, 1], [0, 0, 0]])
# invariant: t <= 2.5
m1.set_invariant([[0, 1, 0]], [2.5])
# guard: t >= 0.5
trans1 = ha.new_transition(m1, m2, 'trans1')
trans1.set_guard([[0, -1, 0]], [-0.5])
# error x >= 4.5
error = ha.new_mode('error')
trans2 = ha.new_transition(m2, error, "to_error")
trans2.set_guard([[-1, 0, 0]], [-4.5])
# initial set has x0 = [0, 0.2], t = [0, 0.2], a = 1
init_lpi = lputil.from_box([(0, 0.2), (0, 0.2), (1, 1)], m1)
init_list = [StateSet(init_lpi, m1)]
# settings, step size = 1.0
settings = HylaaSettings(1.0, 10.0)
settings.stdout = HylaaSettings.STDOUT_DEBUG
settings.plot.store_plot_result = True
settings.plot.plot_mode = PlotSettings.PLOT_NONE
settings.aggstrat = aggstrat.Unaggregated()
result = Core(ha, settings).run(init_list)
# expected no exception
# m2 should be reachable
polys = [obj[0] for obj in result.plot_data.mode_to_obj_list[0]['m2']]
assert len(polys) > 15
def make_settings(stepsize, aggregation, axis_limits, filename):
'make the reachability settings object'
# see hylaa.settings for a list of reachability settings
settings = HylaaSettings(stepsize, 250.0) # step: 0.1, bound: 200.0
settings.plot.filename = filename
#settings.approx_model = HylaaSettings.APPROX_LGG
if aggregation == 'deagg':
settings.stop_on_aggregated_error = False
#settings.process_urgent_guards = True
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = Aggregated.DEAGG_LEAVES_FIRST
elif aggregation == 'unagg':
# dont use aggregation
settings.aggstrat = aggstrat.Unaggregated()
else:
assert aggregation == 'agg', f"unknown aggregation value {aggregation}"
settings.stdout = HylaaSettings.STDOUT_NONE
#settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
#settings.plot.filename = "rendezvous_full_passivity.png"
settings.plot.plot_size = (8, 4)
settings.plot.video_pause_frames = 2
settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
#settings.plot.filename = "rendezvous_full_passivity.mp4"
# single plot
settings.plot.xdim_dir = [0] * 1
settings.plot.ydim_dir = [1] * 1
settings.plot.grid = False
settings.plot.label = []
settings.plot.extra_collections = []
ls = LabelSettings()
settings.plot.label.append(ls)
ls.big(size=24)
ls.title = ''
ls.x_label = '$x$'
ls.y_label = '$y$'
y = 57.735
line = [(-100, y), (-100, -y), (0, 0), (-100, y)]
c1 = collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(1),
linestyle='dashed')
rad = 5.0
line = [(-rad, -rad), (-rad, rad), (rad, rad), (rad, -rad), (-rad, -rad)]
c2 = collections.LineCollection([line],
animated=True,
colors=('red'),
linewidths=(2))
settings.plot.extra_collections.append([c1, c2])
settings.plot.label[0].axes_limits = axis_limits
return settings
def make_settings(stepsize, aggregation):
'make the reachability settings object'
# see hylaa.settings for a list of reachability settings
settings = HylaaSettings(stepsize, 250.0) # step: 0.1, bound: 200.0
#settings.approx_model = HylaaSettings.APPROX_LGG
if aggregation == 'deagg':
settings.stop_on_aggregated_error = False
#settings.process_urgent_guards = True
settings.aggstrat.deaggregate = True # use deaggregation
settings.aggstrat.deagg_preference = Aggregated.DEAGG_LEAVES_FIRST
elif aggregation == 'unagg':
# dont use aggregation
settings.aggstrat = aggstrat.Unaggregated()
else:
assert aggregation == 'agg', f"unknown aggregation value {aggregation}"
settings.stdout = HylaaSettings.STDOUT_VERBOSE
#settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
settings.plot.plot_size = (8, 9)
settings.plot.video_pause_frames = 15
settings.plot.video_fps = 25
video = True
if video:
settings.plot.plot_mode = PlotSettings.PLOT_VIDEO
settings.plot.filename = "rendezvous_full_passivity.mp4"
else:
settings.plot.plot_mode = PlotSettings.PLOT_IMAGE
settings.plot.filename = "rendezvous_full_passivity.png"
# multiplot
settings.plot.xdim_dir = [0] * 3
settings.plot.ydim_dir = [1] * 3
settings.plot.grid = False
settings.plot.label = []
settings.plot.extra_collections = []
for _ in range(3):
ls = LabelSettings()
settings.plot.label.append(ls)
ls.big(size=24)
ls.x_label = '$x$'
ls.y_label = '$y$'
y = 57.735
line = [(-100, y), (-100, -y), (0, 0), (-100, y)]
c1 = collections.LineCollection([line],
animated=True,
colors=('gray'),
linewidths=(1),
linestyle='dashed')
rad = 5
line = [(-rad, -rad), (-rad, rad), (rad, rad), (rad, -rad),
(-rad, -rad)]
c2 = collections.LineCollection([line],
animated=True,
colors=('red'),
linewidths=(2))
settings.plot.extra_collections.append([c1, c2])
settings.plot.label[0].axes_limits = [-950, 200, -450, 70]
#settings.plot.label[1].axes_limits = [-150, 50, -70, 70]
settings.plot.label[1].axes_limits = [-150, 100, -80, 80]
settings.plot.label[2].axes_limits = [-40, 40, -30, 30]
return settings
