def test_functions_with_float(self):
# TODO(eric.cousineau): Use concrete values once vectorized methods are
# supported.
v_x = 1.0
v_y = 1.0
self.assertEqualStructure(sym.abs(v_x), np.abs(v_x))
self.assertNotEqualStructure(sym.abs(v_x), 0.5 * np.abs(v_x))
self._check_scalar(sym.abs(v_x), np.abs(v_x))
self._check_scalar(sym.abs(v_x), np.abs(v_x))
self._check_scalar(sym.exp(v_x), np.exp(v_x))
self._check_scalar(sym.sqrt(v_x), np.sqrt(v_x))
self._check_scalar(sym.pow(v_x, v_y), v_x**v_y)
self._check_scalar(sym.sin(v_x), np.sin(v_x))
self._check_scalar(sym.cos(v_x), np.cos(v_x))
self._check_scalar(sym.tan(v_x), np.tan(v_x))
self._check_scalar(sym.asin(v_x), np.arcsin(v_x))
self._check_scalar(sym.acos(v_x), np.arccos(v_x))
self._check_scalar(sym.atan(v_x), np.arctan(v_x))
self._check_scalar(sym.atan2(v_x, v_y), np.arctan2(v_x, v_y))
self._check_scalar(sym.sinh(v_x), np.sinh(v_x))
self._check_scalar(sym.cosh(v_x), np.cosh(v_x))
self._check_scalar(sym.tanh(v_x), np.tanh(v_x))
self._check_scalar(sym.min(v_x, v_y), min(v_x, v_y))
self._check_scalar(sym.max(v_x, v_y), max(v_x, v_y))
self._check_scalar(sym.ceil(v_x), np.ceil(v_x))
self._check_scalar(sym.floor(v_x), np.floor(v_x))
self._check_scalar(
sym.if_then_else(
sym.Expression(v_x) > sym.Expression(v_y), v_x, v_y),
v_x if v_x > v_y else v_y)
def test_functions_with_float(self):
# TODO(eric.cousineau): Use concrete values once vectorized methods are
# supported.
v_x = 1.0
v_y = 1.0
self.assertEqualStructure(sym.abs(v_x), np.abs(v_x))
self.assertNotEqualStructure(sym.abs(v_x), 0.5*np.abs(v_x))
self._check_scalar(sym.abs(v_x), np.abs(v_x))
self._check_scalar(sym.abs(v_x), np.abs(v_x))
self._check_scalar(sym.exp(v_x), np.exp(v_x))
self._check_scalar(sym.sqrt(v_x), np.sqrt(v_x))
self._check_scalar(sym.pow(v_x, v_y), v_x ** v_y)
self._check_scalar(sym.sin(v_x), np.sin(v_x))
self._check_scalar(sym.cos(v_x), np.cos(v_x))
self._check_scalar(sym.tan(v_x), np.tan(v_x))
self._check_scalar(sym.asin(v_x), np.arcsin(v_x))
self._check_scalar(sym.acos(v_x), np.arccos(v_x))
self._check_scalar(sym.atan(v_x), np.arctan(v_x))
self._check_scalar(sym.atan2(v_x, v_y), np.arctan2(v_x, v_y))
self._check_scalar(sym.sinh(v_x), np.sinh(v_x))
self._check_scalar(sym.cosh(v_x), np.cosh(v_x))
self._check_scalar(sym.tanh(v_x), np.tanh(v_x))
self._check_scalar(sym.min(v_x, v_y), min(v_x, v_y))
self._check_scalar(sym.max(v_x, v_y), max(v_x, v_y))
self._check_scalar(sym.ceil(v_x), np.ceil(v_x))
self._check_scalar(sym.floor(v_x), np.floor(v_x))
self._check_scalar(
sym.if_then_else(
sym.Expression(v_x) > sym.Expression(v_y),
v_x, v_y),
v_x if v_x > v_y else v_y)
def test_functions_with_float(self):
v_x = 1.0
v_y = 1.0
self.assertEqual(sym.abs(v_x), np.abs(v_x))
self.assertEqual(sym.exp(v_x), np.exp(v_x))
self.assertEqual(sym.sqrt(v_x), np.sqrt(v_x))
self.assertEqual(sym.pow(v_x, v_y), v_x**v_y)
self.assertEqual(sym.sin(v_x), np.sin(v_x))
self.assertEqual(sym.cos(v_x), np.cos(v_x))
self.assertEqual(sym.tan(v_x), np.tan(v_x))
self.assertEqual(sym.asin(v_x), np.arcsin(v_x))
self.assertEqual(sym.acos(v_x), np.arccos(v_x))
self.assertEqual(sym.atan(v_x), np.arctan(v_x))
self.assertEqual(sym.atan2(v_x, v_y), np.arctan2(v_x, v_y))
self.assertEqual(sym.sinh(v_x), np.sinh(v_x))
self.assertEqual(sym.cosh(v_x), np.cosh(v_x))
self.assertEqual(sym.tanh(v_x), np.tanh(v_x))
self.assertEqual(sym.min(v_x, v_y), min(v_x, v_y))
self.assertEqual(sym.max(v_x, v_y), max(v_x, v_y))
self.assertEqual(sym.ceil(v_x), np.ceil(v_x))
self.assertEqual(sym.floor(v_x), np.floor(v_x))
self.assertEqual(
sym.if_then_else(
sym.Expression(v_x) > sym.Expression(v_y), v_x, v_y),
v_x if v_x > v_y else v_y)
def test_with_toy_system():
x = np.array([sym.Variable('x')])
u = np.array([sym.Variable('u')])
parameters = np.array([sym.Variable('param_'+str(i)) for i in range(2)])
f = np.atleast_2d([sym.pow(x[0],3)+sym.sin(u[0])])
print('f:', f)
dyn = ContinuousDynamics(f,x,u)
print('A:', dyn.A)
print('B:', dyn.B)
print('c:', dyn.c)
env = {x[0]:3,u[0]:4}
print('Nonlinear x_dot:', dyn.evaluate_xdot(env))
print('linearized x_dot:', dyn.evaluate_xdot(env, linearize=True))
sys = DTContinuousSystem(f, x, u, initial_env={x[0]:4, u[0]:0})
print('Nonlinear forward step:', sys.forward_step(u=np.array([2]), step_size=1, modify_system=False))
print('Linear forward step:', sys.forward_step(u=np.array([2]), linearlize=True, step_size = 1, modify_system=False))
print(sys.get_reachable_polytopes([0.5]))
def test_functions_with_variable(self):
self.assertEqual(str(sym.abs(x)), "abs(x)")
self.assertEqual(str(sym.exp(x)), "exp(x)")
self.assertEqual(str(sym.sqrt(x)), "sqrt(x)")
self.assertEqual(str(sym.pow(x, y)), "pow(x, y)")
self.assertEqual(str(sym.sin(x)), "sin(x)")
self.assertEqual(str(sym.cos(x)), "cos(x)")
self.assertEqual(str(sym.tan(x)), "tan(x)")
self.assertEqual(str(sym.asin(x)), "asin(x)")
self.assertEqual(str(sym.acos(x)), "acos(x)")
self.assertEqual(str(sym.atan(x)), "atan(x)")
self.assertEqual(str(sym.atan2(x, y)), "atan2(x, y)")
self.assertEqual(str(sym.sinh(x)), "sinh(x)")
self.assertEqual(str(sym.cosh(x)), "cosh(x)")
self.assertEqual(str(sym.tanh(x)), "tanh(x)")
self.assertEqual(str(sym.min(x, y)), "min(x, y)")
self.assertEqual(str(sym.max(x, y)), "max(x, y)")
self.assertEqual(str(sym.ceil(x)), "ceil(x)")
self.assertEqual(str(sym.floor(x)), "floor(x)")
self.assertEqual(str(sym.if_then_else(x > y, x, y)),
"(if (x > y) then x else y)")
def test_functions_with_variable(self):
self.assertEqual(str(sym.abs(x)), "abs(x)")
self.assertEqual(str(sym.exp(x)), "exp(x)")
self.assertEqual(str(sym.sqrt(x)), "sqrt(x)")
self.assertEqual(str(sym.pow(x, y)), "pow(x, y)")
self.assertEqual(str(sym.sin(x)), "sin(x)")
self.assertEqual(str(sym.cos(x)), "cos(x)")
self.assertEqual(str(sym.tan(x)), "tan(x)")
self.assertEqual(str(sym.asin(x)), "asin(x)")
self.assertEqual(str(sym.acos(x)), "acos(x)")
self.assertEqual(str(sym.atan(x)), "atan(x)")
self.assertEqual(str(sym.atan2(x, y)), "atan2(x, y)")
self.assertEqual(str(sym.sinh(x)), "sinh(x)")
self.assertEqual(str(sym.cosh(x)), "cosh(x)")
self.assertEqual(str(sym.tanh(x)), "tanh(x)")
self.assertEqual(str(sym.min(x, y)), "min(x, y)")
self.assertEqual(str(sym.max(x, y)), "max(x, y)")
self.assertEqual(str(sym.ceil(x)), "ceil(x)")
self.assertEqual(str(sym.floor(x)), "floor(x)")
self.assertEqual(str(sym.if_then_else(x > y, x, y)),
"(if (x > y) then x else y)")
def test_functions_with_expression(self):
self.assertEqual(str(sym.abs(e_x)), "abs(x)")
self.assertEqual(str(sym.exp(e_x)), "exp(x)")
self.assertEqual(str(sym.sqrt(e_x)), "sqrt(x)")
self.assertEqual(str(sym.pow(e_x, e_y)), "pow(x, y)")
self.assertEqual(str(sym.sin(e_x)), "sin(x)")
self.assertEqual(str(sym.cos(e_x)), "cos(x)")
self.assertEqual(str(sym.tan(e_x)), "tan(x)")
self.assertEqual(str(sym.asin(e_x)), "asin(x)")
self.assertEqual(str(sym.acos(e_x)), "acos(x)")
self.assertEqual(str(sym.atan(e_x)), "atan(x)")
self.assertEqual(str(sym.atan2(e_x, e_y)), "atan2(x, y)")
self.assertEqual(str(sym.sinh(e_x)), "sinh(x)")
self.assertEqual(str(sym.cosh(e_x)), "cosh(x)")
self.assertEqual(str(sym.tanh(e_x)), "tanh(x)")
self.assertEqual(str(sym.min(e_x, e_y)), "min(x, y)")
self.assertEqual(str(sym.max(e_x, e_y)), "max(x, y)")
self.assertEqual(str(sym.ceil(e_x)), "ceil(x)")
self.assertEqual(str(sym.floor(e_x)), "floor(x)")
self.assertEqual(str(sym.if_then_else(e_x > e_y, e_x, e_y)),
"(if (x > y) then x else y)")
def test_functions_with_float(self):
# TODO(eric.cousineau): Use concrete values once vectorized methods are
# supported.
v_x = 1.0
v_y = 1.0
# WARNING: If these math functions have `float` overloads that return
# `float`, then `assertEqual`-like tests are meaningful (current state,
# and before `math` overloads were introduced).
# If these math functions implicitly cast `float` to `Expression`, then
# `assertEqual` tests are meaningless, as it tests `__nonzero__` for
# `Formula`, which will always be True.
self.assertEqual(sym.abs(v_x), 0.5*np.abs(v_x))
self.assertNotEqual(str(sym.abs(v_x)), str(0.5*np.abs(v_x)))
self._check_scalar(sym.abs(v_x), np.abs(v_x))
self._check_scalar(sym.abs(v_x), np.abs(v_x))
self._check_scalar(sym.exp(v_x), np.exp(v_x))
self._check_scalar(sym.sqrt(v_x), np.sqrt(v_x))
self._check_scalar(sym.pow(v_x, v_y), v_x ** v_y)
self._check_scalar(sym.sin(v_x), np.sin(v_x))
self._check_scalar(sym.cos(v_x), np.cos(v_x))
self._check_scalar(sym.tan(v_x), np.tan(v_x))
self._check_scalar(sym.asin(v_x), np.arcsin(v_x))
self._check_scalar(sym.acos(v_x), np.arccos(v_x))
self._check_scalar(sym.atan(v_x), np.arctan(v_x))
self._check_scalar(sym.atan2(v_x, v_y), np.arctan2(v_x, v_y))
self._check_scalar(sym.sinh(v_x), np.sinh(v_x))
self._check_scalar(sym.cosh(v_x), np.cosh(v_x))
self._check_scalar(sym.tanh(v_x), np.tanh(v_x))
self._check_scalar(sym.min(v_x, v_y), min(v_x, v_y))
self._check_scalar(sym.max(v_x, v_y), max(v_x, v_y))
self._check_scalar(sym.ceil(v_x), np.ceil(v_x))
self._check_scalar(sym.floor(v_x), np.floor(v_x))
self._check_scalar(
sym.if_then_else(
sym.Expression(v_x) > sym.Expression(v_y),
v_x, v_y),
v_x if v_x > v_y else v_y)