def allStates(self):
if self.continuous_dims == []:
# Recall that discrete dimensions are assumed to be integer
return (
perms(
self.discrete_statespace_limits[:,
1] - self.discrete_statespace_limits[:,
0] + 1) + self.discrete_statespace_limits[
:,
0]
)
def allStates(self):
if self.continuous_dims == []:
# Recall that discrete dimensions are assumed to be integer
return (
perms(
self.discrete_statespace_limits[:,
1] - self.discrete_statespace_limits[:,
0] + 1) + self.discrete_statespace_limits[
:,
0]
)
def uniformRBFs(self, bins_per_dimension, includeBorders=False):
"""
:param bins_per_dimension: Determines the number of RBFs to place
uniformly in each dimension, see example below.
:param includeBorders: (Boolean) If true, adds an extra RBF to include
the domain boundaries.
Positions RBF Centers uniformly across the state space.\n
Returns the centers as RBFs-by-dims matrix and number of rbfs.
Each row is a center of an RBF. \n
Example: 2D domain where each dimension is in [0,3]
with bins = [2,3], False => we get 1 center in the first dimension and
2 centers in the second dimension, hence the combination is:\n
1.5 1 \n
1.5 2 \n
with parameter [2,3], True => we get 3 center in the first dimension
and 5 centers in the second dimension, hence the combination is: \n
0 0 \n
0 1 \n
0 2 \n
0 3 \n
1.5 0 \n
1.5 1 \n
1.5 2 \n
1.5 3 \n
3 0 \n
3 1 \n
3 2 \n
3 3 \n
"""
domain = self.domain
dims = domain.state_space_dims
if includeBorders:
rbfs_num = np.prod(bins_per_dimension[:] + 1)
else:
rbfs_num = np.prod(bins_per_dimension[:] - 1)
all_centers = []
for d in xrange(dims):
centers = np.linspace(domain.statespace_limits[d, 0],
domain.statespace_limits[d, 1],
bins_per_dimension[d] + 1)
if not includeBorders:
centers = centers[1:-1] # Exclude the beginning and ending
all_centers.append(centers.tolist())
# print all_centers
# Find all pair combinations of them:
result = perms(all_centers)
# print result.shape
return result, rbfs_num
def uniformRBFs(self, bins_per_dimension, includeBorders=False):
"""
:param bins_per_dimension: Determines the number of RBFs to place
uniformly in each dimension, see example below.
:param includeBorders: (Boolean) If true, adds an extra RBF to include
the domain boundaries.
Positions RBF Centers uniformly across the state space.\n
Returns the centers as RBFs-by-dims matrix and number of rbfs.
Each row is a center of an RBF. \n
Example: 2D domain where each dimension is in [0,3]
with bins = [2,3], False => we get 1 center in the first dimension and
2 centers in the second dimension, hence the combination is:\n
1.5 1 \n
1.5 2 \n
with parameter [2,3], True => we get 3 center in the first dimension
and 5 centers in the second dimension, hence the combination is: \n
0 0 \n
0 1 \n
0 2 \n
0 3 \n
1.5 0 \n
1.5 1 \n
1.5 2 \n
1.5 3 \n
3 0 \n
3 1 \n
3 2 \n
3 3 \n
"""
domain = self.domain
dims = domain.state_space_dims
if includeBorders:
rbfs_num = np.prod(bins_per_dimension[:] + 1)
else:
rbfs_num = np.prod(bins_per_dimension[:] - 1)
all_centers = []
for d in xrange(dims):
centers = np.linspace(domain.statespace_limits[d, 0],
domain.statespace_limits[d, 1],
bins_per_dimension[d] + 1)
if not includeBorders:
centers = centers[1:-1] # Exclude the beginning and ending
all_centers.append(centers.tolist())
# print all_centers
# Find all pair combinations of them:
result = perms(all_centers)
# print result.shape
return result, rbfs_num
