env_labels=env_modes,
disc_sys_labels=sys_modes,
cts_ss=cont_state_space
)
print(switched_dynamics)
ppp = abstract.prop2part(cont_state_space, cont_props)
ppp, new2old = abstract.part2convex(ppp)
"""Discretize to establish transitions"""
start = time.time()
N = 8
trans_len=1
disc_params = {}
for mode in modes:
disc_params[mode] = {'N':N, 'trans_length':trans_len}
swab = abstract.multiproc_discretize_switched(
ppp, switched_dynamics, disc_params,
plot=True, show_ts=True
)
print(swab)
#ax = sys_ts.ts.plot()
elapsed = (time.time() - start)
print('Discretization lasted: ' + str(elapsed))
ax.figure.savefig(imgpath + 'ppp.pdf')
## Discretize to establish transitions
if os.name == "posix":
start = os.times()[2]
logger.info('start time: ' + str(start))
else:
logger.info(
'Timing currently only available for POSIX platforms (not Windows)')
disc_params = {}
disc_params[('normal', 'fly')] = {'N': N, 'trans_length': 3}
disc_params[('refuel', 'fly')] = {'N': N, 'trans_length': 3}
sys_ts = abstract.multiproc_discretize_switched(ppp,
switched_dynamics,
disc_params,
plot=True)
if os.name == "posix":
end = os.times()[2]
logger.info('end time: ' + str(end))
elapsed = (end - start)
logger.info('Discretization lasted: ' + str(elapsed))
## Save abstraction to save debugging time
fname = './abstract_switched.pickle'
#pickle.dump(sys_ts, open(fname, 'wb') )
#sys_ts = pickle.load(open(fname, 'r') )
## Specifications
ax = ppp.plot()
ax.figure.savefig(imgpath + 'ppp.pdf')
"""Discretize to establish transitions"""
if os.name == "posix":
start = os.times()[2]
logger.info('start time: ' + str(start))
else:
logger.info('Timing currently only available for POSIX platforms (not Windows)')
disc_params = {}
disc_params[('normal', 'fly')] = {'N':N, 'trans_length':3}
disc_params[('refuel', 'fly')] = {'N':N, 'trans_length':3}
sys_ts = abstract.multiproc_discretize_switched(
ppp, switched_dynamics, disc_params, plot=False
)
if os.name == "posix":
end = os.times()[2]
logger.info('end time: ' + str(end))
elapsed = (end - start)
logger.info('Discretization lasted: ' + str(elapsed))
"""Save abstraction to save debugging time"""
fname = './abstract_switched.pickle'
#pickle.dump(sys_ts, open(fname, 'wb') )
#sys_ts = pickle.load(open(fname, 'r') )
"""Specs"""
