def sample_abs_state(abs_state,
A,
system_params):
samples = system_params.sampler.sample(abs_state, A, system_params, A.num_samples)
total_num_samples = samples.n
x_array = samples.x_array
s_array = samples.s_array
# print s_array
t_array = samples.t_array
pi_array = samples.pi_array
ci_array = samples.ci_array
d = np.array([abs_state.plant_state.d])
pvt = np.array([abs_state.plant_state.pvt])
d_array = np.repeat(d, samples.n, axis=0)
pvt_array = np.repeat(pvt, samples.n, axis=0)
# sanity check
assert(len(d_array) == total_num_samples)
assert(len(pvt_array) == total_num_samples)
assert(len(x_array) == total_num_samples)
assert(len(s_array) == total_num_samples)
assert(len(t_array) == total_num_samples)
# can not use None because of a check in
# get_abs_state_from_concrete_state() which silently makes
# the entire abstract state None if a None is encountered
# in either plant or contorller abs state.
(s_array_, u_array) = U.inf_list(0), U.inf_list(0)
state = st.StateArray(
t=t_array,
x=x_array,
d=d_array,
pvt=pvt_array,
s=s_array_,
u=u_array,
pi=pi_array,
ci=ci_array,
)
return state
def compute_concrete_controller_output(*args):
return U.inf_list(0), U.inf_list(0)
def compute_concrete_controller_output(*args):
return U.inf_list(0), U.inf_list(0)