def __init__(self,sys = dynsys(),
params=np.zeros((dynsys().gmat.shape[1],
dynsys().gmat.shape[0]))):
"""
goal_seq determines the order in which goals are visited,
goal_seq = (1,2,3,4) implies that the system is to visit the north,
east,south,west quadrants in that order. Each time, the system
is to visit the central, purple region first before moving to the
next, desired goal location. The purple region is denoted by the
0th column in bmat. If Ax<b for an appropriate column, then the system
occupies the appropriate region
"""
self.system = sys
self.params = params
self.A = np.array([
[1,0,0,0],
[0,1,0,0],
[-1,0,0,0],
[0,-1,0,0]])
self.bmat = np.array([
[3,3,5,3,1],
[3,5,3,1,3],
[-2,-2,-4,-2,0],
[-2,-4,-2,0,-2],])
self.goals = np.array([
[2.5,2.5,0,0],
[2.5,4.5,0,0],
[4.5,2.5,0,0],
[2.5,0.5,0,0],
[0.5,2.5,0,0]]).transpose()
self.counter = 0
copy = self.system.x
self.xhist = copy
self.goal_semantics = ['Middle','Top','Right','Bottom','Left']
def test_run(self, x):
#print(x) # remove afterwards
self.example = switch_ctrl(
sys=dynsys(x=np.array([[2.5, 0.5, 0, 0]]).transpose()),
params=1.2 * np.array([[1, 0, 1, 0], [0, 1, 0, 1]]))
self.example.surveil(t_switch1=x[0], t_switch2=x[0] + x[1])
return reward_fun(self.example.xhist)