def get_lpi(self):
'get (maybe create) the LpInstance object for this star + inputs, and return it'
rv = self._star_lpi
if rv is None:
rv = LpInstance(self.num_dims, self.num_dims)
rv.update_basis_matrix(self.basis_matrix)
for lc in self.constraint_list:
rv.add_basis_constraint(lc.vector, lc.value)
# add the influence of the inputs
if self.input_stars is not None:
for input_star in self.input_stars:
rv.add_input_star(input_star.a_matrix_t, input_star.b_vector, input_star.input_basis_matrix)
self._star_lpi = rv
return rv
def make_combined_lpi(self, automaton_transition=None, skip_inputs=False):
'create one lpi per guard, which will have both the star and input effects, as well as the guard condition'
lpi = LpInstance(self.star.num_dims, self.star.num_dims)
lpi.update_basis_matrix(self.star.basis_matrix)
for lc in self.star.constraint_list:
lpi.add_basis_constraint(lc.vector, lc.value)
# add standard basis guard constraints
if automaton_transition is not None:
for lc in automaton_transition.condition_list:
lpi.add_standard_constraint(lc.vector, lc.value)
# add any input star constraints
mode = self.star.mode
if not skip_inputs and self.star.input_stars is not None:
for input_star in self.star.input_stars:
lpi.add_input_star(mode.u_constraints_a_t,
mode.u_constraints_b,
input_star.input_basis_matrix)
return lpi