def test_call(self):
factory1 = QuadCostFactory()
factory2 = GaussRegFactory()
sum_factory = factory1 + factory2
cs = sum_factory.get_configuration_space(self.system, self.task,
self.Model)
cfg = cs.get_default_configuration()
cs1 = factory1.get_configuration_space(self.system, self.task,
self.Model)
cfg1 = cs1.get_default_configuration()
cs2 = factory2.get_configuration_space(self.system, self.task,
self.Model)
cfg2 = cs2.get_default_configuration()
cost = sum_factory(self.system, self.task, self.model, self.trajs, cfg)
cost1 = factory1(self.system, self.task, self.model, self.trajs, cfg1)
cost2 = factory2(self.system, self.task, self.model, self.trajs, cfg2)
self.assertIsInstance(cost, SumCost)
obs = np.array([-1, 2])
val = cost.eval_obs_cost(obs)
val1 = cost1.eval_obs_cost(obs)
val2 = cost2.eval_obs_cost(obs)
self.assertEqual(val, val1 + val2)
def test_config_space(self):
factory1 = QuadCostFactory()
factory2 = GaussRegFactory()
sum_factory = factory1 + factory2
cs = sum_factory.get_configuration_space(self.system, self.task,
self.Model)
self.assertIsInstance(cs, CS.ConfigurationSpace)
cfg = cs.get_default_configuration()
cfg_dict = cfg.get_dictionary()
extr_dicts = []
for i in range(2):
extr_dict = dict()
prfx = "_sum_{}:".format(i)
for key, val in cfg_dict.items():
if key.startswith(prfx):
extr_key = key.split(":")[1]
extr_dict[extr_key] = val
extr_dicts.append(extr_dict)
cs1 = factory1.get_configuration_space(self.system, self.task,
self.Model)
cs2 = factory2.get_configuration_space(self.system, self.task,
self.Model)
cfg1_dict = cs1.get_default_configuration().get_dictionary()
cfg2_dict = cs2.get_default_configuration().get_dictionary()
self.assertEqual(extr_dicts[0], cfg1_dict)
self.assertEqual(extr_dicts[1], cfg2_dict)
class PipelineTest(unittest.TestCase):
def setUp(self):
double_int = ampc.System(["x", "y"], ["u"])
self.system = double_int
self.Model = ARX
self.Controller = IterativeLQR
self.model_cs = self.Model.get_configuration_space(self.system)
self.model_cfg = self.model_cs.get_default_configuration()
self.model = ampc.make_model(self.system, self.Model, self.model_cfg)
self.cost_factory = QuadCostFactory() + GaussRegFactory()
# Initialize task
Q = np.eye(2)
R = np.eye(1)
F = np.eye(2)
cost = QuadCost(self.system, Q, R, F, goal=[-1, 0])
self.task = Task(self.system)
self.task.set_cost(cost)
self.task.set_ctrl_bound("u", -20.0, 20.0)
# Generate trajectories
self.trajs = uniform_random_generate(
double_int,
self.task,
lambda y, u: dt_doubleint_dynamics(y, u, dt=0.05),
np.random.default_rng(42),
init_min=[-1.0, -1.0],
init_max=[1.0, 1.0],
traj_len=20,
n_trajs=20)
def test_config_space(self):
pipeline = ampc.Pipeline(self.Model, self.Controller,
self.cost_factory, None)
cs = pipeline.get_configuration_space(self.system, self.task)
self.assertIsInstance(cs, CS.ConfigurationSpace)
cfg = cs.get_default_configuration()
cfg_dict = cfg.get_dictionary()
extr_dicts = []
for prfx in ["_model", "_ctrlr", "_cost"]:
extr_dict = dict()
for key, val in cfg_dict.items():
if key.startswith(prfx):
extr_key = ":".join(key.split(":")[1:])
extr_dict[extr_key] = val
extr_dicts.append(extr_dict)
model_cs = self.Model.get_configuration_space(self.system)
ctrlr_cs = self.Controller.get_configuration_space(
self.system, self.task, self.Model)
cost_fact_cs = self.cost_factory.get_configuration_space(
self.system, self.task, self.Model)
cfg1_dict = model_cs.get_default_configuration().get_dictionary()
cfg2_dict = ctrlr_cs.get_default_configuration().get_dictionary()
cfg3_dict = cost_fact_cs.get_default_configuration().get_dictionary()
self.assertEqual(extr_dicts[0], cfg1_dict)
self.assertEqual(extr_dicts[1], cfg2_dict)
self.assertEqual(extr_dicts[2], cfg3_dict)
def test_config_space(self):
factory = QuadCostFactory()
cs = factory.get_configuration_space(self.system, self.task,
self.Model)
self.assertIsInstance(cs, CS.ConfigurationSpace)
hyper_names = cs.get_hyperparameter_names()
target_hyper_names = ["x_Q", "y_Q", "x_F", "y_F", "u_R"]
self.assertEqual(set(hyper_names), set(target_hyper_names))
def test_call_factory(self):
factory = QuadCostFactory()
cs = factory.get_configuration_space(self.system, self.task,
self.Model)
cfg = cs.get_default_configuration()
cost = factory(self.system, self.task, self.model, None, cfg)
self.assertIsInstance(cost, QuadCost)
Q, R, F = cost.get_cost_matrices()
self.assertTrue((Q == np.eye(self.system.obs_dim)).all())
self.assertTrue((F == np.eye(self.system.obs_dim)).all())
self.assertTrue((R == np.eye(self.system.ctrl_dim)).all())
class PipelineTest(unittest.TestCase):
def setUp(self):
simple_sys = ampc.System(["x", "y"], ["u"])
simple_sys.dt = 0.05
self.system = simple_sys
self.model_factory = SINDyFactory(self.system)
self.cost_factory = QuadCostFactory(self.system)
self.controller_factory = IterativeLQRFactory(self.system)
# Initialize task
Q = np.eye(2)
R = np.eye(1)
F = np.eye(2)
cost = QuadCost(self.system, Q, R, F, goal=[-1, 0])
self.task = Task(self.system)
self.task.set_cost(cost)
self.task.set_ctrl_bound("u", -20.0, 20.0)
rng = np.random.default_rng(42)
dynamics = lambda x, u: dt_doubleint_dynamics(x, u, dt=0.05)
self.trajs = uniform_random_generate(self.system,
self.task,
dynamics,
rng,
init_min=-np.ones(2),
init_max=np.ones(2),
traj_len=100,
n_trajs=100)
def test_full_config_space(self):
pipeline = Pipeline(self.system, self.model_factory, self.cost_factory,
self.controller_factory)
pipeline_cs = pipeline.get_configuration_space()
model_cs = self.model_factory.get_configuration_space()
cost_cs = self.cost_factory.get_configuration_space()
controller_cs = self.controller_factory.get_configuration_space()
pipeline_hns = pipeline_cs.get_hyperparameter_names()
combined_hns = (
["_model:" + hn for hn in model_cs.get_hyperparameter_names()] +
["_cost:" + hn for hn in cost_cs.get_hyperparameter_names()] + [
"_ctrlr:" + hn
for hn in controller_cs.get_hyperparameter_names()
])
self.assertEqual(set(pipeline_hns), set(combined_hns))
def test_config_space_fixed_model(self):
model_cs = self.model_factory.get_configuration_space()
model_cfg = model_cs.get_default_configuration()
model = self.model_factory(model_cfg, self.trajs)
self.assertTrue(isinstance(model, SINDy))
pipeline = Pipeline(self.system, model, self.cost_factory,
self.controller_factory)
pipeline_cs = pipeline.get_configuration_space()
model_cs = self.model_factory.get_configuration_space()
cost_cs = self.cost_factory.get_configuration_space()
controller_cs = self.controller_factory.get_configuration_space()
pipeline_hns = pipeline_cs.get_hyperparameter_names()
combined_hns = (
["_cost:" + hn for hn in cost_cs.get_hyperparameter_names()] + [
"_ctrlr:" + hn
for hn in controller_cs.get_hyperparameter_names()
])
self.assertEqual(set(pipeline_hns), set(combined_hns))
def test_config_space_fixed_cost(self):
cost = self.task.get_cost()
pipeline = Pipeline(self.system, self.model_factory, cost,
self.controller_factory)
pipeline_cs = pipeline.get_configuration_space()
model_cs = self.model_factory.get_configuration_space()
cost_cs = self.cost_factory.get_configuration_space()
controller_cs = self.controller_factory.get_configuration_space()
pipeline_hns = pipeline_cs.get_hyperparameter_names()
combined_hns = (
["_model:" + hn for hn in model_cs.get_hyperparameter_names()] + [
"_ctrlr:" + hn
for hn in controller_cs.get_hyperparameter_names()
])
self.assertEqual(set(pipeline_hns), set(combined_hns))
def test_pipeline_call(self):
pipeline = Pipeline(self.system, self.model_factory, self.cost_factory,
self.controller_factory)
pipeline_cs = pipeline.get_configuration_space()
pipeline_cfg = pipeline_cs.get_default_configuration()
controller, task, model = pipeline(pipeline_cfg, self.task, self.trajs)
self.assertIsInstance(controller, IterativeLQR)
self.assertIsInstance(task, Task)
self.assertIsInstance(model, SINDy)