def optDstb(self, spat_deriv):
"""
:param spat_deriv: tuple of spatial derivative in all dimensions
:return: a tuple of optimal disturbances
"""
# Graph takes in 4 possible inputs, by default, for now
d1 = hcl.scalar(0, "d1")
d2 = hcl.scalar(0, "d2")
# Just create and pass back, even though they're not used
d3 = hcl.scalar(0, "d3")
d4 = hcl.scalar(0, "d4")
with hcl.if_(self.dMode == "max"):
with hcl.if_(spat_deriv[0] > 0):
d1[0] = self.dMax[0]
with hcl.elif_(spat_deriv[0] < 0):
d1[0] = self.dMin[0]
with hcl.if_(spat_deriv[1] > 0):
d2[0] = self.dMax[1]
with hcl.elif_(spat_deriv[1] < 0):
d2[0] = self.dMin[1]
with hcl.else_():
with hcl.if_(spat_deriv[0] > 0):
d1[0] = self.dMin[0]
with hcl.elif_(spat_deriv[0] < 0):
d1[0] = self.dMax[0]
with hcl.if_(spat_deriv[1] > 0):
d2[0] = self.dMin[1]
with hcl.elif_(spat_deriv[1] < 0):
d2[0] = self.dMax[1]
return (d1[0], d2[0], d3[0], d4[0])
def spa_derivX3_6d(i, j, k, l, m, n, V,
g): # Left -> right == Outer Most -> Inner Most
left_deriv = hcl.scalar(0, "left_deriv")
right_deriv = hcl.scalar(0, "right_deriv")
with hcl.if_(k == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[i, j, k, l, m,
n] + my_abs(V[i, j, k + 1, l, m, n] -
V[i, j, k, l, m, n]) * my_sign(
V[i, j, k, l, m, n])
left_deriv[0] = (V[i, j, k, l, m, n] - left_boundary[0]) / g.dx[2]
right_deriv[0] = (V[i, j, k + 1, l, m, n] -
V[i, j, k, l, m, n]) / g.dx[2]
with hcl.elif_(k == V.shape[2] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[i, j, k, l, m,
n] + my_abs(V[i, j, k, l, m, n] -
V[i, j, k - 1, l, m, n]) * my_sign(
V[i, j, k, l, m, n])
left_deriv[0] = (V[i, j, k, l, m, n] -
V[i, j, k - 1, l, m, n]) / g.dx[2]
right_deriv[0] = (right_boundary[0] - V[i, j, k, l, m, n]) / g.dx[2]
with hcl.elif_(k != 0 and k != V.shape[2] - 1):
left_deriv[0] = (V[i, j, k, l, m, n] -
V[i, j, k - 1, l, m, n]) / g.dx[2]
right_deriv[0] = (V[i, j, k + 1, l, m, n] -
V[i, j, k, l, m, n]) / g.dx[2]
return left_deriv[0], right_deriv[0]
def spa_derivX4_5d(i, j, k, l, m, V, g): # Left -> right == Outer Most -> Inner Most
left_deriv = hcl.scalar(0, "left_deriv")
right_deriv = hcl.scalar(0, "right_deriv")
if 4 not in g.pDim:
with hcl.if_(l == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[i, j, k, l, m] + my_abs(V[i, j, k, l + 1, m] - V[i, j, k, l, m]) * my_sign(
V[i, j, k, l, m])
left_deriv[0] = (V[i, j, k, l, m] - left_boundary[0]) / g.dx[3]
right_deriv[0] = (V[i, j, k, l + 1, m] - V[i, j, k, l, m]) / g.dx[3]
with hcl.elif_(l == V.shape[3] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[i, j, k, l, m] + my_abs(V[i, j, k, l, m] - V[i, j, k, l - 1, m]) * my_sign(
V[i, j, k, l, m])
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l - 1, m]) / g.dx[3]
right_deriv[0] = (right_boundary[0] - V[i, j, k, l, m]) / g.dx[3]
with hcl.elif_(l != 0 and l != V.shape[3] - 1):
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l - 1, m]) / g.dx[3]
right_deriv[0] = (V[i, j, k, l + 1, m] - V[i, j, k, l, m]) / g.dx[3]
return left_deriv[0], right_deriv[0]
else:
with hcl.if_(l == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[i, j, k, V.shape[3] - 1, m]
left_deriv[0] = (V[i, j, k, l, m] - left_boundary[0]) / g.dx[3]
right_deriv[0] = (V[i, j, k, l + 1, m] - V[i, j, k, l, m]) / g.dx[3]
with hcl.elif_(l == V.shape[3] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[i, j, k, 0, m]
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l - 1, m]) / g.dx[3]
right_deriv[0] = (right_boundary[0] - V[i, j, k, l, m]) / g.dx[3]
with hcl.elif_(l != 0 and l != V.shape[3] - 1):
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l - 1, m]) / g.dx[3]
right_deriv[0] = (V[i, j, k, l + 1, m] - V[i, j, k, l, m]) / g.dx[3]
return left_deriv[0], right_deriv[0]
def spa_derivX1_5d(i, j, k, l, m, V, g): # Left -> right == Outer Most -> Inner Most
left_deriv = hcl.scalar(0, "left_deriv")
right_deriv = hcl.scalar(0, "right_deriv")
if 1 not in g.pDim:
with hcl.if_(i == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[i, j, k, l, m] + my_abs(V[i + 1, j, k, l, m] - V[i, j, k, l, m]) * my_sign(
V[i, j, k, l, m])
left_deriv[0] = (V[i, j, k, l, m] - left_boundary[0]) / g.dx[0]
right_deriv[0] = (V[i + 1, j, k, l, m] - V[i, j, k, l, m]) / g.dx[0]
with hcl.elif_(i == V.shape[0] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[i, j, k, l, m] + my_abs(V[i, j, k, l, m] - V[i - 1, j, k, l, m]) * my_sign(
V[i, j, k, l, m])
left_deriv[0] = (V[i, j, k, l, m] - V[i - 1, j, k, l, m]) / g.dx[0]
right_deriv[0] = (right_boundary[0] - V[i, j, k, l, m]) / g.dx[0]
with hcl.elif_(i != 0 and i != V.shape[0] - 1):
left_deriv[0] = (V[i, j, k, l, m] - V[i - 1, j, k, l, m]) / g.dx[0]
right_deriv[0] = (V[i + 1, j, k, l, m] - V[i, j, k, l, m]) / g.dx[0]
return left_deriv[0], right_deriv[0]
else:
with hcl.if_(i == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[V.shape[0] - 1, j, k, l, m]
left_deriv[0] = (V[i, j, k, l, m] - left_boundary[0]) / g.dx[0]
right_deriv[0] = (V[i + 1, j, k, l, m] - V[i, j, k, l, m]) / g.dx[0]
with hcl.elif_(i == V.shape[0] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[0, j, k, l, m]
left_deriv[0] = (V[i, j, k, l, m] - V[i - 1, j, k, l, m]) / g.dx[0]
right_deriv[0] = (right_boundary[0] - V[i, j, k, l, m]) / g.dx[0]
with hcl.elif_(i != 0 and i != V.shape[0] - 1):
left_deriv[0] = (V[i, j, k, l, m] - V[i - 1, j, k, l, m]) / g.dx[0]
right_deriv[0] = (V[i + 1, j, k, l, m] - V[i, j, k, l, m]) / g.dx[0]
return left_deriv[0], right_deriv[0]
def opt_ctrl(self, t, spat_deriv):
uOpt1 = hcl.scalar(0, "uOpt1")
uOpt2 = hcl.scalar(0, "uOpt2")
uOpt3 = hcl.scalar(0, "uOpt3")
uOpt4 = hcl.scalar(0, "uOpt4")
parSum1 = hcl.scalar(0, "parSum1")
parSum2 = hcl.scalar(0, "parSum2")
with hcl.if_(self.uMode == "min"):
with hcl.if_(spat_deriv[0] > 0):
uOpt3[0] = -self.pMax[0]
with hcl.elif_(spat_deriv[0] < 0):
uOpt3[0] = -self.pMin[0]
with hcl.if_(spat_deriv[1] > 0):
uOpt4[0] = -self.pMax[1]
with hcl.elif_(spat_deriv[1] < 0):
uOpt4[0] = -self.pMin[1]
parSum1[0] = (1/(self.m - self.X_udot)) * spat_deriv[2] * self.B[0,0] + (1/(self.m - self.Z_wdot)) * spat_deriv[3] * self.B[1,0]
with hcl.if_(parSum1[0] > 0):
uOpt1[0] = self.uMin[0]
with hcl.elif_(parSum1[0] < 0):
uOpt1[0] = self.uMax[0]
parSum2[0] = (1/(self.m - self.X_udot)) * spat_deriv[2] * self.B[0,1] + (1/(self.m - self.Z_wdot)) * spat_deriv[3] * self.B[1,1]
with hcl.if_(parSum2[0] > 0):
uOpt2[0] = self.uMin[1]
with hcl.elif_(parSum2[0] < 0):
uOpt2[0] = self.uMax[1]
return (uOpt1[0], uOpt2[0], uOpt3[0], uOpt4[0])
def loop_body(x, y):
q = 255
r = 255
c1 = hcl.and_((0 <= angle[x][y]), (angle[x][y] < 22.5))
c2 = hcl.and_((157.5 <= angle[x][y]), (angle[x][y] <= 180))
c3 = hcl.and_((22.5 <= angle[x][y]), (angle[x][y] < 67.5))
c4 = hcl.and_((67.5 <= angle[x][y]), (angle[x][y] < 112.5))
c5 = hcl.and_((112.5 <= angle[x][y]), (angle[x][y] < 157.5))
#angle 0
with hcl.if_(hcl.or_(c1, c2)):
q = image[x][y + 1]
r = image[x][y - 1]
#angle 45
with hcl.elif_(c3):
q = image[x + 1][y - 1]
r = image[x - 1][y + 1]
#angle 90
with hcl.elif_(c4):
q = image[x + 1][y]
r = image[x - 1, ][y]
#angle 135
with hcl.elif_(c5):
q = image[x - 1, y - 1]
r = image[x + 1, y + 1]
with hcl.if_(hcl.and_((image[x, y] >= q), (image[x, y] >= r))):
Z[x][y] = image[x][y]
with hcl.else_():
Z[x][y] = 0
def opt_ctrl(self, t, state, spat_deriv):
"""
:param t: time t
:param state: tuple of coordinates in 6 dimensions
:param spat_deriv: spatial derivative in all dimensions
:return: tuple of optimal control
"""
# Optimal control 1, 2, 3
uOpt1 = hcl.scalar(0, "uOpt1")
uOpt2 = hcl.scalar(0, "uOpt2")
uOpt3 = hcl.scalar(0, "uOpt3")
SumUU = hcl.scalar(0, "SumUU")
SumUL = hcl.scalar(0, "SumUL")
SumLU = hcl.scalar(0, "SumLU")
SumLL = hcl.scalar(0, "SumLL")
parSum = hcl.scalar(0, "parSum")
with hcl.if_(self.uMode == "min"):
# everything containing (u1, u2) in Hamiltonian, for all combinations of u1 and u2
SumUU[0] = spat_deriv[1]*(self.g + self.uMax[1]) * (state[0] + self.uMax[0])/state[2] + \
spat_deriv[3] * self.uMax[1]
SumUL[0] = spat_deriv[1]*(self.g + self.uMax[1]) * (state[0] + self.uMin[0])/state[2] + \
spat_deriv[3] * self.uMax[1]
SumLU[0] = spat_deriv[1]*(self.g + self.uMin[1]) * (state[0] + self.uMax[0])/state[2] + \
spat_deriv[3] * self.uMin[1]
SumLL[0] = spat_deriv[1]*(self.g + self.uMin[1]) * (state[0] + self.uMin[0])/state[2] + \
spat_deriv[3] * self.uMin[1]
# try every combination of u1 and u2 and take minimum
with hcl.if_(SumUU[0] > SumUL[0]):
uOpt1[0] = self.uMin[0]
uOpt2[0] = self.uMax[1]
SumUU[0] = SumUL[0]
with hcl.elif_(SumUU[0] < SumUL[0]):
uOpt1[0] = self.uMax[0]
uOpt2[0] = self.uMax[1]
with hcl.if_(SumUU[0] > SumLU[0]):
uOpt1[0] = self.uMax[0]
uOpt2[0] = self.uMin[1]
SumUU[0] = SumLU[0]
with hcl.if_(SumUU[0] > SumLL[0]):
uOpt1[0] = self.uMin[0]
uOpt2[0] = self.uMin[1]
# Find u3
# everything multiplied by u3 in Hamiltonian
parSum[0] = spat_deriv[1] + spat_deriv[5] * state[2] / self.J
with hcl.if_(parSum[0] > 0):
uOpt3[0] = self.uMin[2]
with hcl.elif_(parSum[0] < 0):
uOpt3[0] = self.uMax[2]
return (uOpt1[0], uOpt2[0], uOpt3[0])
def spa_derivX5_5d(i, j, k, l, m, V, g): # Left -> right == Outer Most -> Inner Most
left_deriv = hcl.scalar(0, "left_deriv")
right_deriv = hcl.scalar(0, "right_deriv")
if 5 not in g.pDim:
with hcl.if_(m == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[i, j, k, l, m] + my_abs(V[i, j, k, l, m + 1] - V[i, j, k, l, m]) * my_sign(
V[i, j, k, l, m])
left_deriv[0] = (V[i, j, k, l, m] - left_boundary[0]) / g.dx[4]
right_deriv[0] = (V[i, j, k, l, m + 1] - V[i, j, k, l, m]) / g.dx[4]
with hcl.elif_(m == V.shape[4] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[i, j, k, l, m] + my_abs(V[i, j, k, l, m] - V[i, j, k, l, m - 1]) * my_sign(
V[i, j, k, l, m])
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l, m - 1]) / g.dx[4]
right_deriv[0] = (right_boundary[0] - V[i, j, k, l, m]) / g.dx[4]
with hcl.elif_(m != 0 and m != V.shape[4] - 1):
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l, m - 1]) / g.dx[4]
right_deriv[0] = (V[i, j, k, l, m + 1] - V[i, j, k, l, m]) / g.dx[4]
return left_deriv[0], right_deriv[0]
else:
with hcl.if_(m == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[i, j, k, l, V.shape[4] - 1]
left_deriv[0] = (V[i, j, k, l, m] - left_boundary[0]) / g.dx[4]
right_deriv[0] = (V[i, j, k, l, m + 1] - V[i, j, k, l, m]) / g.dx[4]
with hcl.elif_(m == V.shape[4] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[i, j, k, l, 0]
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l, m - 1]) / g.dx[4]
right_deriv[0] = (right_boundary[0] - V[i, j, k, l, m]) / g.dx[4]
with hcl.elif_(m != 0 and m != V.shape[4] - 1):
left_deriv[0] = (V[i, j, k, l, m] - V[i, j, k, l, m - 1]) / g.dx[4]
right_deriv[0] = (V[i, j, k, l, m + 1] - V[i, j, k, l, m]) / g.dx[4]
return left_deriv[0], right_deriv[0]
def opt_ctrl(self, t, state, spat_deriv):
"""
:param t: time t
:param state: tuple of coordinates in 6 dimensions
:param spat_deriv: spatial derivative in all dimensions
:return: tuple of optimal control
"""
# Optimal control 1, 2, 3
uOpt1 = hcl.scalar(0, "uOpt1")
uOpt2 = hcl.scalar(0, "uOpt2")
uOpt3 = hcl.scalar(0, "uOpt3")
SumUU = hcl.scalar(0, "SumUU")
SumUL = hcl.scalar(0, "SumUL")
SumLU = hcl.scalar(0, "SumLU")
SumLL = hcl.scalar(0, "SumLL")
parSum = hcl.scalar(0, "parSum")
with hcl.if_(self.uMode == "min"):
parSum[0] = spat_deriv[1] + spat_deriv[5] * state[2] / self.J
SumUU[0] = spat_deriv[1] * (self.g + self.uMax[1]) * (
state[0] +
self.uMax[0]) / state[2] + spat_deriv[3] * self.uMax[1]
SumUL[0] = spat_deriv[1] * (self.g + self.uMax[1]) * (
state[0] +
self.uMin[0]) / state[2] + spat_deriv[3] * self.uMax[1]
SumLU[0] = spat_deriv[1] * (self.g + self.uMin[1]) * (
state[0] +
self.uMax[0]) / state[2] + spat_deriv[3] * self.uMin[1]
SumLL[0] = spat_deriv[1] * (self.g + self.uMin[1]) * (
state[0] +
self.uMin[0]) / state[2] + spat_deriv[3] * self.uMin[1]
with hcl.if_(SumUU[0] > SumUL[0]):
uOpt1[0] = self.uMin[0]
uOpt2[0] = self.uMax[1]
SumUU[0] = SumUL[0]
with hcl.elif_(SumUU[0] < SumUL[0]):
uOpt1[0] = self.uMax[0]
uOpt2[0] = self.uMax[1]
with hcl.if_(SumUU[0] > SumLU[0]):
uOpt1[0] = self.uMax[0]
uOpt2[0] = self.uMin[1]
SumUU[0] = SumLU[0]
with hcl.if_(SumUU[0] > SumLL[0]):
uOpt1[0] = self.uMin[0]
uOpt2[0] = self.uMin[1]
# Find third controls
with hcl.if_(parSum[0] > 0):
uOpt3[0] = self.uMin[2]
with hcl.elif_(parSum[0] < 0):
uOpt3[0] = self.uMax[2]
return (uOpt1[0], uOpt2[0], uOpt3[0])
def optDstb(self, t, state, spat_deriv):
"""
:param spat_deriv: tuple of spatial derivative in all dimensions
state: x1, x2, x3
t: time
:return: a tuple of optimal disturbances
"""
# Graph takes in 4 possible inputs, by default, for now
d1 = hcl.scalar(self.dMax, "d1")
d2 = hcl.scalar(0, "d2")
# Just create and pass back, even though they're not used
d3 = hcl.scalar(0, "d3")
# Declare a variable
b_term = hcl.scalar(0, "b_term")
# use the scalar by indexing 0 everytime
b_term[0] = spat_deriv[2]
with hcl.if_(b_term[0] >= 0):
with hcl.if_(self.dMode == "min"):
d1[0] = -d1[0]
with hcl.elif_(b_term[0] < 0):
with hcl.if_(self.dMode == "max"):
d1[0] = -d1[0]
return (d1[0], d2[0], d3[0])
def opt_ctrl(self, t, state, spat_deriv):
"""
:param spat_deriv: tuple of spatial derivative in all dimensions
state: x1, x2, x3
t: time
:return: a tuple of optimal disturbances
"""
opt_w = hcl.scalar(self.wMax, "opt_w")
# Just create and pass back, even though they're not used
in3 = hcl.scalar(0, "in3")
in4 = hcl.scalar(0, "in4")
#a_term = spat_deriv[0] * self.x[1] - spat_deriv[1]*self.x[0] - spat_deriv[2]
# Declare a variable
a_term = hcl.scalar(0, "a_term")
# use the scalar by indexing 0 everytime
a_term[0] = spat_deriv[0] * state[1] - spat_deriv[1] * state[
0] - spat_deriv[2]
with hcl.if_(a_term >= 0):
with hcl.if_(self.uMode == "min"):
opt_w[0] = -opt_w[0]
with hcl.elif_(a_term < 0):
with hcl.if_(self.uMode == "max"):
opt_w[0] = -opt_w[0]
return (opt_w[0], in3[0], in4[0])
def kernel(A):
with hcl.if_(A[0] > 5):
A[0] = 5
with hcl.elif_(A[0] > 3):
A[0] = 3
with hcl.else_():
A[0] = 0
def clamp(val, min_, max_):
local = hcl.scalar(val)
with hcl.if_(val < min_):
local[0] = min_
with hcl.elif_(val > max_):
local[0] = max_
return local[0]
def Sigmoid(lut, exponent, prob):
with hcl.if_(exponent[0] > 4):
prob[0] = 1.0
with hcl.elif_(exponent[0] < -4):
prob[0] = 0.0
with hcl.else_():
use_lut(lut, exponent[0], prob)
def pe(a, b, x):
with hcl.if_(x == 0):
result = a * b
hcl.return_(a)
with hcl.elif_(x == 1):
hcl.return_(b)
with hcl.else_():
hcl.return_(result)
def opt_ctrl(self, spat_deriv):
opt_w = hcl.scalar(self.wMax, "opt_w")
with hcl.if_(spat_deriv[2] > 0):
with hcl.if_(self.uMode == "min"):
opt_w[0] = -opt_w
with hcl.elif_(spat_deriv[2] < 0):
with hcl.if_(self.uMode == "max"):
opt_w[0] = -opt_w
return opt_w[0]
def optDstb(self, spat_deriv):
dOpt1 = hcl.scalar(0, "dOpt1")
dOpt2 = hcl.scalar(0, "dOpt2")
dOpt3 = hcl.scalar(0, "dOpt3")
dOpt4 = hcl.scalar(0, "dOpt4")
with hcl.if_(self.dMode == "max"):
with hcl.if_(spat_deriv[0] > 0):
dOpt1[0] = self.dMax[0]
with hcl.elif_(spat_deriv[0] < 0):
dOpt1[0] = self.dMin[0]
with hcl.if_(spat_deriv[1] > 0):
dOpt2[0] = self.dMax[1]
with hcl.elif_(spat_deriv[1] < 0):
dOpt2[0] = self.dMin[1]
with hcl.if_(spat_deriv[2] > 0):
dOpt3[0] = self.dMax[2]
with hcl.elif_(spat_deriv[2] < 0):
dOpt3[0] = self.dMin[2]
with hcl.if_(spat_deriv[3] > 0):
dOpt4[0] = self.dMax[3]
with hcl.elif_(spat_deriv[3] < 0):
dOpt4[0] = self.dMin[3]
with hcl.elif_(self.dMode == "min"):
with hcl.if_(spat_deriv[0] > 0):
dOpt1[0] = self.dMin[0]
with hcl.elif_(spat_deriv[0] < 0):
dOpt1[0] = self.dMax[0]
with hcl.if_(spat_deriv[1] > 0):
dOpt2[0] = self.dMin[1]
with hcl.elif_(spat_deriv[1] < 0):
dOpt2[0] = self.dMax[1]
with hcl.if_(spat_deriv[2] > 0):
dOpt3[0] = self.dMin[2]
with hcl.elif_(spat_deriv[2] < 0):
dOpt3[0] = self.dMax[2]
with hcl.if_(spat_deriv[3] > 0):
dOpt4[0] = self.dMin[3]
with hcl.elif_(spat_deriv[3] < 0):
dOpt4[0] = self.dMax[3]
return (dOpt1[0], dOpt2[0], dOpt3[0], dOpt4[0])
def spa_derivX(i, j, k, V):
left_deriv = hcl.scalar(0, "left_deriv")
right_deriv = hcl.scalar(0, "right_deriv")
with hcl.if_(i == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V[i, j, k] + my_abs(V[i + 1, j, k] - V[i, j, k]) * my_sign(\
V[i, j, k])
left_deriv[0] = (V[i, j, k] - left_boundary[0]) / g.dx[0]
right_deriv[0] = (V[i + 1, j, k] - V[i, j, k]) / g.dx[0]
with hcl.elif_(i == V.shape[0] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V[i, j, k] + my_abs(V[i, j, k] - V[i - 1, j, k]) * my_sign(
V[i, j, k])
left_deriv[0] = (V[i, j, k] - V[i - 1, j, k]) / g.dx[0]
right_deriv[0] = (right_boundary[0] - V[i, j, k]) / g.dx[0]
with hcl.elif_(i != 0 and i != V.shape[0] - 1):
left_deriv[0] = (V[i, j, k] - V[i - 1, j, k]) / g.dx[0]
right_deriv[0] = (V[i + 1, j, k] - V[i, j, k]) / g.dx[0]
return left_deriv[0], right_deriv[0]
def spa_derivY(i, j, k):
left_deriv = hcl.scalar(0, "left_deriv")
right_deriv = hcl.scalar(0, "right_deriv")
with hcl.if_(j == 0):
left_boundary = hcl.scalar(0, "left_boundary")
left_boundary[0] = V_init[i, j, k] + my_abs(V_init[
i, j + 1, k] - V_init[i, j, k]) * my_sign(V_init[i, j, k])
left_deriv[0] = (V_init[i, j, k] - left_boundary[0]) / g.dx[1]
right_deriv[0] = (V_init[i, j + 1, k] - V_init[i, j, k]) / g.dx[1]
with hcl.elif_(j == V_init.shape[1] - 1):
right_boundary = hcl.scalar(0, "right_boundary")
right_boundary[0] = V_init[i, j, k] + my_abs(V_init[
i, j, k] - V_init[i, j - 1, k]) * my_sign(V_init[i, j, k])
left_deriv[0] = (V_init[i, j, k] - V_init[i, j - 1, k]) / g.dx[1]
right_deriv[0] = (right_boundary[0] - V_init[i, j, k]) / g.dx[1]
with hcl.elif_(j != 0 and j != V_init.shape[1] - 1):
left_deriv[0] = (V_init[i, j, k] - V_init[i, j - 1, k]) / g.dx[1]
right_deriv[0] = (V_init[i, j + 1, k] - V_init[i, j, k]) / g.dx[1]
return left_deriv[0], right_deriv[0]
def transition(self, sVals, action, bounds, trans, goal):
di = hcl.scalar(0, "di")
dj = hcl.scalar(0, "dj")
dk = hcl.scalar(0, "dk")
dl = hcl.scalar(0, "dl")
dm = hcl.scalar(0, "dm")
dn = hcl.scalar(0, "dn")
do = hcl.scalar(0, "do")
mag = hcl.scalar(0, "mag")
# Check if moving from a goal state
di[0] = (sVals[0] - goal[0]) * (sVals[0] - goal[0])
dj[0] = (sVals[1] - goal[1]) * (sVals[1] - goal[1])
dk[0] = (sVals[2] - goal[2]) * (sVals[2] - goal[2])
dl[0] = (sVals[3] - goal[3]) * (sVals[3] - goal[3])
dm[0] = (sVals[4] - goal[4]) * (sVals[4] - goal[4])
dn[0] = (sVals[5] - goal[5]) * (sVals[5] - goal[5])
do[0] = (sVals[6] - goal[6]) * (sVals[6] - goal[6])
mag[0] = hcl.sqrt(di[0] + dj[0] + dk[0] + dl[0] + dm[0] + dn[0] +
do[0])
# Check if moving from an obstacle
with hcl.if_(mag[0] <= 5.0):
trans[0, 0] = 0
with hcl.elif_(
hcl.or_(sVals[0] <= bounds[0, 0], sVals[0] >= bounds[0, 1])):
trans[0, 0] = 0
with hcl.elif_(
hcl.or_(sVals[1] <= bounds[1, 0], sVals[1] >= bounds[1, 1])):
trans[0, 0] = 0
with hcl.elif_(
hcl.or_(sVals[2] <= bounds[2, 0], sVals[2] >= bounds[2, 1])):
trans[0, 0] = 0
with hcl.elif_(
hcl.or_(sVals[3] <= bounds[3, 0], sVals[3] >= bounds[3, 1])):
trans[0, 0] = 0
with hcl.elif_(
hcl.or_(sVals[4] <= bounds[4, 0], sVals[4] >= bounds[4, 1])):
trans[0, 0] = 0
with hcl.elif_(
hcl.or_(sVals[5] <= bounds[5, 0], sVals[5] >= bounds[5, 1])):
trans[0, 0] = 0
with hcl.elif_(
hcl.or_(sVals[6] <= bounds[6, 0], sVals[6] >= bounds[6, 1])):
trans[0, 0] = 0
# Standard move
with hcl.else_():
trans[0, 0] = 1.0
trans[0, 1] = sVals[0] + action[0]
trans[0, 2] = sVals[1] + action[1]
trans[0, 3] = sVals[2] + action[2]
trans[0, 4] = sVals[3] + action[3]
trans[0, 5] = sVals[4] + action[4]
trans[0, 6] = sVals[5] + action[5]
trans[0, 7] = sVals[6] + action[6]
def opt_ctrl(self, t, state, spat_deriv):
opt_w = hcl.scalar(self.wMax, "opt_w")
# Just create and pass back, even though they're not used
in3 = hcl.scalar(0, "in3")
in4 = hcl.scalar(0, "in4")
with hcl.if_(spat_deriv[2] > 0):
with hcl.if_(self.uMode == "min"):
opt_w[0] = -opt_w
with hcl.elif_(spat_deriv[2] < 0):
with hcl.if_(self.uMode == "max"):
opt_w[0] = -opt_w
return (opt_w[0], in3[0], in4[0])
def loop_body(x, y):
q = 255
r = 255
with hcl.if_(D[x][y] < 0):
D[x][y] = D[x][y]+180
with hcl.if_(hcl.or_(hcl.and_(D[x][y]>=0,D[x][y]<22.5),hcl.and_(D[x][y]>=157.5,D[x][y]<=180))):
q = I[x][y+1]
r = I[x][y-1]
with hcl.elif_(hcl.and_(22.5 <= D[x][y],D[x][y] < 67.5)):
q = I[x+1][y-1]
r = I[x-1][y+1]
with hcl.elif_(hcl.and_(67.5 <= D[x][y],D[x][y] < 112.5)):
q = I[x+1][y]
r = I[x-1][y]
with hcl.elif_(hcl.and_(112.5 <= D[x][y],D[x][y] < 157.5)):
q = I[x-1][y-1]
r = I[x+1][y+1]
with hcl.if_(hcl.and_(I[x][y]>=q,I[x][y]>=r)):
Z[x][y] = I[x][y]
with hcl.else_():
Z[x][y] = 0
def knn_vote(knn_mat, j):
id0 = hcl.local(0, "id0")
id1 = hcl.local(0, "id1")
id2 = hcl.local(0, "id2")
count = hcl.local(0, "count")
with hcl.for_(0, 10) as n:
with hcl.if_(knn_mat[n][0] < knn_mat[id0.v][0]):
id0.v = n
with hcl.for_(0, 10) as m:
with hcl.if_(knn_mat[m][0] < knn_mat[id1.v][0]):
id1.v = m
with hcl.for_(0, 10) as k:
with hcl.if_(knn_mat[k][0] < knn_mat[id2.v][0]):
id2.v = k
with hcl.if_(j == id0.v):
count.v += 1
with hcl.elif_(j == id1.v):
count.v += 1
with hcl.elif_(j == id2.v):
count.v += 1
with hcl.else_():
count.v += 0
return count.v