def part2convex(ppp):
"""This function takes a proposition preserving partition and generates
another proposition preserving partition such that each part in the new
partition is a convex polytope
@type ppp: L{PropPreservingPartition}
@return: refinement into convex polytopes and
map from new to old Regions
@rtype: (L{PropPreservingPartition}, list)
"""
cvxpart = PropPreservingPartition(domain=copy.deepcopy(ppp.domain),
prop_regions=copy.deepcopy(
ppp.prop_regions))
new2old = []
for i in xrange(len(ppp.regions)):
simplified_reg = pc.union(ppp.regions[i],
ppp.regions[i],
check_convex=True)
for j in xrange(len(simplified_reg)):
region_now = pc.Region([simplified_reg[j]], ppp.regions[i].props)
cvxpart.regions.append(region_now)
new2old += [i]
cvxpart.adj = pc.find_adjacent_regions(cvxpart).copy()
return (cvxpart, new2old)
def part2convex(ppp):
"""This function takes a proposition preserving partition and generates
another proposition preserving partition such that each part in the new
partition is a convex polytope
@type ppp: L{PropPreservingPartition}
@return: refinement into convex polytopes and
map from new to old Regions
@rtype: (L{PropPreservingPartition}, list)
"""
cvxpart = PropPreservingPartition(
domain=copy.deepcopy(ppp.domain),
prop_regions=copy.deepcopy(ppp.prop_regions)
)
new2old = []
for i in xrange(len(ppp.regions)):
simplified_reg = pc.union(ppp.regions[i],
ppp.regions[i],
check_convex=True)
for j in xrange(len(simplified_reg)):
region_now = pc.Region(
[simplified_reg[j]],
ppp.regions[i].props
)
cvxpart.regions.append(region_now)
new2old += [i]
cvxpart.adj = pc.find_adjacent_regions(cvxpart).copy()
return (cvxpart, new2old)
def prop2part(state_space, cont_props_dict):
"""Main function that takes a domain (state_space) and a list of
propositions (cont_props), and returns a proposition preserving
partition of the state space.
See Also
========
L{PropPreservingPartition},
C{polytope.Polytope}
@param state_space: problem domain
@type state_space: C{polytope.Polytope}
@param cont_props_dict: propositions
@type cont_props_dict: dict of C{polytope.Polytope}
@return: state space quotient partition induced by propositions
@rtype: L{PropPreservingPartition}
"""
first_poly = [] #Initial Region's polytopes
first_poly.append(state_space)
regions = [pc.Region(first_poly)]
for cur_prop in cont_props_dict:
cur_prop_poly = cont_props_dict[cur_prop]
num_reg = len(regions)
prop_holds_reg = []
for i in xrange(num_reg): #i region counter
region_now = regions[i].copy()
#loop for prop holds
prop_holds_reg.append(0)
prop_now = regions[i].props.copy()
dummy = region_now.intersect(cur_prop_poly)
# does cur_prop hold in dummy ?
if pc.is_fulldim(dummy):
dum_prop = prop_now.copy()
dum_prop.add(cur_prop)
# is dummy a Polytope ?
if len(dummy) == 0:
regions[i] = pc.Region([dummy], dum_prop)
else:
# dummy is a Region
dummy.props = dum_prop.copy()
regions[i] = dummy.copy()
prop_holds_reg[-1] = 1
else:
#does not hold in the whole region
# (-> no need for the 2nd loop)
regions.append(region_now)
continue
#loop for prop does not hold
regions.append(pc.Region([], props=prop_now))
dummy = region_now.diff(cur_prop_poly)
if pc.is_fulldim(dummy):
dum_prop = prop_now.copy()
# is dummy a Polytope ?
if len(dummy) == 0:
regions[-1] = pc.Region([pc.reduce(dummy)], dum_prop)
else:
# dummy is a Region
dummy.props = dum_prop.copy()
regions[-1] = dummy.copy()
else:
regions.pop()
count = 0
for hold_count in xrange(len(prop_holds_reg)):
if prop_holds_reg[hold_count] == 0:
regions.pop(hold_count - count)
count += 1
mypartition = PropPreservingPartition(
domain=copy.deepcopy(state_space),
regions=regions,
prop_regions=copy.deepcopy(cont_props_dict))
mypartition.adj = pc.find_adjacent_regions(mypartition).copy()
return mypartition
def prop2part(state_space, cont_props_dict):
"""Main function that takes a domain (state_space) and a list of
propositions (cont_props), and returns a proposition preserving
partition of the state space.
See Also
========
L{PropPreservingPartition},
C{polytope.Polytope}
@param state_space: problem domain
@type state_space: C{polytope.Polytope}
@param cont_props_dict: propositions
@type cont_props_dict: dict of C{polytope.Polytope}
@return: state space quotient partition induced by propositions
@rtype: L{PropPreservingPartition}
"""
first_poly = [] #Initial Region's polytopes
first_poly.append(state_space)
regions = [pc.Region(first_poly)]
for cur_prop in cont_props_dict:
cur_prop_poly = cont_props_dict[cur_prop]
num_reg = len(regions)
prop_holds_reg = []
for i in xrange(num_reg): #i region counter
region_now = regions[i].copy()
#loop for prop holds
prop_holds_reg.append(0)
prop_now = regions[i].props.copy()
dummy = region_now.intersect(cur_prop_poly)
# does cur_prop hold in dummy ?
if pc.is_fulldim(dummy):
dum_prop = prop_now.copy()
dum_prop.add(cur_prop)
# is dummy a Polytope ?
if len(dummy) == 0:
regions[i] = pc.Region([dummy], dum_prop)
else:
# dummy is a Region
dummy.props = dum_prop.copy()
regions[i] = dummy.copy()
prop_holds_reg[-1] = 1
else:
#does not hold in the whole region
# (-> no need for the 2nd loop)
regions.append(region_now)
continue
#loop for prop does not hold
regions.append(pc.Region([], props=prop_now) )
dummy = region_now.diff(cur_prop_poly)
if pc.is_fulldim(dummy):
dum_prop = prop_now.copy()
# is dummy a Polytope ?
if len(dummy) == 0:
regions[-1] = pc.Region([pc.reduce(dummy)], dum_prop)
else:
# dummy is a Region
dummy.props = dum_prop.copy()
regions[-1] = dummy.copy()
else:
regions.pop()
count = 0
for hold_count in xrange(len(prop_holds_reg)):
if prop_holds_reg[hold_count]==0:
regions.pop(hold_count-count)
count+=1
mypartition = PropPreservingPartition(
domain = copy.deepcopy(state_space),
regions = regions,
prop_regions = copy.deepcopy(cont_props_dict)
)
mypartition.adj = pc.find_adjacent_regions(mypartition).copy()
return mypartition
