Пример #1
0
def plot_strategy(ab, mealy):
    """Plot strategic transitions on PPP.
    
    Assumes that mealy is feasible for ab.
    
    @type ab: L{AbstractPwa} or L{AbstractSwitched}
    
    @type mealy: L{transys.MealyMachine}
    """
    proj_mealy = project_strategy_on_partition(ab.ppp, mealy)
    ax = plot_partition(ab.ppp, proj_mealy, color_seed=0)
    return ax
Пример #2
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def plot_trajectory(ppp, x0, u_seq, ssys,
                    ax=None, color_seed=None):
    """Plots a PropPreservingPartition and the trajectory generated by x0
    input sequence u_seq.

    See Also
    ========
    C{plot_partition}, plot

    @type ppp: L{PropPreservingPartition}
    @param x0: initial state
    @param u_seq: matrix where each row contains an input
    @param ssys: system dynamics
    @param color_seed: see C{plot_partition}
    @return: axis object
    """
    if ax is None:
        ax, fig = newax()
    
    plot_partition(plot_numbers=False, ax=ax, show=False)
    
    A = ssys.A
    B = ssys.B
    
    if ssys.K is not None:
        K = ssys.K
    else:
        K = np.zeros(x0.shape)
    
    x = x0.flatten()
    x_arr = x0
    for i in range(u_seq.shape[0]):
        x = np.dot(A, x).flatten() +\
            np.dot(B, u_seq[i, :] ).flatten() +\
            K.flatten()
        x_arr = np.vstack([x_arr, x.flatten()])
    
    ax.plot(x_arr[:,0], x_arr[:,1], 'o-')
    
    return ax