def run_hylaa(settings, init_r, *args):
'Runs hylaa with the given settings, returning the HylaaResult object.'
assert len(args) > 0
ha, usafe_set_constraint_list = define_ha(settings, args)
init = define_init_states(ha, init_r)
engine = HylaaEngine(ha, settings)
reach_tree = engine.run(init)
return PVObject(len(ha.variables), usafe_set_constraint_list, reach_tree)
def run_hylaa(plot, limit):
'Runs hylaa with the given settings, returning the HylaaResult object.'
#print "!!! in iss.py run_hylaa(). Check if early break in arnoldi loop actually helps performance on this example"
ha = define_ha(limit)
settings = define_settings(ha, plot)
init = make_init_star(ha, settings)
engine = HylaaEngine(ha, settings)
engine.run(init)
return engine.result
def test_sync_motor(self):
'''test sync motor with input system'''
model = sync_motor
ha = model.define_ha()
init_list = model.define_init_states(ha)
settings = model.define_settings()
engine = HylaaEngine(ha, settings)
engine.run(init_list)
self.assertTrue(engine.reached_error)
def test_drivetrain(self):
'test running a single step on the drivetrain model (zonotope initialization)'
ha = drivetrain.define_ha()
init_list = drivetrain.define_init_states(ha)
self.assertEquals(len(init_list), 1)
settings = drivetrain.define_settings()
plot_settings = settings.plot
settings.print_output = False
plot_settings.skip_frames = 10 # run 10 frames
plot_settings.skip_show_gui = True
engine = HylaaEngine(ha, settings)
engine.run(init_list)
def run_hylaa(spec='S01', uncertain_inputs=True):
'Runs hylaa with the given settings, returning the HylaaResult object.'
if spec == 'S01':
limit = 0.0051
elif spec == 'U01':
limit = 0.004
else:
raise RuntimeError("Unsupported spec {}".format(spec))
ha = define_ha(spec, limit, uncertain_inputs)
settings = define_settings(ha, limit)
init = make_init_star(ha, settings)
engine = HylaaEngine(ha, settings)
engine.run(init)
return engine.result
def test_violation_extends_axis(self):
'''invariant limits should also extend axis draw limits'''
ha = ball_string.define_ha()
init_list = ball_string.define_init_states(ha)
settings = ball_string.define_settings()
plot_settings = settings.plot
plot_settings.plot_mode = PlotSettings.PLOT_INTERACTIVE
plot_settings.skip_frames = 21
plot_settings.skip_show_gui = True
plot_settings.num_angles = 256
settings.print_output = False
engine = HylaaEngine(ha, settings)
engine.run(init_list)
self.assertTrue(engine.plotman.drawn_limits.xmax > 0)
def hylaa_v1_single(r, stepsize):
'Runs hylaa with the given settings, returning the seconds elapsed'
settings = define_settings(stepsize)
ha = define_ha(r)
init = define_init_states(ha)
print "Running hylaa with r={} stepsize={}...".format(r, stepsize),
engine = HylaaEngine(ha, settings)
engine.run(init)
rv = engine.result.time
Timers.reset()
print rv
return rv
def test_exp(self):
'''test integration of x' = x'''
ha = LinearHybridAutomaton('Harmonic Oscillator')
ha.variables = ["x"]
# x' = x
a_matrix = np.array([[1]], dtype=float)
c_vector = np.array([0], dtype=float)
loc1 = ha.new_mode('loc')
loc1.set_dynamics(a_matrix, c_vector)
# x(0) = 1
init_list = [(ha.modes['loc'], HyperRectangle([(0.99, 1.01)]))]
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
settings = HylaaSettings(step=0.1,
max_time=1.1,
plot_settings=plot_settings)
settings.print_output = False
engine = HylaaEngine(ha, settings)
engine.load_waiting_list(init_list)
# pop from waiting_list (doesn't advance state)
engine.do_step()
# x(t) should be e^t
for i in xrange(10):
engine.do_step()
t = 0.1 * (i + 1)
star = engine.cur_state
self.assertTrue(star.contains_point([math.exp(t)]))
def test_rectangular(self):
'''test integration of x' = 1, y' = 2'''
ha = LinearHybridAutomaton('Harmonic Oscillator')
ha.variables = ["x", "y"]
# x' = x
loc1 = ha.new_mode('loc')
loc1.a_matrix = np.array([[0, 0], [0, 0]])
loc1.c_vector = np.array([1, 2])
# x(0) = 1, y(0) = 2
init_list = [(ha.modes['loc'],
HyperRectangle([(0.99, 1.01), (1.99, 2.01)]))]
plot_settings = PlotSettings()
plot_settings.plot_mode = PlotSettings.PLOT_NONE
settings = HylaaSettings(step=0.1,
max_time=1.1,
plot_settings=plot_settings)
settings.print_output = False
engine = HylaaEngine(ha, settings)
engine.load_waiting_list(init_list)
# x(t) = 1 + t; y(t) = 2 + 2*t
# pop from waiting_list (doesn't advance state)
engine.do_step()
for i in xrange(10):
engine.do_step()
t = 0.1 * (i + 1)
star = engine.cur_state
point = [1 + t, 2 + 2 * t]
self.assertTrue(star.contains_point(point))
