def test_make_lindynamics(
n_state: int,
n_ctrl: int,
horizon: int,
stationary: bool,
passive_eigval_range: tuple[float, float],
controllable: bool,
transition_bias: bool,
seed: int,
):
dynamics = make_lindynamics(
n_state,
n_ctrl,
horizon,
stationary=stationary,
passive_eigval_range=passive_eigval_range,
controllable=controllable,
bias=transition_bias,
rng=seed,
)
check_dynamics(
dynamics,
n_state,
n_ctrl,
horizon,
stationary=stationary,
controllable=controllable,
transition_bias=transition_bias,
sample_covariance=False,
)
def stationary_deterministic_dynamics(n_state: int, n_ctrl: int, horizon: int,
seed: int):
return make_lindynamics(n_state,
n_ctrl,
horizon,
stationary=True,
rng=seed)
def dynamics(self, n_state: int, n_ctrl: int, horizon: int, seed: int,
stationary: bool) -> LinSDynamics:
# pylint:disable=too-many-arguments
linear = make_lindynamics(n_state,
n_ctrl,
horizon,
stationary=stationary,
rng=seed)
return make_linsdynamics(linear, stationary=stationary, rng=seed)
def reset_parameters(self):
"""Default parameter initialization."""
linear = make_lindynamics(self.n_state,
self.n_ctrl,
self.horizon,
stationary=self.stationary)
dynamics = make_linsdynamics(linear, stationary=self.stationary)
self.copy_(dynamics)
self.cov_cholesky.reset_parameters()
def dynamics(n_state: int, n_ctrl: int, horizon: int,
rng: RNG) -> lqr.LinSDynamics:
return make_linsdynamics(
make_lindynamics(
n_state,
n_ctrl,
horizon,
stationary=True,
passive_eigval_range=(0.5, 1.5),
rng=rng,
),
stationary=True,
rng=rng,
)
def dynamics(
self, n_state: int, n_ctrl: int, horizon: int, seed: int
) -> lqr.LinSDynamics:
dyn = make_lindynamics(
n_state,
n_ctrl,
horizon,
stationary=True,
passive_eigval_range=(0.5, 1.5),
controllable=True,
bias=False,
rng=seed,
)
return make_linsdynamics(dyn, stationary=True, rng=seed)
def dynamics(n_state: int, n_ctrl: int, horizon: int,
seed: int) -> LinSDynamics:
lin = make_lindynamics(n_state, n_ctrl, horizon, rng=seed)
dyn = make_linsdynamics(lin, rng=seed)
return dyn
def dynamics(n_state: int, n_ctrl: int, horizon: int) -> lqr.LinSDynamics:
dynamics = make_lindynamics(n_state, n_ctrl, horizon, stationary=True)
return make_linsdynamics(dynamics, stationary=True)
def lindynamics(n_state: int, n_ctrl: int, horizon: int,
seed: int) -> LinDynamics:
return make_lindynamics(n_state, n_ctrl, horizon, rng=seed)