def test_posAS2posTS(self):
axes = (Axis("theta", -6.0, 0.0, 1.), Axis("theta_dot", -5.0, 0.0, 1.), Axis("x", -4.0, 0.0, 1.))
self.topologicalSpace = TopologicalSpace(*axes)
pos_TS = [1, 3, 2]
pos_AS = self.topologicalSpace.pos_TS2pos_AS(pos_TS)
pos_TS_ans = tuple([np.array([val]) for val in pos_TS])
self.assertEqual(pos_TS_ans, self.topologicalSpace.pos_AS2pos_TS(pos_AS))
def test_get_boundary_condition(self):
axes = (Axis("theta", -2.0, 2.0, 0.1), Axis("theta_dot", -1.0, 1.0,
0.1))
self.topologicalSpace = TopologicalSpace(*axes)
self.model = SinglePendulum(0, 0, mass=0.6, length=2, drag=0.1)
graph_center = ["theta", "theta_dot", [0, 0]]
self.fuildSimulator = FuildSimulator(self.topologicalSpace, [0, 0],
graph_center, [-1, 0, 1], 0,
self.model, 0.001)
self.fuildSimulator.get_boundary_condition()
def test_save_velcity_space(self):
print("test_save_velcity_space")
axes = (Axis("theta", -7.0, 7.0, 0.1), Axis("theta_dot", -7.0, 7.0,
0.1))
self.topologicalSpace = TopologicalSpace(*axes)
self.model = SinglePendulum(0, 0, mass=0.6, length=2, drag=0.1)
graph_center = ["theta", "theta_dot", [0, 0]]
self.fuildSimulator = FuildSimulator(self.topologicalSpace, [1, 1],
graph_center, [-1, 0, 1], 0,
self.model, 0.00001)
self.fuildSimulator.init_velocity_space(True)
def test_init_stochastic_matrix(self):
axes = (Axis("theta", -7.0, 7.0, 0.1), Axis("theta_dot", -7.0, 7.0,
0.1))
self.topologicalSpace = TopologicalSpace(*axes)
self.model = SinglePendulum(0, 0, mass=0.6, length=2, drag=0.1)
graph_center = ["theta", "theta_dot", [0, 0]]
self.fuildSimulator = FuildSimulator(self.topologicalSpace, [1, 1],
graph_center, [-1, 0, 1], 0,
self.model, 0.00001)
self.fuildSimulator.init_velocity_space(False)
self.fuildSimulator.init_stochastic_matrix(True)
self.fuildSimulator.add_obstacle([-4., -2.], [-3., -1.5])
self.fuildSimulator.method1_5(100000, True)
from src.submodule.PhysicsSimulator.SinglePendulum.SinglePendulum import SinglePendulum
import os
import json
init_dir = os.getcwd()
num = 3
path = "./stochastic_matrix/SinglePendulum/stochastic_matrix" + str(num)
os.chdir(path)
with open('param.json', 'r') as json_file:
json_data = json.load(json_file)
os.chdir("../../../")
axes_param_list = [
list(param_dict.values()) for param_dict in json_data["axes"]
]
print(axes_param_list)
axes = [Axis(*param) for param in axes_param_list]
print(axes)
t_s = TopologicalSpace(*axes)
model = SinglePendulum(0, 0, **json_data["model_param"])
graph_center = ["theta", "theta_dot", [0, 0]]
u_set = json_data["u_set"]
moderate_u = json_data["moderate_u"]
inputCalculator = FuildSimulator(t_s, [0, 0], graph_center, [-1, 0, 1], 0,
model, json_data["delta_t"])
inputCalculator.load_stochastic_matrix(num)
# inputCalculator.init_eye()
# inputCalculator.method1()
inputCalculator.method2(0.0024, 10000, True)
def test_init(self):
axes = (Axis("theta", -1.0, 0.0, 1.), Axis("theta_dot", -1.0, 0.0, 1.), Axis("x", -2.0, 0.0, 1.))
self.topologicalSpace = TopologicalSpace(*axes)
print(len(self.topologicalSpace.astablishment_space))
print(self.topologicalSpace.astablishment_space)
from unittest import TestCase
from src.TimeToPosition import TimeToPosition
from src.TopologicalSpace import TopologicalSpace
from src.Axis import Axis
import numpy as np
axes = (Axis("theta", -10.0, 10.0, 0.01), Axis("theta_dot", -10.0, 10.0, 0.01))
t_s = TopologicalSpace(*axes)
graph_center = ["theta", "theta_dot", [0, 0]]
d = 1.
u_set = np.arange(-2., 2. + d, d).tolist()
moderate_u = 0
inputCalculator = TimeToPosition(t_s, (0, 0), graph_center, u_set, moderate_u)
inputCalculator.method3()
from unittest import TestCase
from src.TopologicalSpace import TopologicalSpace
from src.Axis import Axis
import numpy as np
axes = (Axis("theta", -1.0, 7.0, 0.1), Axis("theta_dot", -7.0, 7.0, 0.1))
topologicalSpace = TopologicalSpace(*axes)
print(topologicalSpace.astablishment_space)
stochastic_matrix = topologicalSpace.stochastic_matrix(0)
# for lists in stochastic_matrix:
# print(lists)
print("stochastic_matrix_5")
stochastic_matrix_5 = np.linalg.matrix_power(stochastic_matrix, 5)
for lists in stochastic_matrix_5:
print(lists)
coodinate = [1, 3]
topologicalSpace.write_val(coodinate, 1.2)
print(topologicalSpace.get_val(coodinate))
from unittest import TestCase
from src.InputCalculator import InputCalculator
from src.TopologicalSpace import TopologicalSpace
from src.Axis import Axis
import numpy as np
axes = (Axis("theta", -1.0, 7.0, 0.1), Axis("theta_dot", -10.0, 10.0, 0.05))
t_s = TopologicalSpace(*axes)
graph_center = ["theta", "theta_dot", [0, 0]]
d = 1.
u_set = np.arange(-2., 2. + d, d).tolist()
moderate_u = 0
inputCalculator = InputCalculator(t_s, (0, 0), graph_center, u_set, moderate_u)
inputCalculator.init_stochastic_matrix(True)
inputCalculator.init_eye()
inputCalculator.method1()
# inputCalculator.method2(0.024, 100)
# inputCalculator.update_astablishment_space()
# inputCalculator.t_s.show_plot("theta", "theta_dot", [0, 0])
# while(True):
# for i in range(1000):
# inputCalculator.simulate()
# inputCalculator.update_astablishment_space()
# inputCalculator.t_s.show_plot("theta", "theta_dot", [0, 0])
# print(inputCalculator._simulate_time)
from unittest import TestCase
from src.Axis import Axis
axis = Axis("test", 0.0, 10.2, 0.3)
print(axis.name)
print(axis.elements)
print(axis.num2val(3))
print(axis.val2num(0.5))
axis.check_num_range(len(axis.elements))