示例#1
0
U = box2poly(U)
W = box2poly(W)

# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@

# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])

# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition) if show else None
# @partition_section_end@

# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_dynamics = discretize(cont_partition,
                           sys_dyn,
                           closed_loop=True,
                           N=8,
                           min_cell_volume=0.1,
                           plotit=show)
# @discretize_section_end@

# Visualize transitions in continuous domain (optional)
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
               disc_dynamics.ppp2ts) if show else None
示例#2
0
U = box2poly(U)
W = box2poly(W)

# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@

# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])

# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition, show=visualize)
# @partition_section_end@

# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_dynamics = discretize(
    cont_partition, sys_dyn, closed_loop=True,
    N=8, min_cell_volume=0.1, plotit=visualize
)
# @discretize_section_end@

"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
               disc_dynamics.ppp2ts, show=visualize)

"""Specifications"""
示例#3
0
U = box2poly(U)
W = box2poly(W)

# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@

# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])

# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition)
# @partition_section_end@

# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_params = {
    'closed_loop': True,
    'N': 8,
    'min_cell_volume': 0.1,
    'plotit': visualize,
    'conservative': False
}
disc_dynamics = discretize(cont_partition, sys_dyn, **disc_params)
# @discretize_section_end@
"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts, disc_dynamics.ppp2ts)
示例#4
0
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiOutSysDyn(A=A,B=B,C=C, E=E, K=None, Uset=U, Wset=W, domain=cont_state_space)
L = generateFilter(A, C, filter_bound, use_mosek=False)
sys_dyn_hat = sys_dyn.generateObservedDynamics(L,epsilon)
# @dynamics_section_end@

# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = shrinkPoly(box2poly([[0., 1.], [0., 1.]]),epsilon)
cont_props['lot'] = shrinkPoly(box2poly([[2., 3.], [1., 2.]]),epsilon)

# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition) if show else None
cont_partition = shrinkPartition(cont_partition, epsilon)
plot_partition(cont_partition) if show else None
# @partition_section_end@

# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_dynamics = discretize(
    cont_partition, sys_dyn_hat, closed_loop=True, conservative=True,
    N=1, min_cell_volume=0.01, plotit=show, trans_length=3
)
# @discretize_section_end@

"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
               disc_dynamics.ppp2ts) if show else None
示例#5
0
U = box2poly(U)
W = box2poly(W)

# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@

# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])

# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition)
# @partition_section_end@

# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_params = {'closed_loop':True, 'N':8, 'min_cell_volume':0.1,
               'plotit':visualize, 'conservative':False}
disc_dynamics = discretize(cont_partition, sys_dyn, **disc_params)
# @discretize_section_end@

"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp, disc_dynamics.ts,
               disc_dynamics.ppp2ts)

"""Specifications"""
# Environment variables and assumptions
示例#6
0
U = box2poly(U)
W = box2poly(W)

# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# @dynamics_section_end@

# @partition_section@
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])

# Compute the proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
plot_partition(cont_partition, show=visualize)
# @partition_section_end@

# @discretize_section@
# Given dynamics & proposition-preserving partition, find feasible transitions
disc_params = {
    'closed_loop': True,
    'N': 8,
    'min_cell_volume': 0.1,
    'plotit': visualize,
    'conservative': False
}
disc_dynamics = discretize(cont_partition, sys_dyn, **disc_params)
# @discretize_section_end@
"""Visualize transitions in continuous domain (optional)"""
plot_partition(disc_dynamics.ppp,