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fix parsing +/- and added symbolic dt

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This commit is contained in:
Marcell Vazquez-Chanlatte 2016-07-05 00:51:23 -07:00
parent 3646a0e2cb
commit 2d7e033df0
2 changed files with 28 additions and 18 deletions
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10
stl.py
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@ -8,9 +8,12 @@ from collections import namedtuple, deque
from itertools import repeat
from typing import Union
from enum import Enum
from sympy import Symbol
VarKind = Enum("VarKind", ["x", "u", "w"])
str_to_varkind = {"x": VarKind.x, "u": VarKind.u, "w": VarKind.w}
dt = Symbol('dt', positive=True)
class LinEq(namedtuple("LinEquality", ["terms", "op", "const"])):
def __repr__(self):
@ -27,15 +30,14 @@ class LinEq(namedtuple("LinEquality", ["terms", "op", "const"])):
class Var(namedtuple("Var", ["kind", "id", "time"])):
def __repr__(self):
time_str = "'" if self.time == -1 else "[t+{}]".format(self.time)
time_str = "[t + {}]".format(self.time)
return "{k}{i}{t}".format(k=self.kind.name, i=self.id, t=time_str)
class Term(namedtuple("Term", ["dt", "coeff", "var"])):
class Term(namedtuple("Term", ["coeff", "var"])):
def __repr__(self):
dt = "dt*" if self.dt else ""
coeff = str(self.coeff) + "*" if self.coeff != 1 else ""
return "{dt}{c}{v}".format(dt=dt, c=coeff, v=self.var)
return "{c}{v}".format(c=coeff, v=self.var)
class Interval(namedtuple('I', ['lower', 'upper'])):