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document utilities and python api

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This commit is contained in:
Marcell Vazquez-Chanlatte 2018-09-24 17:11:24 -07:00
parent aa6ebbfc67
commit 7002246850
6 changed files with 139 additions and 76 deletions
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42
mtl/utils.py
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@ -70,7 +70,7 @@ def _discretize(phi, dt, horizon):
upper = min(phi.interval.upper, horizon)
l, u = round(phi.interval.lower / dt), round(upper / dt)
psis = (next(_discretize(phi.arg, dt, horizon - i), i)
psis = (_discretize(phi.arg, dt, horizon - i) >> i
for i in range(l, u + 1))
opf = andf if isinstance(phi, G) else orf
return opf(*psis)
@ -85,7 +85,7 @@ def _interval_discretizable(itvl, dt):
def _distribute_next(phi, i=0):
if isinstance(phi, AtomicPred):
return mtl.utils.next(phi, i=i)
return phi >> i
elif isinstance(phi, Next):
return _distribute_next(phi.arg, i=i+1)
@ -105,44 +105,10 @@ def is_discretizable(phi, dt):
_interval_discretizable(c.interval, dt) for c in phi.walk()
if isinstance(c, G))
# EDSL
def alw(phi, *, lo=0, hi=float('inf')):
return G(Interval(lo, hi), phi)
def env(phi, *, lo=0, hi=float('inf')):
return ~alw(~phi, lo=lo, hi=hi)
def andf(*args):
return reduce(op.and_, args) if args else mtl.TOP
return reduce(op.and_, args) if args else ast.TOP
def orf(*args):
return reduce(op.or_, args) if args else mtl.TOP
def implies(x, y):
return ~x | y
def xor(x, y):
return (x | y) & ~(x & y)
def iff(x, y):
return (x & y) | (~x & ~y)
def next(phi, i=1):
return phi >> i
def until(phi, psi):
return mtl.ast.WeakUntil(phi, psi) & env(psi)
def timed_until(phi, psi, lo, hi):
return env(psi, lo=lo, hi=hi) & alw(until(phi, psi), lo=0, hi=lo)
return reduce(op.or_, args) if args else ast.TOP