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implemented f,neg,or canonical form and fixed bug in Or rule

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This commit is contained in:
Marcell Vazquez-Chanlatte 2016-12-15 20:56:44 -08:00
parent 8587d830ad
commit a331d90b44
2 changed files with 27 additions and 8 deletions
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12
stl/smooth_robustness.py
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@ -10,7 +10,7 @@ from lenses import lens
import stl.ast import stl.ast
from stl.ast import t_sym from stl.ast import t_sym
from stl.utils import walk from stl.utils import walk, f_neg_or_canonical_form
from stl.robustness import op_lookup from stl.robustness import op_lookup
Param = namedtuple("Param", ["L", "h", "B", "eps"]) Param = namedtuple("Param", ["L", "h", "B", "eps"])
@ -40,10 +40,6 @@ def admissible_params(phi, eps, L):
B = max(node_base(n, eps, L) for n in walk(phi)) B = max(node_base(n, eps, L) for n in walk(phi))
return B, h return B, h
def new_symbol_set(ss):
indices = set(ss[id_map].keys())
non_indicies = set(v.name for k, v in ss.items() if v != "id_map")
return indices | non_indicies
def symbolic_params(phi, eps, L): def symbolic_params(phi, eps, L):
return Param( return Param(
@ -53,8 +49,8 @@ def symbolic_params(phi, eps, L):
eps=sym.Dummy("eps"), eps=sym.Dummy("eps"),
) )
def smooth_robustness(phi, *, L=None, eps=None): def smooth_robustness(phi, *, L=None, eps=None):
phi = f_neg_or_canonical_form(phi)
p = symbolic_params(phi, eps, L) p = symbolic_params(phi, eps, L)
lo, hi = beta(phi, p), alpha(phi, p) lo, hi = beta(phi, p), alpha(phi, p)
subs = {} subs = {}
@ -96,7 +92,7 @@ def _(phi, p):
@alpha.register(stl.Neg) @alpha.register(stl.Neg)
def _(phi, p): def _(phi, p):
return 1/beta(phi, p) return 1/beta(phi.arg, p)
@alpha.register(stl.Or) @alpha.register(stl.Or)
@ -128,7 +124,7 @@ beta.register(stl.LinEq)(alpha)
@beta.register(stl.Neg) @beta.register(stl.Neg)
def _(phi, p): def _(phi, p):
return 1/alpha(phi, p) return 1/alpha(phi.arg, p)
@beta.register(stl.Or) @beta.register(stl.Or)

23
stl/utils.py
View file

@ -85,3 +85,26 @@ def symbol_lens(phi):
def set_params(stl_or_lens, val): def set_params(stl_or_lens, val):
l = stl_or_lens if isinstance(stl_or_lens, Lens) else param_lens(stl_or_lens) l = stl_or_lens if isinstance(stl_or_lens, Lens) else param_lens(stl_or_lens)
return l.modify(lambda x: val[str(x)] if str(x) in val else x) return l.modify(lambda x: val[str(x)] if str(x) in val else x)
def f_neg_or_canonical_form(phi):
if isinstance(phi, stl.LinEq):
return phi
children = [f_neg_or_canonical_form(s) for s in phi.children()]
if isinstance(phi, (stl.And, stl.G)):
children = [stl.ast.Neg(s) for s in children]
children = tuple(children)
if isinstance(phi, stl.Or):
return stl.Or(children)
elif isinstance(phi, stl.And):
return stl.Neg(stl.Or(children))
elif isinstance(phi, stl.Neg):
return stl.Neg(children[0])
elif isinstance(phi, stl.F):
return stl.F(phi.interval, children[0])
elif isinstance(phi, stl.G):
return stl.Neg(stl.F(phi.interval, children[0]))
else:
raise NotImplementedError