86 lines
2.1 KiB
Python
86 lines
2.1 KiB
Python
# -*- coding: utf-8 -*-
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# TODO: create iso lens between sugar and non-sugar
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# TODO: supress + given a + (-b). i.e. want a - b
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from collections import namedtuple, deque
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from itertools import repeat
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from typing import Union
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from enum import Enum
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from sympy import Symbol
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VarKind = Enum("VarKind", ["x", "u", "w"])
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str_to_varkind = {"x": VarKind.x, "u": VarKind.u, "w": VarKind.w}
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dt_sym = Symbol('dt', positive=True)
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t_sym = Symbol('t', positive=True)
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class LinEq(namedtuple("LinEquality", ["terms", "op", "const"])):
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def __repr__(self):
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n = len(self.terms)
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rep = "{}"
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if n > 1:
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rep += " + {}"*(n - 1)
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rep += " {op} {c}"
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return rep.format(*self.terms, op=self.op, c=self.const)
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def children(self):
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return []
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class Var(namedtuple("Var", ["coeff", "id", "time"])):
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def __repr__(self):
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time_str = "[{}]".format(self.time)
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return "{c}*{i}{t}".format(c=self.coeff, i=self.id, t=time_str)
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class Interval(namedtuple('I', ['lower', 'upper'])):
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def __repr__(self):
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return "[{},{}]".format(self.lower, self.upper)
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def children(self):
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return [self.lower, self.upper]
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class NaryOpSTL(namedtuple('NaryOp', ['args'])):
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OP = "?"
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def __repr__(self):
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n = len(self.args)
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if n == 1:
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return "{}".format(self.args[0])
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elif self.args:
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rep = " {op} ".join(["({})"]*(len(self.args) - 1))
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return rep.format(*self.args, op=self.OP)
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else:
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return ""
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def children(self):
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return self.args
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class Or(NaryOpSTL):
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OP = "∨"
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class And(NaryOpSTL):
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OP = "∧"
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class ModalOp(namedtuple('ModalOp', ['interval', 'arg'])):
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def children(self):
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return [self.arg]
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class F(ModalOp):
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def __repr__(self):
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return "◇{}({})".format(self.interval, self.arg)
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class G(ModalOp):
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def __repr__(self):
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return "□{}({})".format(self.interval, self.arg)
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class Neg(namedtuple('Neg', ['arg'])):
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def __repr__(self):
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return "¬({})".format(self.arg)
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def children(self):
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return [self.arg]
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