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integrator_chains::Problem Class Reference

Representation of problem instances. More...

#include <problem.hpp>

Collaboration diagram for integrator_chains::Problem:
Collaboration graph

Public Member Functions

bool change_order (int new_numdim_output, int new_highest_order_deriv)
std::string dumpJSON () const
 Get description of problem in JSON. More...
int get_highest_order_deriv () const
int get_numdim_output () const
bool is_consistent () const
void to_formula (std::ostream &out) const
 Create formula using SPIN LTL syntax More...

Static Public Member Functions

static Problemrandom (const Eigen::Vector2i &numdim_output_bounds, const Eigen::Vector2i &highest_order_deriv_bounds, const Eigen::VectorXd &Y_box, const Eigen::VectorXd &U_box, const Eigen::Vector2i &number_goals_bounds, const Eigen::Vector2i &number_obstacles_bounds, const Eigen::Vector2d &period_bounds, const Eigen::VectorXd &Xinit_bounds=Eigen::VectorXd())
 Generate a random problem instance. More...

Public Attributes

std::vector< LabeledPolytope * > goals
std::vector< LabeledPolytope * > obstacles
double period
Eigen::VectorXd Xinit


std::ostream & operator<< (std::ostream &out, const Problem &prob)
 Output description of problem in JSON to a stream.

Detailed Description

Representation of problem instances.

Member Function Documentation

std::string integrator_chains::Problem::dumpJSON ( ) const

Get description of problem in JSON.

Problem * integrator_chains::Problem::random ( const Eigen::Vector2i &  numdim_output_bounds,
const Eigen::Vector2i &  highest_order_deriv_bounds,
const Eigen::VectorXd &  Y_box,
const Eigen::VectorXd &  U_box,
const Eigen::Vector2i &  number_goals_bounds,
const Eigen::Vector2i &  number_obstacles_bounds,
const Eigen::Vector2d &  period_bounds,
const Eigen::VectorXd &  Xinit_bounds = Eigen::VectorXd() 

Generate a random problem instance.

numdim_output_boundsrange of integers from which the dimension of the output space will be chosen.
highest_order_deriv_boundsrange of integers from which the order of derivation (i.e., the number of integrators in the ODE defining the system) will be chosen.
Y_boxthe compact subset of the output space in which the trajectory must remain, defined using the same format as for Polytope::box(). Unlike most other parameters of this method, Y_box is not a definition of the support of a probability density function. However, the number of elements in it that are actually used depends on the randomly chosen number of dimensions of the output space.
U_boxanalogous to Y_box but for the input space.
number_goals_boundsrange of integers from which the number of goal polytopes in the output space will be chosen.
number_obstacles_boundsanalogous to number_goals_bounds but for obstacles.
period_boundsrange from which is uniformly randomly chosen the constant period by which the original system is discretized.
Xinit_bounds(optional) the box from which the initial state will be chosen. It is assumed to be consistent with Y_box. Bounds for missing dimensions are assumed to be [0,0], i.e., Xinit is assigned 0.0 at the corresponding indices. E.g., if Xinit_bounds has size 0 or is not given, then Xinit is the origin of the state space.

N.B., several parameters depend on each other in terms of consistency. E.g., if numdim_output_bounds = [2, 3], then Y_box must have length of at least 6 (cf. documentation for Polytope::box()).

This method relies on rand() for pseudo-randomness and assumes that something else has seeded the RNG.

void integrator_chains::Problem::to_formula ( std::ostream &  out) const

Create formula using SPIN LTL syntax

Support for other syntax is coming soon.

The documentation for this class was generated from the following file: