From 58f37a9d5d27d875846c4d9fdb9f9356cd99ec3e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beno=C3=AEt=20Legat?= <benoit.legat@gmail.com>
Date: Tue, 5 Nov 2024 13:00:27 +0100
Subject: [PATCH] Use Delta
---
docs/src/examples/solvers/Unicycle robot.jl | 24 ++------
src/MOI_wrapper.jl | 59 +++++++++++++++----
.../abstraction/uniform_grid_abstraction.jl | 41 ++++++-------
src/system/controlsystem.jl | 2 +-
4 files changed, 73 insertions(+), 53 deletions(-)
diff --git a/docs/src/examples/solvers/Unicycle robot.jl b/docs/src/examples/solvers/Unicycle robot.jl
index c1aabb706..73d0efadb 100644
--- a/docs/src/examples/solvers/Unicycle robot.jl
+++ b/docs/src/examples/solvers/Unicycle robot.jl
@@ -48,9 +48,10 @@ x_upp = -x_low
@variable(model, -1 <= u[1:2] <= 1)
# Define the dynamics
-@constraint(model, ∂(x[1]) == x[1] + u[1] * cos(x[3]))
-@constraint(model, ∂(x[2]) == x[2] + u[1] * sin(x[3]))
-@constraint(model, ∂(x[3]) == x[3] + u[2])
+@constraint(model, Δ(x[1]) == x[1] + u[1] * cos(x[3]))
+@constraint(model, Δ(x[2]) == x[2] + u[1] * sin(x[3]))
+#@constraint(model, Δ(x[3]) == rem(x[3] + u[2], 2 * π))
+@constraint(model, Δ(x[3]) == x[3] + u[2])
# Define the initial and target sets
x_initial = [1.0, -1.7, 0.0]
@@ -129,23 +130,6 @@ end
# ### Definition of the abstraction
-# First we need to set the mode of the abstraction to `DIONYSOS.Optim.Abstraction.UniformGridAbstraction.DSICRETE_TIME`:
-set_attribute(
- model,
- "approx_mode",
- Dionysos.Optim.Abstraction.UniformGridAbstraction.DISCRETE_TIME,
-)
-
-# We define the system map $f$:
-function sys_map(x, u, _)
- return StaticArrays.SVector{3}(
- x[1] + u[1] * cos(x[3]),
- x[2] + u[1] * sin(x[3]),
- (x[3] + u[2]) % (2 * π),
- )
-end
-set_attribute(model, "system_map", sys_map)
-
# We define the growth bound function of $f$:
function growth_bound(r, u, _)
β = u[1] * r[3]
diff --git a/src/MOI_wrapper.jl b/src/MOI_wrapper.jl
index 31ec06bbd..f1881cf49 100644
--- a/src/MOI_wrapper.jl
+++ b/src/MOI_wrapper.jl
@@ -7,10 +7,13 @@ import Symbolics
@enum(VariableType, INPUT, STATE, MODE)
+@enum(TimeType, UNKNOWN, CONTINUOUS, DISCRETE)
+
mutable struct Optimizer <: MOI.AbstractOptimizer
inner::Any
nlp_model::Any
evaluator::Union{Nothing, MOI.Nonlinear.Evaluator}
+ time_type::TimeType
variable_values::Vector{Float64}
derivative_values::Vector{Float64}
variable_types::Vector{VariableType}
@@ -29,6 +32,7 @@ mutable struct Optimizer <: MOI.AbstractOptimizer
MOI.instantiate(Dionysos.Optim.Abstraction.UniformGridAbstraction.Optimizer),
nothing,
nothing,
+ UNKNOWN,
Float64[],
Float64[],
VariableType[],
@@ -49,6 +53,7 @@ end
MOI.is_empty(model::Optimizer) = isempty(model.variable_types)
function MOI.empty!(model::Optimizer)
+ model.time_type = UNKNOWN
empty!(model.variable_values)
empty!(model.derivative_values)
empty!(model.variable_types)
@@ -168,7 +173,21 @@ function MOI.add_constraint(
if lhs isa MOI.ScalarNonlinearFunction && length(lhs.args) == 1
var = lhs.args[]
if var isa MOI.VariableIndex
- if lhs.head == :diff
+ if lhs.head == :∂
+ if model.time_type == DISCRETE
+ error("Cannot add constraint with `∂` since you already added a constraint with `Δ`.")
+ end
+ model.time_type = CONTINUOUS
+ model.dynamic[var.value] = rhs
+ model.nonlinear_index += 1
+ return MOI.ConstraintIndex{typeof(func), typeof(set)}(
+ model.nonlinear_index,
+ )
+ elseif lhs.head == :Δ
+ if model.time_type == CONTINUOUS
+ error("Cannot add constraint with `Δ` since you already added a constraint with `∂`.")
+ end
+ model.time_type = DISCRETE
model.dynamic[var.value] = rhs
model.nonlinear_index += 1
return MOI.ConstraintIndex{typeof(func), typeof(set)}(
@@ -303,13 +322,23 @@ function system(
)
_U_ =
Dionysos.Utils.HyperRectangle(_svec(model.lower, u_idx), _svec(model.upper, u_idx))
- return MathematicalSystems.ConstrainedBlackBoxControlContinuousSystem(
- dynamic(model, x_idx, u_idx),
- Dionysos.Utils.get_dims(_X_),
- Dionysos.Utils.get_dims(_U_),
- _X_,
- _U_,
- )
+ if model.time_type == CONTINUOUS
+ return MathematicalSystems.ConstrainedBlackBoxControlContinuousSystem(
+ dynamic(model, x_idx, u_idx),
+ Dionysos.Utils.get_dims(_X_),
+ Dionysos.Utils.get_dims(_U_),
+ _X_,
+ _U_,
+ )
+ else
+ return MathematicalSystems.ConstrainedBlackBoxControlDiscreteSystem(
+ dynamic(model, x_idx, u_idx),
+ Dionysos.Utils.get_dims(_X_),
+ Dionysos.Utils.get_dims(_U_),
+ _X_,
+ _U_,
+ )
+ end
end
function problem(model::Optimizer)
@@ -400,10 +429,13 @@ function MOI.set(model::Optimizer, attr::MOI.RawOptimizerAttribute, value)
return MOI.set(model.inner, attr, value)
end
-export ∂, final, start
+export ∂, Δ, final, start
function _diff end
-∂ = JuMP.NonlinearOperator(_diff, :diff)
+∂ = JuMP.NonlinearOperator(_diff, :∂)
+
+function _delta end
+Δ = JuMP.NonlinearOperator(_delta, :Δ)
function _final end
final = JuMP.NonlinearOperator(_final, :final)
@@ -411,6 +443,9 @@ final = JuMP.NonlinearOperator(_final, :final)
function _start end
start = JuMP.NonlinearOperator(_start, :start)
+function rem end
+rem_op = JuMP.NonlinearOperator(rem, :rem)
+
# Type piracy
function JuMP.parse_constraint_call(
error_fn::Function,
@@ -429,3 +464,7 @@ function JuMP.parse_constraint_call(
build_call = :(build_constraint($error_fn, $f, $(OuterSet)($set)))
return parse_code, build_call
end
+
+function Base.rem(x::JuMP.AbstractJuMPScalar, d)
+ return rem_op(x, d)
+end
diff --git a/src/optim/abstraction/uniform_grid_abstraction.jl b/src/optim/abstraction/uniform_grid_abstraction.jl
index f0021a335..37e53231c 100644
--- a/src/optim/abstraction/uniform_grid_abstraction.jl
+++ b/src/optim/abstraction/uniform_grid_abstraction.jl
@@ -4,6 +4,8 @@ module UniformGridAbstraction
import StaticArrays
+import MathematicalSystems
+
import Dionysos
const DI = Dionysos
const UT = DI.Utils
@@ -12,7 +14,7 @@ const ST = DI.System
const SY = DI.Symbolic
const PR = DI.Problem
-@enum ApproxMode GROWTH LINEARIZED DELTA_GAS DISCRETE_TIME
+@enum ApproxMode GROWTH LINEARIZED DELTA_GAS
using JuMP
@@ -39,8 +41,7 @@ mutable struct Optimizer{T} <: MOI.AbstractOptimizer
approx_mode::ApproxMode
## for the discrete time (no need for the jacobian_bound)
- #but for the system_map, growthbound_map and sys_inv_map
- system_map::Union{Nothing, Function}
+ # but for the `growthbound_map` and `sys_inv_map`
growthbound_map::Union{Nothing, Function}
sys_inv_map::Union{Nothing, Function}
@@ -63,7 +64,6 @@ mutable struct Optimizer{T} <: MOI.AbstractOptimizer
GROWTH,
nothing,
nothing,
- nothing,
)
end
end
@@ -97,23 +97,7 @@ function build_abstraction(concrete_system, model)
error("Please set the `time_step`.")
end
- model.discretized_system = if model.approx_mode == GROWTH
- if isnothing(model.jacobian_bound)
- error("Please set the `jacobian_bound`.")
- end
- Dionysos.System.NewControlSystemGrowthRK4(
- model.time_step,
- concrete_system.f,
- model.jacobian_bound,
- noise,
- noise,
- model.num_sub_steps_system_map,
- model.num_sub_steps_growth_bound,
- )
- elseif model.approx_mode == DISCRETE_TIME
- if isnothing(model.system_map)
- error("Please set the `system_map`.")
- end
+ model.discretized_system = if concrete_system isa MathematicalSystems.ConstrainedBlackBoxControlDiscreteSystem
if isnothing(model.growthbound_map)
error("Please set the `growthbound_map`.")
end
@@ -124,10 +108,23 @@ function build_abstraction(concrete_system, model)
model.time_step,
noise,
noise,
- model.system_map,
+ concrete_system.f,
model.growthbound_map,
model.sys_inv_map,
)
+ elseif model.approx_mode == GROWTH
+ if isnothing(model.jacobian_bound)
+ error("Please set the `jacobian_bound`.")
+ end
+ Dionysos.System.NewControlSystemGrowthRK4(
+ model.time_step,
+ concrete_system.f,
+ model.jacobian_bound,
+ noise,
+ noise,
+ model.num_sub_steps_system_map,
+ model.num_sub_steps_growth_bound,
+ )
elseif model.approx_mode == LINEARIZED
Dionysos.System.NewControlSystemLinearizedRK4(
model.time_step,
diff --git a/src/system/controlsystem.jl b/src/system/controlsystem.jl
index cd5acca73..ba23fdc58 100644
--- a/src/system/controlsystem.jl
+++ b/src/system/controlsystem.jl
@@ -276,7 +276,7 @@ end
############################################
############################################
-struct SymbolicSystem{}
+struct SymbolicSystem
fsymbolicT::Any
fsymbolic::Any
Ts::Any