added some tests to test contain_all_fix

demo/fixed_points/helicopter.py

@@ -136,14 +136,14 @@ def decisionLogic(ego: State, other: State):
     scenario = Scenario(ScenarioConfig(init_seg_length=1, parallel=False))
 
     scenario.add_agent(helicopter) ### need to add breakpoint around here to check decision_logic of agents
-    init_h = [[10 for _ in range(28)],[10 for _ in range(28)]]
+    init_h = [[10 for _ in range(28)],[11 for _ in range(28)]]
     # # -----------------------------------------
 
     scenario.set_init_single(
         'Helicopter', init_h, (HelicopterMode.Normal,)
     )
 
-    trace = scenario.verify(10, 0.01)
+    trace = scenario.verify(20, 0.01)
 
     # is false, should be false
     print(f'Fixed points exists? {fixed_points_fix(trace, 10, 0.01)}')

demo/fixed_points/jet_engine.py

@@ -86,7 +86,7 @@ def decisionLogic(ego: State, other: State):
         'JE', init_JE, (JEMode.Mode4,)
     )
 
-    trace = scenario.verify(10, 0.01)
+    trace = scenario.verify(60, 0.01)
 
     # pp_fix(reach_at_fix(trace, 0, 10))
 

demo/fixed_points/traffic_signal_scenario.py

@@ -86,25 +86,34 @@
     # print("Is h1 contained within h1:", contained_single(h1, h1))
     ###
 
+    ### unit testing contain_all_fix
+    r1_1 = {0: [[0, 0], [1,0]]}
+    r2_1 = {0: [[-1, 0], [0.5, 0], [0.5, 0], [2, 0]]}
+    r3_1 = {0: [[-1, 0], [0.499, 0], [0.501, 0], [2, 0]]}
+    r4_1 = {0: [[-1, 0], [0.5, 0], [0.5, 1], [2, 1]]}
+    print(f'Is r1 contained within r2: {contain_all_fix(r1_1, r2_1)}')
+    print(f'Is r1 contained within r3: {contain_all_fix(r1_1, r3_1)}')
+    print(f'Is r1 contained within r4: {contain_all_fix(r1_1, r4_1)}')
+
     ###
     # ball_scenario = BallScenario().scenario
-    ball_scenario_branch = BallScenarioBranch().scenario
-
-    # # ball_scenario_branch_nt = BallScenarioBranchNT().scenario ### this scenario's verify doesn't really make any sense given its simulate -- figure out why
-    # # ## trying to verify with two agents in NT takes forever for some reason
-    # # trace = ball_scenario_branch_nt.verify(80, 0.1) 
-    # # trace = ball_scenario_branch_nt.simulate(80, 0.1)
-
-    trace = ball_scenario_branch.verify(40, 0.1)
-    pp_fix(reach_at_fix(trace)) ### print out more elegantly, for example, line breaks and cut off array floats, test out more thoroughly
-    # pp_old(reach_at(trace, 39, 39.91)) ### needs to be slightly more than T-delta T due to small differences in real trace, could also fix in reach_at by rounding off the times dimension
-    pp_fix(reach_at_fix(trace, 0, 39.91))
-    # # print(fixed_points_sat(trace, 40, 0.01))
-    print(fixed_points_fix(trace, 40, 0.01))
-
-    fig = go.Figure()
-    fig = reachtube_tree(trace, None, fig, 1, 2, [1, 2], "fill", "trace")
-    fig.show()
+    # ball_scenario_branch = BallScenarioBranch().scenario
+
+    # # # ball_scenario_branch_nt = BallScenarioBranchNT().scenario ### this scenario's verify doesn't really make any sense given its simulate -- figure out why
+    # # # ## trying to verify with two agents in NT takes forever for some reason
+    # # # trace = ball_scenario_branch_nt.verify(80, 0.1) 
+    # # # trace = ball_scenario_branch_nt.simulate(80, 0.1)
+
+    # trace = ball_scenario_branch.verify(40, 0.1)
+    # pp_fix(reach_at_fix(trace)) ### print out more elegantly, for example, line breaks and cut off array floats, test out more thoroughly
+    # # pp_old(reach_at(trace, 39, 39.91)) ### needs to be slightly more than T-delta T due to small differences in real trace, could also fix in reach_at by rounding off the times dimension
+    # pp_fix(reach_at_fix(trace, 0, 39.91))
+    # # # print(fixed_points_sat(trace, 40, 0.01))
+    # print(fixed_points_fix(trace, 40, 0.01))
+
+    # fig = go.Figure()
+    # fig = reachtube_tree(trace, None, fig, 1, 2, [1, 2], "fill", "trace")
+    # fig.show()
     # print(f'Do there exist fixed points? {fixed_points(ball_scenario, "red-ball", t=80)}')
     # print(f'Do there exist fixed points? {fixed_points_aa_branching(ball_scenario, t=80)}')
     # print(f'Do there exist fixed points? {fixed_points_aa_branching(ball_scenario_branch, t=80)}')