copying over files from my local mp4 branch, only one of real relevan…

…ce is fixed_points, other just for my testing purposes

demo/fixed_points/ball_scenario_branch.py

@@ -0,0 +1,97 @@
+from verse.plotter.plotter2D import *
+from verse.agents.example_agent.ball_agent import BallAgent
+from verse.map.example_map.simple_map2 import SimpleMap3
+from verse import Scenario, ScenarioConfig
+from enum import Enum, auto
+import copy
+import os 
+
+# from verse.map import Lane
+
+class BallMode(Enum):
+    '''NOTE: Any model should have at least one mode
+    The one mode of this automation is called "Normal" and auto assigns it an integer value.'''
+    NORMAL = auto()
+    REVERSE = auto()
+    DOUBLE = auto()
+
+class State:
+    '''Defines the state variables of the model
+    Both discrete and continuous variables
+    '''
+    x: float
+    y = 0.0
+    vx = 0.0
+    vy = 0.0
+    mode: BallMode
+
+    def __init__(self, x, y, vx, vy, ball_mode: BallMode):
+        pass
+
+def decisionLogic(ego: State):
+    '''Computes the possible mode transitions'''
+    # Stores the prestate first
+    output = copy.deepcopy(ego)
+    if ego.mode == BallMode.NORMAL:
+        output.mode = BallMode.DOUBLE
+    if ego.mode == BallMode.NORMAL:
+        output.mode = BallMode.REVERSE
+    if ego.x < 0:
+        output.vx = -ego.vx
+        output.x = 0
+    if ego.y < 0:
+        output.vy = -ego.vy
+        output.y = 0
+    if ego.x > 20:
+        # TODO: Q. If I change this to ego.x >= 20 then the model does not work.
+        # I suspect this is because the same transition can be take many, many times.
+        # We need to figure out a clean solution
+        output.vx = -ego.vx
+        output.x = 20
+    if ego.y > 20:
+        output.vy = -ego.vy
+        output.y = 20
+    return output
+
+class BallScenarioBranch:
+    scenario: Scenario
+
+    def __init__(self) -> None:
+        self.scenario = Scenario(ScenarioConfig(parallel=False))
+        script_dir = os.path.realpath(os.path.dirname(__file__))
+        BALL_CONTROLLER = os.path.join(script_dir, "ball_scenario_branch.py")
+        myball1 = BallAgent("red-ball", file_name=BALL_CONTROLLER)
+        self.scenario.add_agent(myball1)
+        self.scenario.set_init(
+            [[[0, 0, 2, 2], [0, 0, 2, 2]], ], # modified from original to check for fixed points, see below
+            # [[[5, 10, 2, 2], [5, 10, 2, 2]],],
+            [(BallMode.NORMAL,), ],
+        )
+
+if __name__ == "__main__":
+    #Defining and using a scenario involves the following 5 easy steps:
+    #1. creating a basic scenario object with Scenario()
+    #2. defining the agents that will populate the object, here we have two ball agents
+    #3. adding the agents to the scenario using .add_agent()
+    #4. initializing the agents for this scenario.
+    #   Note that agents are only initialized *in* a scenario, not individually outside a scenario
+    #5. genetating the simulation traces or computing the reachable states
+    bouncingBall = Scenario(ScenarioConfig(parallel=False))  # scenario too small, parallel too slow
+    BALL_CONTROLLER = "./demo/ball/ball_bounces.py"
+    myball1 = BallAgent("red-ball", file_name=BALL_CONTROLLER)
+    myball2 = BallAgent("green-ball", file_name=BALL_CONTROLLER)
+    bouncingBall.add_agent(myball1)
+    bouncingBall.add_agent(myball2)
+    bouncingBall.set_init(
+        [[[5, 10, 2, 2], [5, 10, 2, 2]], [[15, 1, 1, -2], [15, 1, 1, -2]]],
+        [(BallMode.NORMAL,), (BallMode.NORMAL,)],
+    )
+    # TODO: We should be able to initialize each of the balls separately
+    # this may be the cause for the VisibleDeprecationWarning
+    # TODO: Longer term: We should initialize by writing expressions like "-2 \leq myball1.x \leq 5"
+    # "-2 \leq myball1.x + myball2.x \leq 5"
+    traces = bouncingBall.simulate_simple(40, 0.01, 6)
+    # TODO: There should be a print({traces}) function
+    fig = go.Figure()
+    fig = simulation_tree(traces, None, fig, 1, 2, [1, 2], "fill", "trace")
+    fig.show()

demo/fixed_points/ball_scenario_branch_nt.py

@@ -0,0 +1,106 @@
+from verse.plotter.plotter2D import *
+from verse.agents.example_agent.ball_agent import BallAgent
+from verse.map.example_map.simple_map2 import SimpleMap3
+from verse import Scenario, ScenarioConfig
+from enum import Enum, auto
+import copy
+import os 
+
+# from verse.map import Lane
+
+class BallMode(Enum):
+    '''NOTE: Any model should have at least one mode
+    The one mode of this automation is called "Normal" and auto assigns it an integer value.'''
+    INTER = auto()
+    REVERSE = auto()
+    NORMAL = auto()
+
+class State:
+    '''Defines the state variables of the model
+    Both discrete and continuous variables
+    '''
+    x: float
+    y = 0.0
+    vx = 0.0
+    vy = 0.0
+    mode: BallMode
+
+    def __init__(self, x, y, vx, vy, ball_mode: BallMode):
+        pass
+
+def decisionLogic(ego: State):
+    '''Computes the possible mode transitions'''
+    # Stores the prestate first
+    output = copy.deepcopy(ego)
+    if ego.mode == BallMode.INTER:
+        output.mode = BallMode.NORMAL
+    if ego.mode == BallMode.INTER:
+        output.mode = BallMode.REVERSE
+    if ego.x < 0:
+        output.vx = -ego.vx
+        output.x = 0
+    if ego.y < 0:
+        output.vy = -ego.vy
+        output.y = 0
+    if ego.x > 20:
+        output.vx = -ego.vx
+        output.x = 20
+        # if ego.mode==BallMode.REVERSE:
+        #     output.y = 0
+        # output.mode = BallMode.INTER
+    if ego.y > 20:
+        output.vy = -ego.vy
+        output.y = 20
+        # if ego.mode==BallMode.REVERSE:
+        #     output.x = 0
+        # output.mode = BallMode.INTER
+    return output
+
+class BallScenarioBranchNT:
+    scenario: Scenario
+
+    def __init__(self) -> None:
+        self.scenario = Scenario(ScenarioConfig(parallel=False))
+        script_dir = os.path.realpath(os.path.dirname(__file__))
+        BALL_CONTROLLER = os.path.join(script_dir, "ball_scenario_branch_nt.py")
+        myball1 = BallAgent("red-ball", file_name=BALL_CONTROLLER)
+        myball2 = BallAgent("green-ball", file_name=BALL_CONTROLLER)
+        self.scenario.add_agent(myball1)
+        self.scenario.add_agent(myball2)
+        self.scenario.set_init(
+            [[[0, 0, 2, 2], [0, 0, 2, 2]], 
+             [[0, 0, 2, 2], [0, 0, 2, 2]]
+             ], # modified from original to check for fixed points, see below
+            # [[[5, 10, 2, 2], [5, 10, 2, 2]],],
+            [(BallMode.INTER,)
+             , (BallMode.INTER,)
+             ],
+        )
+
+if __name__ == "__main__":
+    #Defining and using a scenario involves the following 5 easy steps:
+    #1. creating a basic scenario object with Scenario()
+    #2. defining the agents that will populate the object, here we have two ball agents
+    #3. adding the agents to the scenario using .add_agent()
+    #4. initializing the agents for this scenario.
+    #   Note that agents are only initialized *in* a scenario, not individually outside a scenario
+    #5. genetating the simulation traces or computing the reachable states
+    bouncingBall = Scenario(ScenarioConfig(parallel=False))  # scenario too small, parallel too slow
+    BALL_CONTROLLER = "./demo/ball/ball_bounces.py"
+    myball1 = BallAgent("red-ball", file_name=BALL_CONTROLLER)
+    myball2 = BallAgent("green-ball", file_name=BALL_CONTROLLER)
+    bouncingBall.add_agent(myball1)
+    bouncingBall.add_agent(myball2)
+    bouncingBall.set_init(
+        [[[5, 10, 2, 2], [5, 10, 2, 2]], [[15, 1, 1, -2], [15, 1, 1, -2]]],
+        [(BallMode.NORMAL,), (BallMode.NORMAL,)],
+    )
+    # TODO: We should be able to initialize each of the balls separately
+    # this may be the cause for the VisibleDeprecationWarning
+    # TODO: Longer term: We should initialize by writing expressions like "-2 \leq myball1.x \leq 5"
+    # "-2 \leq myball1.x + myball2.x \leq 5"
+    traces = bouncingBall.simulate_simple(40, 0.01, 6)
+    # TODO: There should be a print({traces}) function
+    fig = go.Figure()
+    fig = simulation_tree(traces, None, fig, 1, 2, [1, 2], "fill", "trace")
+    fig.show()

demo/fixed_points/ball_scenario_copy.py

@@ -0,0 +1,90 @@
+from verse.plotter.plotter2D import *
+from verse.agents.example_agent.ball_agent import BallAgent
+from verse.map.example_map.simple_map2 import SimpleMap3
+from verse import Scenario, ScenarioConfig
+from enum import Enum, auto
+import copy
+import os 
+
+# from verse.map import Lane
+
+class BallMode(Enum):
+    '''NOTE: Any model should have at least one mode
+    The one mode of this automation is called "Normal" and auto assigns it an integer value.'''
+    NORMAL = auto()
+
+class State:
+    '''Defines the state variables of the model
+    Both discrete and continuous variables
+    '''
+    x: float
+    y = 0.0
+    vx = 0.0
+    vy = 0.0
+    mode: BallMode
+
+    def __init__(self, x, y, vx, vy, ball_mode: BallMode):
+        pass
+
+def decisionLogic(ego: State):
+    '''Computes the possible mode transitions'''
+    # Stores the prestate first
+    output = copy.deepcopy(ego)
+    if ego.x < 0:
+        output.vx = -ego.vx
+        output.x = 0
+    if ego.y < 0:
+        output.vy = -ego.vy
+        output.y = 0
+    if ego.x > 20:
+        # TODO: Q. If I change this to ego.x >= 20 then the model does not work.
+        # I suspect this is because the same transition can be take many, many times.
+        # We need to figure out a clean solution
+        output.vx = -ego.vx
+        output.x = 20
+    if ego.y > 20:
+        output.vy = -ego.vy
+        output.y = 20
+    return output
+
+class BallScenario:
+    scenario: Scenario
+
+    def __init__(self) -> None:
+        self.scenario = Scenario(ScenarioConfig(parallel=False))
+        script_dir = os.path.realpath(os.path.dirname(__file__))
+        BALL_CONTROLLER = os.path.join(script_dir, "ball_scenario_copy.py")
+        myball1 = BallAgent("red-ball", file_name=BALL_CONTROLLER)
+        self.scenario.add_agent(myball1)
+        self.scenario.set_init(
+            [[[0, 0, 2, 2], [0, 0, 2, 2]], ], # modified from original to check for fixed points, see below
+            [(BallMode.NORMAL,), ],
+        )
+
+if __name__ == "__main__":
+    #Defining and using a scenario involves the following 5 easy steps:
+    #1. creating a basic scenario object with Scenario()
+    #2. defining the agents that will populate the object, here we have two ball agents
+    #3. adding the agents to the scenario using .add_agent()
+    #4. initializing the agents for this scenario.
+    #   Note that agents are only initialized *in* a scenario, not individually outside a scenario
+    #5. genetating the simulation traces or computing the reachable states
+    bouncingBall = Scenario(ScenarioConfig(parallel=False))  # scenario too small, parallel too slow
+    BALL_CONTROLLER = "./demo/ball/ball_bounces.py"
+    myball1 = BallAgent("red-ball", file_name=BALL_CONTROLLER)
+    myball2 = BallAgent("green-ball", file_name=BALL_CONTROLLER)
+    bouncingBall.add_agent(myball1)
+    bouncingBall.add_agent(myball2)
+    bouncingBall.set_init(
+        [[[5, 10, 2, 2], [5, 10, 2, 2]], [[15, 1, 1, -2], [15, 1, 1, -2]]],
+        [(BallMode.NORMAL,), (BallMode.NORMAL,)],
+    )
+    # TODO: We should be able to initialize each of the balls separately
+    # this may be the cause for the VisibleDeprecationWarning
+    # TODO: Longer term: We should initialize by writing expressions like "-2 \leq myball1.x \leq 5"
+    # "-2 \leq myball1.x + myball2.x \leq 5"
+    traces = bouncingBall.simulate_simple(40, 0.01, 6)
+    # TODO: There should be a print({traces}) function
+    fig = go.Figure()
+    fig = simulation_tree(traces, None, fig, 1, 2, [1, 2], "fill", "trace")
+    fig.show()