scipplan 0.1.0a1__py2.py3-none-any.whl → 0.2.0a2__py2.py3-none-any.whl

scipplan/__init__.py

@@ -1,5 +1,5 @@
-__version__ = "0.1.0alpha1"
+__version__ = "0.2.0alpha2"
 print(f"SCIPPlan Version: {__version__}")
-__release__ = "v0.1.0"
+__release__ = "v0.2.0a2"
 __author__ = "Ari Gestetner, Buser Say"
-__email__ = "ages0001@student.monash.edu, buser.say@monash.edu"
+__email__ = "ari.gestetner@monash.edu, buser.say@monash.edu"

scipplan/config.py

@@ -16,6 +16,7 @@ class Config:
     horizon: int = field(default=None)
     epsilon: float = field(default=None)
     gap: float = field(default=None)
+    provide_sols: bool = field(default=False)
     show_output: bool = False
     save_sols: bool = False
     bigM: float = 1000.0
@@ -32,17 +33,17 @@ class Config:
             "gap": False
         }
         if self.horizon is None:
-            print("Horizon is not provided, and is set to 1")
+            print("Horizon is not provided, and is set to 1. ")
             self.horizon = 1
             self._defaults["horizon"] = True
             
         if self.epsilon is None:
-            print("Epsilon is not provided, and is set to 0.1")
+            print("Epsilon is not provided, and is set to 0.1. ")
             self.epsilon = 0.1
             self._defaults["epsilon"] = True
             
         if self.gap is None:
-            print("Gap is not provided, and is set to 10.0%")
+            print("Gap is not provided, and is set to 10.0%. ")
             self.gap = 0.1
             self._defaults["gap"] = True
             
@@ -50,6 +51,7 @@ class Config:
         text = f"""
         Configuration:
         
+        Use System of ODE's: {not self.provide_sols}
         Display SCIP Output: {self.show_output}
         Save Solutions: {self.show_output}
         Dt Variable Name: {self.dt_var}
@@ -64,9 +66,11 @@ class Config:
         return dedent(text)
     
     def increment_horizon(self, value: int = 1):
-        self._defaults["horizon"] = False
+        # self._defaults["horizon"] = False
         self.horizon += value
         
+    def get_defaults(self) -> dict[str, bool]:
+        return self._defaults
     
     @classmethod
     def get_config(cls) -> Config:
@@ -78,14 +82,14 @@ class Config:
             "--domain", 
             required=True,
             type=str,
-            help="This variable is the name of the domain (e.g. pandemic or navigation)"
+            help="This variable is the name of the domain (e.g. pandemic or navigation)."
         )
         parser.add_argument(
             "-I", 
             "--instance", 
             required=True,
             type=str,
-            help="This is the instance number of the domain (e.g. navigation has instances 1, 2 and 3)"
+            help="This is the instance number of the domain (e.g. navigation has instances 1, 2 and 3)."
         )
         parser.add_argument(
             "-H", 
@@ -93,7 +97,7 @@ class Config:
             required=False,
             # default=1,
             type=int,
-            help="The initial horizon. The solve method will initially begin with this horizon until it finds a feasible solution"
+            help="The initial horizon. The solve method will initially begin with this horizon until it finds a feasible solution."
         )
         parser.add_argument(
             "-E", 
@@ -101,7 +105,7 @@ class Config:
             required=False,
             # default=0.1,
             type=float,
-            help="SCIPPlan iteratively checks solution for violations at each epsilon value"
+            help="SCIPPlan iteratively checks solution for violations at each epsilon value."
         )
         parser.add_argument(
             "-G", 
@@ -109,7 +113,7 @@ class Config:
             required=False,
             # default=0.1,
             type=float,
-            help="SCIP will search for solution with an optimality gap by at least this value"
+            help="SCIP will search for solution with an optimality gap by at least this value."
         )
         
         parser.add_argument(
@@ -117,7 +121,7 @@ class Config:
             required=False,
             default=1000.0,
             type=float,
-            help="A large value which is used for some constraint encoding formulations, defaults to 1000.0 and can be changed as needed"
+            help="A large value which is used for some constraint encoding formulations, defaults to 1000.0 and can be changed as needed."
         )
         
         parser.add_argument(
@@ -125,21 +129,28 @@ class Config:
             required=False,
             default="Dt",
             type=str,
-            help="When writing the constraints, dt_var is the variable name for Dt, defaults to 'Dt' and can be changed based on users preference (e.g. 'dt')"
+            help="When writing the constraints, dt_var is the variable name for Dt, defaults to 'Dt' and can be changed based on users preference (e.g. 'dt')."
         )
         
+        parser.add_argument(
+            "--provide-sols", 
+            action="store_true", 
+            default=False, 
+            help="This flag determines whether the user would like to provide a system of odes or solution equations, odes must be provided by default."
+        )
+
         parser.add_argument(
             "--show-output", 
             action="store_true", 
             default=False, 
-            help="Include this flag to show output from SCIP"
+            help="Include this flag to show output from SCIP."
         )
         
         parser.add_argument(
             "--save-sols", 
             action="store_true", 
             default=False, 
-            help="Include this flag to save the solutions from each of the scipplan iterations as well as constraints generated (note, only saves for horizon which has been solved)"
+            help="Include this flag to save the solutions from each of the scipplan iterations as well as constraints generated (note, only saves for horizon which has been solved)."
         )
         
         args = parser.parse_args()

scipplan/helpers.py

@@ -2,6 +2,7 @@ import os
 import csv
 
 from typing import Generator
+
 from .config import Config
 
 class InfeasibilityError(Exception):

scipplan/plan_model.py

@@ -5,10 +5,14 @@ from .helpers import list_accessible_files
 
 import math
 import os
+import re
 
 from pyscipopt.scip import Model
 from pkg_resources import parse_version
 from importlib.metadata import version
+from sympy import Eq, Function, Derivative as dd, Symbol, parse_expr
+from sympy.solvers.ode.systems import dsolve_system
+
 
 if parse_version(version("pyscipopt")) >= parse_version("4.3.0"):
     from pyscipopt import quicksum, exp, log, sqrt, sin, cos
@@ -27,6 +31,8 @@ class PlanModel:
         # Translation -> line_num -> horizon -> aux
         self.aux_vars: dict[str, list[list[list]]] = {}
         
+        self.file_translations = self.read_translations()
+
         self.constants = self.encode_constants()
         self.variables = self.encode_pvariables()
         self.translations = self.encode_constraints()
@@ -39,8 +45,27 @@ class PlanModel:
             self.model.addCons(dt_var >= 0.0, f"dt_{h}_lower_bound")
             self.model.addCons(dt_var <= self.config.bigM, f"dt_{h}_upper_bound")   
     
-
+    def read_translations(self) -> dict[str, list[str]]:
+        with open(self.get_file_path("solutions" if self.config.provide_sols else "odes")) as f:
+            translations = {}
+            new_sec = True
+            for line in f:
+                line = line.strip()
+                if line == "":
+                    pass
+                elif line == "---":
+                    new_sec = True
+                elif new_sec is True:
+                    translation = line.removesuffix(":")
+                    translations[translation] = []
+                    new_sec = False
+                else:
+                    translations[translation].append(line)
         
+        return translations
+
+
+
     def encode_constants(self) -> dict[str, float]:
         constants = {}
         translation = "constants"
@@ -53,23 +78,20 @@ class PlanModel:
         }
     
             
-        with open(self.get_file_path(translation)) as f:
-            for line in f.readlines():
-                if line.strip() == "":
-                    continue
-                
-                var, val = line.strip().split("=")
-                var, val = var.strip(), val.strip()
-                
-                val = val if val not in config_vals else config_vals[val]
-                
-                try:
-                    val = float(val)
-                except ValueError:
-                    raise ValueError("Constants can only be floats, please reconfigure: ")
-                
-                constants[var] = val
-                self.var_names.add(var)
+        for line in self.file_translations[translation]:
+
+            var, val = line.split("=")
+            var, val = var.strip(), val.strip()
+            
+            val = val if val not in config_vals else config_vals[val]
+            
+            try:
+                val = float(val)
+            except ValueError:
+                raise ValueError("Constants can only be floats, please reconfigure: ")
+            
+            constants[var] = val
+            self.var_names.add(var)
                 
         constants["bigM"] = self.config.bigM
         self.var_names.add("bigM")
@@ -84,22 +106,21 @@ class PlanModel:
                 var_type = variables[(constant, t)].var_type
                 
         translation = "pvariables"
-        with open(self.get_file_path(translation)) as f:
-            for line in f.readlines():
-                
-                var = line.rstrip("\n").strip()
-                if var == "":
-                    continue
-                vtype, name = var.split(": ")
-                vtype, name = vtype.strip(), name.strip()
-                
-                self.var_names.add(name)
-                
-                for t in range(self.config.horizon):
-                    variables[(name, t)] = Variable.create_var(self.model, name, vtype, t, self.constants)
-                    var_type = variables[(name, t)].var_type
-                if var_type is VarType.STATE:
-                    variables[(name, self.config.horizon)] = Variable.create_var(self.model, name, vtype, self.config.horizon, self.constants)
+        for line in self.file_translations[translation]:
+            
+            var = line.rstrip("\n").strip()
+            if var == "":
+                continue
+            vtype, name = var.split(": ")
+            vtype, name = vtype.strip(), name.strip()
+            
+            self.var_names.add(name)
+            
+            for t in range(self.config.horizon):
+                variables[(name, t)] = Variable.create_var(self.model, name, vtype, t, self.constants)
+                var_type = variables[(name, t)].var_type
+            if var_type is VarType.STATE:
+                variables[(name, self.config.horizon)] = Variable.create_var(self.model, name, vtype, self.config.horizon, self.constants)
                     
         return variables
                 
@@ -111,24 +132,40 @@ class PlanModel:
             "instantaneous_constraints",
             "temporal_constraints",
             "goals",
-            "transitions"
+            "odes" if self.config.provide_sols is False else "transitions"
         ]
         translations: dict[str, list[str]] = {}
         for translation in translation_names:
             translations[translation] = []
             
-            with open(self.get_file_path(translation)) as f:
-                for line in f.readlines():
-                    expr = line.rstrip("\n").strip()
-                    # If line is empty don't append
-                    if expr == "":
-                        continue
-                    
-                    translations[translation].append(expr)
+            for line in self.file_translations[translation]:
+                expr = line.rstrip("\n").strip()
+                # If line is empty don't append
+                if expr == "":
+                    continue
+                
+                translations[translation].append(expr)
+
+        if self.config.provide_sols is False: 
+            self.ode_functions = self.solve_odes(translations["odes"])
+
+            translations["transitions"] = []
+            for func_name, func in self.ode_functions.items():
+                translations["transitions"].append((func_name + "_dash" + " == " + func))
             
+            del translations["odes"]
+            
+
         # Encode constraints into model
         for cons_idx, (translation, constraints) in enumerate(translations.items()):
             for idx, constraint in enumerate(constraints):
+                if (self.config.provide_sols is False) and (translation == "temporal_constraints"):
+                    # for func_name, func in self.ode_functions.items():
+                    #     constraint = constraint.replace(func_name, func)
+                    pattern = r"|".join(f"({func_name})" for func_name, func in self.ode_functions.items())
+                    constraint = re.sub(pattern, lambda x: self.ode_functions[x.group(0)], constraint)
+                    constraints[idx] = constraint
+                    
                 if translation == "initials":
                     exprs = PM(self.get_parser_params(horizon=0, add_aux_vars=True)).evaluate(constraint, horizon=0, expr_name=f"{translation}_{idx}_0")
                     
@@ -165,16 +202,15 @@ class PlanModel:
     def encode_reward(self):
         objectives = [None] * self.config.horizon
         translation = "reward"
-        with open(self.get_file_path(translation)) as f:
-            reward = f.readline().rstrip("\n")
-            for t in range(self.config.horizon):
-                objectives[t] = self.model.addVar(f"Obj_{t}", vtype="C", lb=None, ub=None)
-                # For the sake of similarity the reward is similar to constraint parsing, however, only one reward function is allowed
-                exprs = PM(self.get_parser_params(t)).evaluate(reward)
-                for expr_idx, expr in enumerate(exprs):
-                    self.model.addCons(objectives[t] == expr, f"Obj_{t}_{expr_idx}")
-                
-            self.model.setObjective(quicksum(objectives), "maximize")
+        reward = self.file_translations[translation][0]
+        for t in range(self.config.horizon):
+            objectives[t] = self.model.addVar(f"Obj_{t}", vtype="C", lb=None, ub=None)
+            # For the sake of similarity the reward is similar to constraint parsing, however, only one reward function is allowed
+            exprs = PM(self.get_parser_params(t)).evaluate(reward)
+            for expr_idx, expr in enumerate(exprs):
+                self.model.addCons(objectives[t] == expr, f"Obj_{t}_{expr_idx}")
+            
+        self.model.setObjective(quicksum(objectives), "maximize")
             
         return objectives
             
@@ -254,4 +290,47 @@ class PlanModel:
             return os.path.join(pkg_files_path, path)
         else:
             raise Exception("Unkown file name, please enter a configuration for a valid domain instance in translation: ")
-        
+        
+
+    def solve_odes(self, ode_system: list[str]) -> dict[str, str]:
+        dt_var = self.config.dt_var
+
+        dt = Symbol(dt_var)
+        # Used to represent constant variables
+        temp_var = Symbol("TEMP_VAR")
+
+        variables = {}
+        states = []
+
+        for var_name in self.var_names:
+            var = self.variables[(var_name, 0)]
+            if var.var_type is VarType.STATE:
+                states.append(var.name)
+                variables[var.name] = Function(var.name)(dt)
+            elif var.var_type is VarType.CONSTANT:
+                variables[var.name] = self.constants[var.name]
+            else: # the variable is an action or aux variable which is encoded as a function of some unused variable as workaround to not being able to use symbols for constants
+                variables[var.name] = Function(var.name)(temp_var)
+        
+        variables[dt_var] = dt
+        
+        system = []
+        for eqtn in ode_system:
+            lhs, rhs = eqtn.split("==")
+            lhs = parse_expr(lhs.strip(), local_dict=variables | {"dd": dd})
+            rhs = parse_expr(rhs.strip(), local_dict=variables | {"dd": dd})
+            system.append(Eq(lhs, rhs))
+        results = dsolve_system(system, ics={variables[state].subs(dt, 0): state for state in states})
+
+
+
+        functions: dict[str, str] = {}
+        for eqtn in results[0]:
+            new_eqtn = eqtn.doit()
+            func_name = new_eqtn.lhs.name.replace(f"({temp_var.name})", "").replace(f"({self.config.dt_var})", "_dash")
+            functions[func_name] = str(new_eqtn.rhs).replace(f"({temp_var.name})", "").replace(f"({self.config.dt_var})", "_dash")
+        
+        
+        return functions
+
+

scipplan/scipplan.py

@@ -46,6 +46,8 @@ class SCIPPlan:
     def optimize(self):
         iteration = 0
         
+        const_gen_aux_vars = [[None] * self.config.horizon for _ in range(len(self.plan.translations["temporal_constraints"]))]
+
         while True:
             self.scip_model.optimize()
             
@@ -80,10 +82,15 @@ class SCIPPlan:
             
             for idx, constraint in enumerate(self.plan.translations["temporal_constraints"]):
                 t = zero_cross.horizon
-                aux_vars = self.plan.aux_vars["temporal_constraints"][idx][t]
-                params = self.plan.get_parser_params(horizon=t)
+                # aux_vars = self.plan.aux_vars["temporal_constraints"][idx][t]
+                aux_vars = const_gen_aux_vars[idx][t]
+                # Only add aux vars if there are no aux vars added for the secific constraint
+                params = self.plan.get_parser_params(horizon=t, add_aux_vars=aux_vars is None)
                 params.variables[self.config.dt_var] *= zero_cross.coef
                 exprs = PM(params).evaluate(constraint, aux_vars=aux_vars)
+                if const_gen_aux_vars[idx][t] is None:
+                    const_gen_aux_vars[idx][t] = exprs.aux_vars
+                    
                 for eqtn_idx, eqtn in enumerate(exprs):
                     self.plan.model.addCons(eqtn, f"{constraint}_{idx}_{eqtn_idx}")
             
@@ -130,9 +137,10 @@ class SCIPPlan:
      
     @classmethod
     def solve(cls, config: Config) -> tuple[SCIPPlan, float]:
+        # Time total solve time including incrementing horizon
+        start_time = time.time()
         while True:
             model = SCIPPlan(config)
-            start_time = time.time()
             try:
                 print(f"Encoding the problem over horizon h={config.horizon}.")
                 print("Solving the problem.")
@@ -144,12 +152,21 @@ class SCIPPlan:
                 return model, solve_time 
                     
             
-            except InfeasibilityError:
+            except InfeasibilityError:    
+                if config.get_defaults().get("horizon") is False:
+                    print(f"Horizon of h={model.config.horizon} is infeasible.")
+
+                    solve_time = (time.time() - start_time)
+                    print(f"Total time: {solve_time:.3f}")
+
+                    raise InfeasibilityError
+                    
+                
                 # print("Problem is infeasible for the given horizon.")
-                print(f"Horizon of h={model.config.horizon} is infeasible, incrementing to h={model.config.horizon + 1}")
+                print(f"Horizon of h={model.config.horizon} is infeasible, incrementing to h={model.config.horizon + 1}.")
                 config.increment_horizon()
                 if config.show_output is True:
-                    print(f"Horizon Time: {(time.time() - start_time): .3f} seconds")
+                    print(f"Horizon Time: {(time.time() - start_time): .3f} seconds.")
         
 
     def save_values(self, iteration: int):
@@ -162,8 +179,11 @@ def main():
     print(f"PySCIPOpt Version: {version('pyscipopt')}\n")
     config = Config.get_config()
     print(config)
-  
-    plan, solve_time = SCIPPlan.solve(config)  
+    
+    try:
+        plan, solve_time = SCIPPlan.solve(config)  
+    except InfeasibilityError:
+        return None
     
     if config.save_sols is True:
         write_to_csv("new_constraints", plan.new_constraints, config)
@@ -185,9 +205,9 @@ def main():
         for action_name in action_names:
             if action_name == config.dt_var:
                 continue
-            print(f"{action_name} at step {step} by value {plan.scip_model.getVal(plan.plan.variables[(action_name, step)].model_var):.3f}")
+            print(f"{action_name} at step {step} by value {plan.scip_model.getVal(plan.plan.variables[(action_name, step)].model_var):.3f}.")
         
-        print(f"Dt at step {step} by value {plan.scip_model.getVal(plan.plan.variables[('Dt', step)].model_var):.3f} \n")
+        print(f"Dt at step {step} by value {plan.scip_model.getVal(plan.plan.variables[('Dt', step)].model_var):.3f}. \n")
     
     print(f"Total reward: {(plan.scip_model.getObjVal()):.3f}")
     print(f"Total time: {solve_time:.3f}")

scipplan/translation/odes_navigation_1.txt

@@ -0,0 +1,50 @@
+constants:
+Epsilon = config_epsilon
+bigM = config_bigM
+---
+pvariables:
+action_continuous: Accelerate_x
+action_continuous: Accelerate_y
+action_continuous: Dt
+state_continuous: Location_x
+state_continuous: Location_y
+state_continuous: Speed_x
+state_continuous: Speed_y
+---
+odes:
+dd(Location_x, Dt) == Speed_x
+dd(Location_y, Dt) == Speed_y
+dd(Speed_x, Dt) == Accelerate_x
+dd(Speed_y, Dt) == Accelerate_y
+---
+initials:
+Location_x == 0.0
+Location_y == 0.0
+Speed_x == 0.0
+Speed_y == 0.0
+---
+instantaneous_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+Accelerate_x <= 0.5
+Accelerate_y <= 0.5
+Accelerate_x >= -0.5
+Accelerate_y >= -0.5
+(Location_x <= 4.0) or (Location_x >= 6.0) or (Location_y <= 4.0) or (Location_y >= 6.0)
+---
+temporal_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+
+(Location_x <= 4.0) or (Location_x >= 6.0) or (Location_y <= 4.0) or (Location_y >= 6.0)
+---
+goals:
+Location_x == 8.0
+Location_y == 8.0
+---
+reward:
+-1.0*(Dt)

scipplan/translation/odes_navigation_2.txt

@@ -0,0 +1,51 @@
+constants:
+Epsilon = config_epsilon
+bigM = config_bigM
+---
+pvariables:
+action_continuous: Accelerate_x
+action_continuous: Accelerate_y
+action_continuous: Dt
+state_continuous: Location_x
+state_continuous: Location_y
+state_continuous: Speed_x
+state_continuous: Speed_y
+---
+odes:
+dd(Location_x, Dt) == Speed_x
+dd(Location_y, Dt) == Speed_y
+dd(Speed_x, Dt) == Accelerate_x
+dd(Speed_y, Dt) == Accelerate_y
+---
+initials:
+Location_x == 0.0
+Location_y == 0.0
+Speed_x == 0.0
+Speed_y == 0.0
+---
+instantaneous_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+Accelerate_x <= 0.5
+Accelerate_y <= 0.5
+Accelerate_x >= -0.5
+Accelerate_y >= -0.5
+(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 5.0)
+(Location_x <= 5.0) or (Location_x >= 7.0) or (Location_y <= 5.0) or (Location_y >= 9.0)
+---
+temporal_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 5.0)
+(Location_x <= 5.0) or (Location_x >= 7.0) or (Location_y <= 5.0) or (Location_y >= 9.0)
+---
+goals:
+Location_x == 8.0
+Location_y == 8.0
+---
+reward:
+-1.0*(Dt)

scipplan/translation/odes_navigation_3.txt

@@ -0,0 +1,53 @@
+constants:
+Epsilon = config_epsilon
+bigM = config_bigM
+---
+pvariables:
+action_continuous: Accelerate_x
+action_continuous: Accelerate_y
+action_continuous: Dt
+state_continuous: Location_x
+state_continuous: Location_y
+state_continuous: Speed_x
+state_continuous: Speed_y
+---
+odes:
+dd(Location_x, Dt) == Speed_x
+dd(Location_y, Dt) == Speed_y
+dd(Speed_x, Dt) == Accelerate_x
+dd(Speed_y, Dt) == Accelerate_y
+---
+initials:
+Location_x == 0.0
+Location_y == 0.0
+Speed_x == 0.0
+Speed_y == 0.0
+---
+instantaneous_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+Accelerate_x <= 0.5
+Accelerate_y <= 0.5
+Accelerate_x >= -0.5
+Accelerate_y >= -0.5
+(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 9.0)
+(Location_x <= 4.0) or (Location_x >= 7.0) or (Location_y <= 7.0) or (Location_y >= 9.0)
+(Location_x <= 4.0) or (Location_x >= 9.0) or (Location_y <= 2.0) or (Location_y >= 6.0)
+---
+temporal_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 9.0)
+(Location_x <= 4.0) or (Location_x >= 7.0) or (Location_y <= 7.0) or (Location_y >= 9.0)
+(Location_x <= 4.0) or (Location_x >= 9.0) or (Location_y <= 2.0) or (Location_y >= 6.0)
+---
+goals:
+Location_x == 8.0
+Location_y == 8.0
+---
+reward:
+-1.0*(Dt)

scipplan/translation/solutions_navigation_1.txt

@@ -0,0 +1,50 @@
+constants:
+Epsilon = config_epsilon
+bigM = config_bigM
+---
+pvariables:
+action_continuous: Accelerate_x
+action_continuous: Accelerate_y
+action_continuous: Dt
+state_continuous: Location_x
+state_continuous: Location_y
+state_continuous: Speed_x
+state_continuous: Speed_y
+---
+transitions:
+Location_x_dash - 1.0*Location_x - 1.0*Speed_x*(Dt) - 0.5*Accelerate_x*(Dt)*(Dt) == 0.0
+Location_y_dash - 1.0*Location_y - 1.0*Speed_y*(Dt) - 0.5*Accelerate_y*(Dt)*(Dt) == 0.0
+Speed_x_dash - 1.0*Speed_x - 1.0*Accelerate_x*(Dt) == 0.0
+Speed_y_dash - 1.0*Speed_y - 1.0*Accelerate_y*(Dt) == 0.0
+---
+initials:
+Location_x == 0.0
+Location_y == 0.0
+Speed_x == 0.0
+Speed_y == 0.0
+---
+instantaneous_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+Accelerate_x <= 0.5
+Accelerate_y <= 0.5
+Accelerate_x >= -0.5
+Accelerate_y >= -0.5
+(Location_x <= 4.0) or (Location_x >= 6.0) or (Location_y <= 4.0) or (Location_y >= 6.0)
+---
+temporal_constraints:
+Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 10.0
+Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 10.0
+Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 0.0
+Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 0.0
+
+(Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 4.0) or (Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 6.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 4.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 6.0)
+---
+goals:
+Location_x == 8.0
+Location_y == 8.0
+---
+reward:
+-1.0*(Dt)

scipplan/translation/solutions_navigation_2.txt

@@ -0,0 +1,51 @@
+constants:
+Epsilon = config_epsilon
+bigM = config_bigM
+---
+pvariables:
+action_continuous: Accelerate_x
+action_continuous: Accelerate_y
+action_continuous: Dt
+state_continuous: Location_x
+state_continuous: Location_y
+state_continuous: Speed_x
+state_continuous: Speed_y
+---
+transitions:
+Location_x_dash - 1.0*Location_x - 1.0*Speed_x*(Dt) - 0.5*Accelerate_x*(Dt)*(Dt) == 0.0
+Location_y_dash - 1.0*Location_y - 1.0*Speed_y*(Dt) - 0.5*Accelerate_y*(Dt)*(Dt) == 0.0
+Speed_x_dash - 1.0*Speed_x - 1.0*Accelerate_x*(Dt) == 0.0
+Speed_y_dash - 1.0*Speed_y - 1.0*Accelerate_y*(Dt) == 0.0
+---
+initials:
+Location_x == 0.0
+Location_y == 0.0
+Speed_x == 0.0
+Speed_y == 0.0
+---
+instantaneous_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+Accelerate_x <= 0.5
+Accelerate_y <= 0.5
+Accelerate_x >= -0.5
+Accelerate_y >= -0.5
+(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 5.0)
+(Location_x <= 5.0) or (Location_x >= 7.0) or (Location_y <= 5.0) or (Location_y >= 9.0)
+---
+temporal_constraints:
+Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 10.0
+Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 10.0
+Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 0.0
+Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 0.0
+(Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 2.0) or (Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 4.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 1.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 5.0)
+(Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 5.0) or (Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 7.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 5.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 9.0)
+---
+goals:
+Location_x == 8.0
+Location_y == 8.0
+---
+reward:
+-1.0*(Dt)

scipplan/translation/solutions_navigation_3.txt

@@ -0,0 +1,53 @@
+constants:
+Epsilon = config_epsilon
+bigM = config_bigM
+---
+pvariables:
+action_continuous: Accelerate_x
+action_continuous: Accelerate_y
+action_continuous: Dt
+state_continuous: Location_x
+state_continuous: Location_y
+state_continuous: Speed_x
+state_continuous: Speed_y
+---
+transitions:
+Location_x_dash - 1.0*Location_x - 1.0*Speed_x*(Dt) - 0.5*Accelerate_x*(Dt)*(Dt) == 0.0
+Location_y_dash - 1.0*Location_y - 1.0*Speed_y*(Dt) - 0.5*Accelerate_y*(Dt)*(Dt) == 0.0
+Speed_x_dash - 1.0*Speed_x - 1.0*Accelerate_x*(Dt) == 0.0
+Speed_y_dash - 1.0*Speed_y - 1.0*Accelerate_y*(Dt) == 0.0
+---
+initials:
+Location_x == 0.0
+Location_y == 0.0
+Speed_x == 0.0
+Speed_y == 0.0
+---
+instantaneous_constraints:
+Location_x <= 10.0
+Location_y <= 10.0
+Location_x >= 0.0
+Location_y >= 0.0
+Accelerate_x <= 0.5
+Accelerate_y <= 0.5
+Accelerate_x >= -0.5
+Accelerate_y >= -0.5
+(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 9.0)
+(Location_x <= 4.0) or (Location_x >= 7.0) or (Location_y <= 7.0) or (Location_y >= 9.0)
+(Location_x <= 4.0) or (Location_x >= 9.0) or (Location_y <= 2.0) or (Location_y >= 6.0)
+---
+temporal_constraints:
+Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 10.0
+Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 10.0
+Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 0.0
+Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 0.0
+(Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 2.0) or (Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 4.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 1.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 9.0)
+(Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 4.0) or (Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 7.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 7.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 9.0)
+(Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) <= 4.0) or (Location_x + Speed_x*(Dt) + 0.5*Accelerate_x*(Dt)*(Dt) >= 9.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) <= 2.0) or (Location_y + Speed_y*(Dt) + 0.5*Accelerate_y*(Dt)*(Dt) >= 6.0)
+---
+goals:
+Location_x == 8.0
+Location_y == 8.0
+---
+reward:
+-1.0*(Dt)

{scipplan-0.1.0a1.dist-info → scipplan-0.2.0a2.dist-info}/METADATA

@@ -1,9 +1,9 @@
 Metadata-Version: 2.1
 Name: scipplan
-Version: 0.1.0a1
+Version: 0.2.0a2
 Summary: Metric Hybrid Factored Planning in Nonlinear Domains with Constraint Generation in Python.
 Author: Ari Gestetner, Buser Say
-Author-email: ages0001@student.monash.edu, buser.say@monash.edu
+Author-email: ari.gestetner@monash.edu, buser.say@monash.edu
 License: MIT License
 Keywords: scip,automated planner
 Classifier: Development Status :: 3 - Alpha
@@ -16,6 +16,8 @@ Classifier: Programming Language :: Python :: 3
 Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
 Description-Content-Type: text/markdown
 License-File: LICENSE
+Requires-Dist: PySCIPOpt ==5.2.1
+Requires-Dist: sympy ==1.13.3
 
 # SCIPPlan
 

{scipplan-0.1.0a1.dist-info → scipplan-0.2.0a2.dist-info}/RECORD

@@ -1,9 +1,9 @@
-scipplan/__init__.py,sha256=UDxjLI2ncrtalcFrRMmLy7c097VACESqS51ELRaQpwY,196
-scipplan/config.py,sha256=wMu8jimLX9Bo4Y4rQ7NbhF5_ah3celnEaQOcrrUF9kk,5136
-scipplan/helpers.py,sha256=YwEr0NeDvb29_Ot686km3ZMJ-vHu-L8zjuexmlKDjpY,974
+scipplan/__init__.py,sha256=ixsTY7OH5FwbQyfs19fKu0-LtwjJgvw62l0VyFuQats,195
+scipplan/config.py,sha256=Ojs_pdjhwRuANPJcGyb3m5mMGqbTZkHuNvppd_Wd4FQ,5615
+scipplan/helpers.py,sha256=YmS0HPQymsO5_e3jK7WQ-hBRZnxoZtewLhuzubw5sR4,975
 scipplan/parse_model.py,sha256=-vssLQZHbXxkoiHjTHD-ZxY2h0w9LvGuJZXSd4RZvlM,9564
-scipplan/plan_model.py,sha256=daHnVHn2e89OtXXMl63QEoeKGOmy_LwT2oCRTjUUlKQ,11145
-scipplan/scipplan.py,sha256=aoHXP4YhYn9IAY4N2ZKQGgzKTG1tDEC_TpVctnO307k,7741
+scipplan/plan_model.py,sha256=6siDOhLkjJeibXhJh9PGocOjRQOZcSk_x5ZzeW6IrzA,14258
+scipplan/scipplan.py,sha256=Ykz_L0f2dyX4-EQB1iCH-QR3waVUwxKzgskdQeUP9nE,8675
 scipplan/variables.py,sha256=3sxY3zQuxsa5z2fTFjv4zOSb9GarzojZ4W4kIx9FX68,2561
 scipplan/zero_crossing.py,sha256=kGyJsWZLLXqLW1p3LPDlPC34rTkFF8daDzqgbEcaXus,1043
 scipplan/translation/constants_navigation_1.txt,sha256=X0jvJe5MiwvayKBVXo9TQlGZGfUlpnFpMiReL68rsXc,43
@@ -18,21 +18,27 @@ scipplan/translation/initials_navigation_3.txt,sha256=s7ukUEHwcmMsey1bHCRJh515PL
 scipplan/translation/instantaneous_constraints_navigation_1.txt,sha256=WbITeszv_n93_BhE2eiNqFPAZVO4f2s44KcKUsNURyA,244
 scipplan/translation/instantaneous_constraints_navigation_2.txt,sha256=e5YdZn3OKLJh0kEiCNqpOgxgAAQxIHMB3J5OTYvPlgw,333
 scipplan/translation/instantaneous_constraints_navigation_3.txt,sha256=HnzfFntGIQ0WIMnEfcYPg1cy7u9dJn3xuYqdXZVFFvE,422
+scipplan/translation/odes_navigation_1.txt,sha256=Uv13eTSTvURb6TtY7rq-otlpJMS8cQDYSyaO3X2_SRs,1015
+scipplan/translation/odes_navigation_2.txt,sha256=DcbpXv-q0NP8Tx10YKqD6425esblgPNlTxchkyWMJAc,1192
+scipplan/translation/odes_navigation_3.txt,sha256=ZFTyFEiL1KP0yxOCOzOSoXz9dXulRmtXDBnfZqaVbaE,1370
 scipplan/translation/pvariables_navigation_1.txt,sha256=97t5uPWAWKmtbDPJZIor5nn5qPU6aMcGdpLAuKnlDbQ,217
 scipplan/translation/pvariables_navigation_2.txt,sha256=lGUNN04bC-CJFTThNC3dwP9kU2xGftSshx-24I6zlZw,216
 scipplan/translation/pvariables_navigation_3.txt,sha256=1-yvM5BSJ5TXBlHkMbcXWd5zoc2ezSBpIIuM_zwEXSo,216
 scipplan/translation/reward_navigation_1.txt,sha256=dvR0CkxkWRbO3wP0fenXDSDMpueEUtSUqw990UnCcJY,26
 scipplan/translation/reward_navigation_2.txt,sha256=ck6uUGNhM_DWiG1hHN6_xTps1muychzqTOpz1iLF9bk,26
 scipplan/translation/reward_navigation_3.txt,sha256=O8unFCIySCz4GCBX_9mQcm-JMn5Ur6upp3HBbA4e_C8,22
+scipplan/translation/solutions_navigation_1.txt,sha256=5iLPRtJXqfAXi0QG-3WPtKn8t0pH4-E2AtNp8-7k1CQ,1542
+scipplan/translation/solutions_navigation_2.txt,sha256=b1c74m54iRCcZoe8uqquUQyn6HtRTiFqIA8ss2mZUdg,1895
+scipplan/translation/solutions_navigation_3.txt,sha256=Jv3bzMt84LVyR1DSVJ5B8Ky9id_khZ1PxZ1s3QPKpk8,2249
 scipplan/translation/temporal_constraints_navigation_1.txt,sha256=h06iRA5TDr6R5XdjhEyYnZ3f-FQwUkbKGNw-t0k0jm8,875
 scipplan/translation/temporal_constraints_navigation_2.txt,sha256=x73dbxxb_YzvdvtVNaJfG-S9ggf-yqTYdoU6NiDQBqk,1319
 scipplan/translation/temporal_constraints_navigation_3.txt,sha256=Ki4nAX9-QtBbY9ZdHwHdqta8JQoLrAVvlZrLa1pWLnQ,1668
 scipplan/translation/transitions_navigation_1.txt,sha256=kfnr3_A9mCfflLsL4aq7OeR_BHSNST6eYuAg4ZxaPoU,411
 scipplan/translation/transitions_navigation_2.txt,sha256=kfnr3_A9mCfflLsL4aq7OeR_BHSNST6eYuAg4ZxaPoU,411
 scipplan/translation/transitions_navigation_3.txt,sha256=aIPP3FOjXZ3G6sTqicEIZ0JKJxdxHCRRZIdc5bUPFBM,395
-scipplan-0.1.0a1.dist-info/LICENSE,sha256=tfR4peJA8KJtYEn1NzNV-LWQVRAserdq7OJgYghreR0,1057
-scipplan-0.1.0a1.dist-info/METADATA,sha256=_mgsJkFO6gqiLO7b76i79d4sCbj-SD-XjNpgllWYeXk,11236
-scipplan-0.1.0a1.dist-info/WHEEL,sha256=-G_t0oGuE7UD0DrSpVZnq1hHMBV9DD2XkS5v7XpmTnk,110
-scipplan-0.1.0a1.dist-info/entry_points.txt,sha256=3qiNbbp6qIwivyPmmikyp7ByCfmsa9rGFNJPcN9Is8I,52
-scipplan-0.1.0a1.dist-info/top_level.txt,sha256=xO2FLRn7YQ-C25E8lagIEbik5T5FTr-Ta5bdiZezEPY,9
-scipplan-0.1.0a1.dist-info/RECORD,,
+scipplan-0.2.0a2.dist-info/LICENSE,sha256=tfR4peJA8KJtYEn1NzNV-LWQVRAserdq7OJgYghreR0,1057
+scipplan-0.2.0a2.dist-info/METADATA,sha256=z5n-lnRohnGouOC9IYge-rjf0EDnqYwRhwLZ_D8L9NU,11296
+scipplan-0.2.0a2.dist-info/WHEEL,sha256=-G_t0oGuE7UD0DrSpVZnq1hHMBV9DD2XkS5v7XpmTnk,110
+scipplan-0.2.0a2.dist-info/entry_points.txt,sha256=3qiNbbp6qIwivyPmmikyp7ByCfmsa9rGFNJPcN9Is8I,52
+scipplan-0.2.0a2.dist-info/top_level.txt,sha256=xO2FLRn7YQ-C25E8lagIEbik5T5FTr-Ta5bdiZezEPY,9
+scipplan-0.2.0a2.dist-info/RECORD,,