scipplan 0.1.0a2__py2.py3-none-any.whl → 0.1.1a0__py2.py3-none-any.whl

scipplan/__init__.py

@@ -1,4 +1,4 @@
-__version__ = "0.1.0alpha2"
+__version__ = "0.1.1alpha0"
 print(f"SCIPPlan Version: {__version__}")
 __release__ = "v0.1.0"
 __author__ = "Ari Gestetner, Buser Say"

scipplan/parse_model.py

@@ -10,13 +10,68 @@ from math import exp, log, sqrt, sin, cos, isclose
 
 from pyscipopt.scip import Model, SumExpr
 
-def switch_comparator(comparator):
-    if isinstance(comparator, ast.Eq): return ast.NotEq()
-    if isinstance(comparator, ast.NotEq): return ast.Eq()
-    if isinstance(comparator, ast.Lt): return ast.Gt()
-    if isinstance(comparator, ast.LtE): return ast.GtE()
-    if isinstance(comparator, ast.Gt): return ast.Lt()
-    if isinstance(comparator, ast.GtE): return ast.LtE()
+
+def linearise(expr: ast.Compare, aux_var: Variable) -> tuple[ast.Compare, ast.Compare]:
+    """linearise
+    This function linearises an inequality using an auxilary variable
+    
+    The linearisation process is as follows.
+    If the expression is of the form of E1 <= E2, then we linearise by using the following expressions.
+    z=0 ==> E1 <= E2 and z=1 ==> E1 > E2 (equivalent to E1 >= E2 + feastol). This is then equivalent to,
+    E2 + feastol - M + z*M <= E1 <= E2 + zM.
+    
+    Similarly, for E1 < E2 we have z=0 ==> E1 < E2 which is equivalent to E1 <= E2 - feastol + z*M 
+    and z=1 ==> E1 >= E2.
+    Thus for E1 < E2 we have,
+    E2 + z*M - M <= E1 <= E2 + z*M - feastol.
+    
+    If, however, the inequality is of the form of E1 >= E2 then we evaluate the expression, E2 <= E1.
+    Similarly, if the expression is E1 > E2 then we evaluate the expression E2 < E1.
+    
+    :param expr: An inequality expression which is linearised.
+    :type expr: ast.Compare
+    :param aux_var: An auxiliary variable used when linearising the inequality to determine if the expression is true or false.
+    :type aux_var: Variable
+    :raises ValueError: If expr is not a valid inequality (i.e. doesn't use <, <=, > and >=)
+    :return: both the linearised inequalities
+    :rtype: tuple[ast.Compare, ast.Compare]
+    """
+    if not isinstance(expr.ops[0], (ast.Lt, ast.LtE, ast.Gt, ast.GtE)):
+        raise ValueError("Only <, <=, > or >= are allowed")
+    if isinstance(expr.ops[0], ast.GtE):
+        expr.left, expr.comparators[0] = expr.comparators[0], expr.left
+        expr.ops[0] = ast.LtE()
+    if isinstance(expr.ops[0], ast.Gt):
+        expr.left, expr.comparators[0] = expr.comparators[0], expr.left
+        expr.ops[0] = ast.Lt()
+    
+    if isinstance(expr.ops[0], ast.LtE):
+        lhs = ast.BinOp(
+            left=expr.comparators[0], 
+            op=ast.Add(), 
+            right=ast.parse(f"feastol - bigM + {aux_var.name} * bigM").body[0].value
+        )
+        rhs = ast.BinOp(
+            left=expr.comparators[0], 
+            op=ast.Add(), 
+            right=ast.parse(f"{aux_var.name} * bigM").body[0].value
+        )
+    if isinstance(expr.ops[0], ast.Lt):
+        lhs = ast.BinOp(
+            left=expr.comparators[0], 
+            op=ast.Add(), 
+            right=ast.parse(f"{aux_var.name} * bigM - bigM").body[0].value
+        )
+        rhs = ast.BinOp(
+            left=expr.comparators[0], 
+            op=ast.Add(), 
+            right=ast.parse(f"{aux_var.name} * bigM - feastol").body[0].value
+        )
+    expr1 = ast.Compare(lhs, [ast.LtE()], [expr.left])
+    expr2 = ast.Compare(expr.left, [ast.LtE()], [rhs])
+    return expr1, expr2
+    
+
 
 @dataclass
 class Expressions:
@@ -37,8 +92,8 @@ class Expressions:
 
 class ParserType(Enum):
     """ParserType
-    "enum type CALCULATOR: Used to calculate using feastol
-    "enum type PARSER: Used to parse an expression and create the correct minlp constraints
+    enum type CALCULATOR: Used to calculate using feastol
+    enum type PARSER: Used to parse an expression and create the correct minlp constraints
     """
     CALCULATOR = "calculator"
     PARSER = "parser"
@@ -152,22 +207,11 @@ class ParseModel:
                             aux_vars.append(aux_var)
                             self.variables[aux_var.name] = aux_var.model_var
                             
-                            expr.left = ast.BinOp(
-                                left=expr.left, 
-                                op=(ast.Add() if isinstance(expr.ops[0], (ast.Gt, ast.GtE)) else ast.Sub()), 
-                                right=ast.parse(f"bigM * {aux_var.name}").body[0].value
-                            )
-                            self.expressions.add_expressions(self.evaluate(expr))
+                            expr1, expr2 = linearise(expr, aux_var)
                             
-                            expr.ops[0] = switch_comparator(expr.ops[0])
-                            
-                            expr.comparators[0] = ast.BinOp(
-                                left=expr.comparators[0], 
-                                op=(ast.Add() if isinstance(expr.ops[0], (ast.Gt, ast.GtE)) else ast.Sub()), 
-                                right=ast.parse(f"feastol - bigM").body[0].value
-                            )
-                            
-                            self.expressions.add_expressions(self.evaluate(expr))
+                            self.expressions.add_expressions(self.evaluate(expr1))
+                            self.expressions.add_expressions(self.evaluate(expr2))
+
                         else:
                             raise Exception("or expressions may only be made up of inequalities")
                     lhs = SumExpr()

scipplan/plan_model.py

@@ -95,12 +95,17 @@ class PlanModel:
                 
                 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)
-                    
+                if vtype.startswith("global"):
+                    var = Variable.create_var(self.model, name, vtype, "global", self.constants)
+                    for t in range(self.config.horizon + 1):
+                        variables[(name, t)] = var
+                else:
+                    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
                 
          

{scipplan-0.1.0a2.dist-info → scipplan-0.1.1a0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: scipplan
-Version: 0.1.0a2
+Version: 0.1.1a0
 Summary: Metric Hybrid Factored Planning in Nonlinear Domains with Constraint Generation in Python.
 Author: Ari Gestetner, Buser Say
 Author-email: ari.gestetner@monash.edu, buser.say@monash.edu
@@ -121,13 +121,17 @@ state_continuous: Location_x
 state_continuous: Location_y
 state_continuous: Speed_x
 state_continuous: Speed_y
+global_boolean: aux_1
 ```
-where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - sign like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
+where the variable and value type of the variable is set in the format "{variable type}_{value type}" and the variable itself has to be in a Python compatible format (e.g. variables can't use - symbol like `some-var` but can use _ like `some_var` as well as the dash sign ' cannot be used). The use of next state variables which is often written using the dash symbol will be explained further in the Transitions section.  
 Additionally a variable for Dt has to be defined and has to be the same as the dt_var in the config object so if you would like to use a different variable name for Dt (e.g. dt) please also ensure you add it to the config via the `--dt-var` tag or the `dt_var` parameter.  
+The variable type `global` is used when you would like a non state variable to be equal over every time step over the horizon (e.g. if $v_t$ is a variable at time $t$ and $H$ is the horizon, then $v_1 = v_2 = \dots = v_{H+1}$).  
+
 The available variable types are
 - state
 - action
 - auxiliary
+- global
 
 The available value types are 
 - continuos
@@ -144,7 +148,7 @@ Location_y == 0.0
 Speed_x == 0.0
 Speed_y == 0.0
 ```
-notice te use of teh constant value defined earlier in the constants file.
+notice the use of the constant value defined earlier in the constants file.
 ### Goals
 The goals file should encode the final state values such that t=H+1, for example
 ```txt

{scipplan-0.1.0a2.dist-info → scipplan-0.1.1a0.dist-info}/RECORD

@@ -1,8 +1,8 @@
-scipplan/__init__.py,sha256=jClOsjTAC0gEL9LxLj39i7JJf5UcYhIofSUwQKwZnag,193
+scipplan/__init__.py,sha256=uKbPGbRV0K1aJ2e2_4MzHKuJxn36vtQ7yx5CqTL5Jsk,193
 scipplan/config.py,sha256=0D6UcLjrv4PTjYRiPoIYXAsRu4nwcaOIWnsI4lAdK6Y,5221
 scipplan/helpers.py,sha256=YwEr0NeDvb29_Ot686km3ZMJ-vHu-L8zjuexmlKDjpY,974
-scipplan/parse_model.py,sha256=-vssLQZHbXxkoiHjTHD-ZxY2h0w9LvGuJZXSd4RZvlM,9564
-scipplan/plan_model.py,sha256=daHnVHn2e89OtXXMl63QEoeKGOmy_LwT2oCRTjUUlKQ,11145
+scipplan/parse_model.py,sha256=CI_38xmaiVr8DuOi3UdNrVqWHTdW6qm_5luwLZxIk9I,11136
+scipplan/plan_model.py,sha256=Zr2NdoSTXkgqpnPVoNvGMjSyNDEJ2ql6_OYIQJGO_E0,11423
 scipplan/scipplan.py,sha256=z6cuRug4amCg6LU7S4RYHcV6uT3vWLHYGRh9OXFkKoU,8225
 scipplan/variables.py,sha256=3sxY3zQuxsa5z2fTFjv4zOSb9GarzojZ4W4kIx9FX68,2561
 scipplan/zero_crossing.py,sha256=kGyJsWZLLXqLW1p3LPDlPC34rTkFF8daDzqgbEcaXus,1043
@@ -30,9 +30,9 @@ scipplan/translation/temporal_constraints_navigation_3.txt,sha256=Ki4nAX9-QtBbY9
 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-0.1.0a2.dist-info/LICENSE,sha256=tfR4peJA8KJtYEn1NzNV-LWQVRAserdq7OJgYghreR0,1057
-scipplan-0.1.0a2.dist-info/METADATA,sha256=MUXEq6y_8mBhdIUWVA9qUtfJof6yRVD70AWe9Wml_1s,11233
-scipplan-0.1.0a2.dist-info/WHEEL,sha256=-G_t0oGuE7UD0DrSpVZnq1hHMBV9DD2XkS5v7XpmTnk,110
-scipplan-0.1.0a2.dist-info/entry_points.txt,sha256=3qiNbbp6qIwivyPmmikyp7ByCfmsa9rGFNJPcN9Is8I,52
-scipplan-0.1.0a2.dist-info/top_level.txt,sha256=xO2FLRn7YQ-C25E8lagIEbik5T5FTr-Ta5bdiZezEPY,9
-scipplan-0.1.0a2.dist-info/RECORD,,
+scipplan-0.1.1a0.dist-info/LICENSE,sha256=tfR4peJA8KJtYEn1NzNV-LWQVRAserdq7OJgYghreR0,1057
+scipplan-0.1.1a0.dist-info/METADATA,sha256=QSfZ3QemoqT9M0GeUeBV4s5zdi5N5TozOt4iKQmqO8M,11498
+scipplan-0.1.1a0.dist-info/WHEEL,sha256=-G_t0oGuE7UD0DrSpVZnq1hHMBV9DD2XkS5v7XpmTnk,110
+scipplan-0.1.1a0.dist-info/entry_points.txt,sha256=3qiNbbp6qIwivyPmmikyp7ByCfmsa9rGFNJPcN9Is8I,52
+scipplan-0.1.1a0.dist-info/top_level.txt,sha256=xO2FLRn7YQ-C25E8lagIEbik5T5FTr-Ta5bdiZezEPY,9
+scipplan-0.1.1a0.dist-info/RECORD,,