diff --git a/setup.py b/setup.py
index a827ce14a8c425ea2095437f67ef0339dd7d9f3b..b40e6e4e0447c6dbc5a86944d6f06df19e820a88 100644
--- a/setup.py
+++ b/setup.py
@@ -8,33 +8,34 @@ setup(
author='Yangge Li, Katherine Braught, Haoqing Zhu',
maintainer='Yangge Li, Katherine Braught, Haoqing Zhu',
maintainer_email='{li213, braught2, haoqing3}@illinois.edu',
- license='Apache-2.0',
packages=find_packages(exclude=["tests", "demo"]),
python_requires='>=3.8',
install_requires=[
- "numpy~=1.22.1",
- "scipy~=1.8.1",
- "matplotlib~=3.4.2",
- "polytope~=0.2.3",
- "pyvista~=0.32.1",
- "networkx~=2.2",
- "sympy~=1.6.2",
- "six~=1.14.0",
- "astunparse~=1.6.3",
- "treelib~=1.6.1",
- "z3-solver~=4.8.17.0",
- "igraph~=0.9.10",
- "plotly~=5.8.0",
- "beautifulsoup4~=4.11.1",
- "lxml~=4.9.1",
+ "numpy",
+ "scipy",
+ "matplotlib",
+ "polytope",
+ "pyvista",
+ "networkx",
+ "sympy",
+ "six",
+ "astunparse",
+ "treelib",
+ "z3-solver",
+ "igraph",
+ "plotly",
+ "beautifulsoup4",
+ "lxml",
"torch",
- "tqdm"
+ "tqdm",
+ "intervaltree",
+ "Pympler"
+ "nbformat",
],
classifiers=[
'Development Status :: 2 - Pre-Alpha',
'Intended Audience :: Science/Research',
'Topic :: Scientific/Engineering',
- 'License :: OSI Approved :: Apache License 2.0',
'Programming Language :: Python :: 3.8',
]
)
diff --git a/tutorial/Verse_Tutorial.ipynb b/tutorial/Verse_Tutorial.ipynb
index 146ca1abbe2f2779259335fa6ead2835abe195dc..bd804b60da6c091a3c061aeee7ff7ac0da993647 100644
--- a/tutorial/Verse_Tutorial.ipynb
+++ b/tutorial/Verse_Tutorial.ipynb
@@ -145,9 +145,8 @@
"metadata": {},
"outputs": [],
"source": [
- "dl = In[2]+\"\\n\"+In[3]+\"\\n\" + In[4]\n",
"from tutorial_agent import Agent1\n",
- "car = Agent1('car', code=dl)"
+ "car = Agent1('car', file_name=\"dl_sec1.py\")"
]
},
{
@@ -367,16 +366,6 @@
" return output"
]
},
- {
- "cell_type": "code",
- "execution_count": null,
- "id": "cb17f4b1",
- "metadata": {},
- "outputs": [],
- "source": [
- "dl = In[12]+\"\\n\"+In[13]"
- ]
- },
{
"cell_type": "markdown",
"id": "7c927d21",
@@ -393,9 +382,9 @@
"outputs": [],
"source": [
"from tutorial_agent import Agent1\n",
- "car1 = Agent1('car1', code=dl)\n",
+ "car1 = Agent1('car1', file_name=\"dl_sec2.py\")\n",
"car1.set_initial([[0,-0.5,0,2],[1,0.5,0,2]], (AgentMode.Normal, TrackMode.T0))\n",
- "car2 = Agent1('car2', code=dl)\n",
+ "car2 = Agent1('car2', file_name=\"dl_sec2.py\")\n",
"car2.set_initial([[15,-0.5,0,1],[16,0.5,0,1]], (AgentMode.Normal, TrackMode.T0))"
]
},
@@ -563,16 +552,6 @@
" return output"
]
},
- {
- "cell_type": "code",
- "execution_count": null,
- "id": "ab2fa45a",
- "metadata": {},
- "outputs": [],
- "source": [
- "dl = In[21]+\"\\n\"+In[22]"
- ]
- },
{
"cell_type": "markdown",
"id": "361154ca",
@@ -589,9 +568,9 @@
"outputs": [],
"source": [
"from tutorial_agent import Agent1\n",
- "car1 = Agent1('car1', code=dl)\n",
+ "car1 = Agent1('car1', file_name=\"dl_sec3.py\")\n",
"car1.set_initial([[0,-0.5,0,2],[1,0.5,0,2]], (AgentMode.Normal, TrackMode.T0))\n",
- "car2 = Agent1('car2', code=dl)\n",
+ "car2 = Agent1('car2', file_name=\"dl_sec3.py\")\n",
"car2.set_initial([[15,-0.5,0,1],[16,0.5,0,1]], (AgentMode.Normal, TrackMode.T0))\n",
"scenario.add_agent(car1)\n",
"scenario.add_agent(car2)\n",
@@ -756,9 +735,11 @@
}
],
"metadata": {
+ "interpreter": {
+ "hash": "04a7a195f934deca871ac715d77171c6df8c591438a5013fd2b54f1822da2e09"
+ },
"kernelspec": {
- "display_name": "Python 3 (ipykernel)",
- "language": "python",
+ "display_name": "Python 3.8.10 64-bit ('venv': venv)",
"name": "python3"
},
"language_info": {
diff --git a/tutorial/dl_sec1.py b/tutorial/dl_sec1.py
new file mode 100644
index 0000000000000000000000000000000000000000..15aab7d1878f8b99803230dec5d538637b4c153e
--- /dev/null
+++ b/tutorial/dl_sec1.py
@@ -0,0 +1,27 @@
+from enum import Enum, auto
+
+class AgentMode(Enum):
+ Normal = auto()
+ Brake = auto()
+
+class TrackMode(Enum):
+ T0 = auto()
+
+class State:
+ x:float
+ y:float
+ theta:float
+ v:float
+ agent_mode:AgentMode
+ track_mode:TrackMode
+
+ def __init__(self, x, y, theta, v, agent_mode: AgentMode, track_mode: TrackMode):
+ pass
+
+import copy
+def decisionLogic(ego:State, track_map):
+ output = copy.deepcopy(ego)
+ if ego.agent_mode == AgentMode.Normal:
+ if ego.x > 10:
+ output.agent_mode = AgentMode.Brake
+ return output
\ No newline at end of file
diff --git a/tutorial/dl_sec2.py b/tutorial/dl_sec2.py
new file mode 100644
index 0000000000000000000000000000000000000000..954b280ebcd95e9230181240c846abfebac4317b
--- /dev/null
+++ b/tutorial/dl_sec2.py
@@ -0,0 +1,28 @@
+from enum import Enum, auto
+
+class AgentMode(Enum):
+ Normal = auto()
+ Brake = auto()
+
+class TrackMode(Enum):
+ T0 = auto()
+
+class State:
+ x:float
+ y:float
+ theta:float
+ v:float
+ agent_mode:AgentMode
+ track_mode:TrackMode
+
+ def __init__(self, x, y, theta, v, agent_mode: AgentMode, track_mode: TrackMode):
+ pass
+
+from typing import List
+import copy
+def decisionLogic(ego:State, others: List[State], track_map):
+ output = copy.deepcopy(ego)
+ if ego.agent_mode == AgentMode.Normal:
+ if any( other.x-ego.x< 8 and other.x-ego.x>0 for other in others):
+ output.agent_mode = AgentMode.Brake
+ return output
\ No newline at end of file
diff --git a/tutorial/dl_sec3.py b/tutorial/dl_sec3.py
new file mode 100644
index 0000000000000000000000000000000000000000..3e5f72481d0ac9cdd21e48f5ce37566ad08f0218
--- /dev/null
+++ b/tutorial/dl_sec3.py
@@ -0,0 +1,33 @@
+from enum import Enum, auto
+
+class AgentMode(Enum):
+ Normal = auto()
+ Brake = auto()
+
+class TrackMode(Enum):
+ T0 = auto()
+
+class State:
+ x:float
+ y:float
+ theta:float
+ v:float
+ agent_mode:AgentMode
+ track_mode:TrackMode
+
+ def __init__(self, x, y, theta, v, agent_mode: AgentMode, track_mode: TrackMode):
+ pass
+
+from typing import List
+import copy
+def decisionLogic(ego:State, others: List[State], track_map):
+ output = copy.deepcopy(ego)
+ if ego.agent_mode == AgentMode.Normal:
+ if any( other.x-ego.x< 8 and other.x-ego.x>0 for other in others):
+ output.agent_mode = AgentMode.Brake
+
+ ### Adding safety assertions
+ assert not any(other.x-ego.x<1.0 and other.x-ego.x>-1.0 for other in others), 'Seperation'
+ ##########
+
+ return output
\ No newline at end of file
diff --git a/verse/analysis/verifier.py b/verse/analysis/verifier.py
index 737312ef0c49c73bfd3f5ccbf6d6b8da50527001..6684e6f89e502ae760193b2af59514757d9eff91 100644
--- a/verse/analysis/verifier.py
+++ b/verse/analysis/verifier.py
@@ -10,7 +10,6 @@ import numpy as np
from verse.analysis.analysis_tree import AnalysisTreeNode, AnalysisTree
from verse.analysis.dryvr import calc_bloated_tube, SIMTRACENUM
from verse.analysis.mixmonotone import calculate_bloated_tube_mixmono_cont, calculate_bloated_tube_mixmono_disc
-from verse.analysis.NeuReach.NeuReach_onestep_rect import postCont
from verse.analysis.incremental import ReachTubeCache, TubeCache, convert_reach_trans, to_simulate, combine_all
from verse.analysis.utils import dedup
from verse.parser.parser import find
@@ -193,6 +192,7 @@ class Verifier:
lane_map = lane_map
)
elif reachability_method == "NeuReach":
+ from verse.analysis.NeuReach.NeuReach_onestep_rect import postCont
cur_bloated_tube = postCont(
mode,
inits[0],