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Visualization

We also provide user-friendly and flexible API for interactive visualization. 2D and 3D visualization sharing same API plot, different mode only depends on valid input specified dimensions for visualization. Following two demos demonstrate very basic usage of this API.

Example​

examples/example_visualization.py
import numpy as np
from pyrat.algorithm import HSCC2013
from pyrat.dynamic_system import NonLinSys
from pyrat.geometry import Geometry, Zonotope, cvt2, PolyZonotope
from pyrat.model import *
from pyrat.util.visualization import plot

# init dynamic system
system = NonLinSys.Entity(VanDerPol())

# settings for the computation
options = HSCC2013.Options()
options.t_end = 6.74
options.step = 0.005
options.taylor_terms = 4
options.tensor_order = 3
options.r0 = [Zonotope([1.4, 2.4], np.diag([0.17, 0.06]))]
options.u = Zonotope.zero(1, 1)
options.u_trans = np.zeros(1)

# settings for using Zonotope
Zonotope.ORDER = 50
Zonotope.INTERMEDIATE_ORDER = 50
Zonotope.ERROR_ORDER = 20

# reachable sets
reachable = HSCC2013.reach(system, options)

Once the computation completed, the reachable sets returned as Reachable container.

2D visualization​

example/example_visualzation.py
#...
reachable = HSCC2013.reach(system, options)
plot(reachable,[0,1])

3D visualization​

example/example_visualzation.py
#...
reachable = HSCC2013.reach(system, options)
plot(reachable,[0,1,2])

References​