added method to just consider XY for restriction formulas

rom_evaluate.py

@@ -203,6 +203,20 @@ def clusterFormula(cluster):
 
     return "(" + formulas[0] + ")"
 
+def clusterFormulaXY(cluster):
+    if len(cluster) == 0: return
+    formulas = set()
+    for state in cluster:
+        formulas.add(f"(x={state[0].x} & y={state[0].y})")
+    formulas = list(formulas)
+    while len(formulas) > 1:
+        formulas_tmp = [f"({formulas[i]} | {formulas[i+1]})" for i in range(0,len(formulas)//2)]
+        if len(formulas) % 2 == 1:
+            formulas_tmp.append(formulas[-1])
+        formulas = formulas_tmp
+
+    return "(" + formulas[0] + ")"
+
 def clusterFormulaTrimmed(cluster):
     formula = ""
     states = [(s[0].x,s[0].y, s[0].ski_position, s[0].velocity) for s in cluster]
@@ -271,19 +285,19 @@ def createUnsafeFormula(clusters):
     formulas = ""
     indices = list()
     for i, cluster in enumerate(clusters):
-        formulas += f"formula Unsafe_{i} = {clusterFormulaTrimmed(cluster)};\n"
+        formulas += f"formula Unsafe_{i} = {clusterFormulaXY(cluster)};\n"
         indices.append(f"Unsafe_{i}")
-    return formulas + "\n" + createBalancedDisjunction(indices, "Unsafe")# + label
+    return formulas + "\n" + createBalancedDisjunction(indices, "Unsafe") + label
 
 def createSafeFormula(clusters):
     label = "label \"Safe\" = Safe;\n"
     formulas = ""
     indices = list()
     for i, cluster in enumerate(clusters):
-        formulas += f"formula Safe_{i} = {clusterFormula(cluster)};\n"
+        formulas += f"formula Safe_{i} = {clusterFormulaXY(cluster)};\n"
         indices.append(f"Safe_{i}")
 
-    return formulas + "\n" + createBalancedDisjunction(indices, "Safe")# + label
+    return formulas + "\n" + createBalancedDisjunction(indices, "Safe") + label
 
 def updatePrismFile(newFile, iteration, safeStates, unsafeStates):
     logger.info("Creating next prism file")
@@ -317,7 +331,7 @@ x = 70
 nn_wrapper = SampleFactoryNNQueryWrapper()
 
 experiment_id = int(time.time())
-init_mdp = "velocity_safety"
+init_mdp = "safety"
 exec(f"mkdir -p images/testing_{experiment_id}", verbose=False)
 
 markerSize = 1