Test AdditiveNoiseStructures including transition probabilities

Author: Zinoex

test/dynamics/additive_noise.jl

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+using Revise, Test
+using IntervalMDPAbstractions, LazySets
+
+@testset "gaussian" begin
+    w_stddev = [-0.1, 0.1]
+    @test_throws ArgumentError AdditiveDiagonalGaussianNoise(w_stddev)
+
+    w_stddev = [0.5, 0.7]
+    w = AdditiveDiagonalGaussianNoise(w_stddev)
+
+    @test IntervalMDPAbstractions.dim(w) == 2
+    @test IntervalMDPAbstractions.stddev(w) == w_stddev
+    @test IntervalMDPAbstractions.candecouple(w) == true
+
+    @testset "transition_prob_bounds" begin
+        Y = Hyperrectangle(low=[0.0, 0.0], high=[1.0, 1.0])
+        Z = Hyperrectangle(low=[1.0, 0.0], high=[2.0, 1.0])
+
+        pl, pu = IntervalMDPAbstractions.axis_transition_prob_bounds(Y, Z, w, 1)
+        @test pl ≈ 0.02271846070634608727902886
+        @test pu ≈ 0.47724986805182079279971736
+
+        pl, pu = IntervalMDPAbstractions.axis_transition_prob_bounds(Y, Z, w, 2)
+        @test pl ≈ 0.42343627449016523494358104
+        @test pu ≈ 0.52494947594604699843798632
+
+        pl, pu = IntervalMDPAbstractions.transition_prob_bounds(Y, Z, w)
+        @test pl ≈ 0.00961982036364639498159342
+        @test pu ≈ 0.25053206812912340314964549
+    end
+
+    @testset "transition_prob_bounds not hyperrectangular" begin
+        Y = VPolytope([[0.5, 0.0], [1.0, 0.7], [0.0, 1.0]])
+        Z = Hyperrectangle(low=[1.0, 0.0], high=[2.0, 1.0])
+
+        pl, pu = IntervalMDPAbstractions.transition_prob_bounds(Y, Z, w)
+        @test pl ≈ 0.00961982036364639498159342
+        @test pu ≈ 0.25053206812912340314964549
+    end
+end
+
+@testset "centrally uniform" begin
+    r = [-0.1, 0.1]
+    @test_throws ArgumentError AdditiveCentralUniformNoise(r)
+
+    r = [0.5, 0.7]
+    w = AdditiveCentralUniformNoise(r)
+
+    @test IntervalMDPAbstractions.dim(w) == 2
+    @test IntervalMDPAbstractions.candecouple(w) == true
+
+    @testset "transition_prob_bounds" begin
+        Y = Hyperrectangle(low=[0.0, 0.0], high=[1.0, 1.0])
+        Z = Hyperrectangle(low=[1.0, 0.0], high=[2.0, 1.0])
+
+        pl, pu = IntervalMDPAbstractions.axis_transition_prob_bounds(Y, Z, w, 1)
+        @test pl ≈ 0.0
+        @test pu ≈ 0.5
+
+        pl, pu = IntervalMDPAbstractions.axis_transition_prob_bounds(Y, Z, w, 2)
+        @test pl ≈ 0.5
+        @test pu ≈ 1.0 / 1.4
+
+        pl, pu = IntervalMDPAbstractions.transition_prob_bounds(Y, Z, w)
+        @test pl ≈ 0.0
+        @test pu ≈ 0.5 / 1.4
+    end
+
+    @testset "transition_prob_bounds not hyperrectangular" begin
+        Y = VPolytope([[0.5, 0.0], [1.0, 0.7], [0.0, 1.0]])
+        Z = Hyperrectangle(low=[1.0, 0.0], high=[2.0, 1.0])
+
+        pl, pu = IntervalMDPAbstractions.transition_prob_bounds(Y, Z, w)
+        @test pl ≈ 0.0
+        @test pu ≈ 0.5 / 1.4
+    end
+end