Getting Started for Users

Check out demo/src/symbolic_model.py for an example model and use.

Some highlights:

    # momentum = mv
    # dmomentum / dt = F = d(mv)/dt
    # F = m dv/dt + dm/dt v
    # a = dv / dt = (F - dm/dt * v) / m

    F = -gravitational_force(vp["m"], Earth_Mass, vp["x"] + Earth_Equatorial_Radius)

    state_model = {
        vp["m"]: vp["m"] - fuel_burn_rate * dt,
        vp["x"]: vp["x"] + (vp["v"] * dt) + (1 / 2 * vp["a"] * dt * dt),
        vp["v"]: vp["v"] + (vp["a"] * dt),
        vp["a"]: (F - (fuel_burn_rate * vp["v"])) / vp["m"],
    }

    model = Model(dt, state, control, state_model, debug_print=True)

The above code can be extended with the DesignManager to help select appropriate parameters.

    manager = DesignManager(name="mercury")

    # Define the symbolic model
    manager = manager.symbolic_model(model=model)

    # Select model parameters, such as innovation_filtering from data
    manager = symbolic_model_state.fit_model(
        parameter_space={
            "process_noise": [process_noise],
            "sensor_models": [sensor_models],
            "sensor_noises": [sensor_noises],
            "calibration_map": [calibration_map],
            "innovation_filtering": [None, 1, 2, 3, 4, 5, 6, 7],
        },
        data=data,
    )

    # Export the refined model. Note: not a state transition
    python_model = manager.export_python()

Check out demo/ for additional examples and featuretests/ for examples of specific features.

Getting Started For Developers

Installation

This project uses Bazel as its build system. To get started, make sure you have Bazelisk, Python3 and Clang available.

Requirements

• Bazel

• Clang-12 / C++17

• Python3

Set up Bazelisk

Install Clang

Install Python Developer Tooling

python3 -m pip install -U -r requirements_dev.txt

This will install the dependencies necessary for helper scripts like:

• make format

• make lint

Running Some Code

To get started running code for the project, try the command

make ci

This will run all of the unit tests for the project and if it passes it indicates that the project is set up correctly

Common Issues

…

Next Steps

Using bazel you can specify a more fine-grained set of code to run. For example, if you’re interested in the compilation feature available in Python generation, you can run the command

bazel test //featuretests:python-library-for-model-evaluation