constants:
Epsilon = config_epsilon
bigM = config_bigM
---
pvariables:
action_continuous: Accelerate_x
action_continuous: Accelerate_y
action_continuous: Dt
state_continuous: Location_x
state_continuous: Location_y
state_continuous: Speed_x
state_continuous: Speed_y
---
odes:
dd(Location_x, Dt) == Speed_x
dd(Location_y, Dt) == Speed_y
dd(Speed_x, Dt) == Accelerate_x
dd(Speed_y, Dt) == Accelerate_y
---
initials:
Location_x == 0.0
Location_y == 0.0
Speed_x == 0.0
Speed_y == 0.0
---
instantaneous_constraints:
Location_x <= 10.0
Location_y <= 10.0
Location_x >= 0.0
Location_y >= 0.0
Accelerate_x <= 0.5
Accelerate_y <= 0.5
Accelerate_x >= -0.5
Accelerate_y >= -0.5
(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 5.0)
(Location_x <= 5.0) or (Location_x >= 7.0) or (Location_y <= 5.0) or (Location_y >= 9.0)
---
temporal_constraints:
Location_x <= 10.0
Location_y <= 10.0
Location_x >= 0.0
Location_y >= 0.0
(Location_x <= 2.0) or (Location_x >= 4.0) or (Location_y <= 1.0) or (Location_y >= 5.0)
(Location_x <= 5.0) or (Location_x >= 7.0) or (Location_y <= 5.0) or (Location_y >= 9.0)
---
goals:
Location_x == 8.0
Location_y == 8.0
---
reward:
-1.0*(Dt)