Struct SafeDecodePlan 

pub struct SafeDecodePlan {
    pub shielded_path: Vec<StlTimedCell>,
    pub greedy_path: Vec<StlTimedCell>,
    pub reach_robustness: f64,
    pub avoid_robustness: f64,
    pub greedy_reach_robustness: f64,
    pub greedy_avoid_robustness: f64,
    pub interventions: usize,
    pub reach_satisfied: bool,
    pub avoid_satisfied: bool,
}

Result of a shielded decode, paired with the greedy baseline.

Fields

shielded_path: Vec<StlTimedCell>

Shielded (STL-constrained) decoded path.

greedy_path: Vec<StlTimedCell>

Greedy, unshielded decoded path (base policy argmax).

reach_robustness: f64

Eventually-reach robustness of the shielded path (>= 0 means satisfied).

avoid_robustness: f64

Worst always-avoid robustness of the shielded path (>= 0 means safe).

greedy_reach_robustness: f64

Eventually-reach robustness of the greedy path.

greedy_avoid_robustness: f64

Worst always-avoid robustness of the greedy path (< 0 means it cut through a geofence).

interventions: usize

Number of steps where the shielded action differs from the greedy action.

reach_satisfied: bool

Whether the shielded path satisfies the reach spec.

avoid_satisfied: bool

Whether the shielded path satisfies every avoid spec.

Trait Implementations

impl Clone for SafeDecodePlan

fn clone(&self) -> SafeDecodePlan

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SafeDecodePlan

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for SafeDecodePlan

fn eq(&self, other: &SafeDecodePlan) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for SafeDecodePlan