Fixing minor issue in MPSC and CBF

Federico-PizarroBejarano · May 10, 2023 · 1645efd · 1645efd
1 parent a7500bb
commit 1645efd
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Showing 3 changed files with 7 additions and 3 deletions.
diff --git a/experiments/mpsc/mpsc_experiment.py b/experiments/mpsc/mpsc_experiment.py
@@ -6,7 +6,7 @@
 
 import numpy as np
 
-from safe_control_gym.experiments.base_experiment import BaseExperiment
+from safe_control_gym.experiments.base_experiment import BaseExperiment, MetricExtractor
 from safe_control_gym.utils.registration import make
 from safe_control_gym.utils.configuration import ConfigFactory
 from safe_control_gym.envs.benchmark_env import Task, Cost, Environment
@@ -426,8 +426,9 @@ def run_multiple(plot=True):
                     all_uncert_results[key].append(uncert_results[key][0])
                 all_cert_results[key].append(cert_results[key][0])
 
-    uncert_metrics = BaseExperiment.compute_metrics(all_uncert_results)
-    cert_metrics = BaseExperiment.compute_metrics(all_cert_results)
+    met = MetricExtractor()
+    uncert_metrics = met.compute_metrics(data=all_uncert_results)
+    cert_metrics = met.compute_metrics(data=all_cert_results)
 
     all_results = {'uncert_results': all_uncert_results,
                    'uncert_metrics': uncert_metrics,

diff --git a/safe_control_gym/safety_filters/cbf/cbf.py b/safe_control_gym/safety_filters/cbf/cbf.py
@@ -232,9 +232,11 @@ def certify_action(self,
             success (bool): Whether the safety filtering was successful or not.
         '''
 
+        uncertified_action = np.clip(uncertified_action, self.env.physical_action_bounds[0], self.env.physical_action_bounds[1])
         self.results_dict['uncertified_action'].append(uncertified_action)
         certified_action, success = self.solve_optimization(current_state, uncertified_action)
         self.results_dict['feasible'].append(success)
+        certified_action = np.squeeze(np.array(certified_action))
         self.results_dict['certified_action'].append(certified_action)
         self.results_dict['correction'].append(np.linalg.norm(certified_action - uncertified_action))
 

diff --git a/safe_control_gym/safety_filters/mpsc/mpsc.py b/safe_control_gym/safety_filters/mpsc/mpsc.py
@@ -246,6 +246,7 @@ def certify_action(self,
                 success = False
                 certified_action = clipped_action
 
+        certified_action = np.squeeze(np.array(certified_action))
         self.results_dict['kinf'].append(self.kinf)
         self.results_dict['certified_action'].append(certified_action)
         self.results_dict['correction'].append(np.linalg.norm(certified_action - uncertified_action))