A framework for exact moment propagation for nonlinear systems.
NOTE: TreeRing is currently being integrated into a broader package: AlgebraicMoments
To install the package, you can simply run pip3 install -e . in the root of this repo.
example/example_uncontrolled_agent.py provides an example of using TreeRing on the Dubin's system we use both with the reduced and un-reduced moment update form (MUF). As it is configured right now, running it will run TreeRing to search for a complete moment basis w.r.t. the reduced MUF and print out the moments in the moment basis along with the dynamics of the moments.
StateVariable and DisturbanceVariable should be letters, no special symbols.
When we create instances of BasisVariable as the product of multiple state variables, the composing variables have their names concatenated:
statevarpow1_statevarpow2