Loading and Saving¶

IMPaCT uses HDF5 for all data persistence. This enables interoperability with MATLAB, Python (h5py), R (rhdf5), and other tools. The HDF5 field name is dataset by default.

Saving Data¶

Save any component after it has been computed:

// Spaces
imdp.saveStateSpace();        // -> ss.h5
imdp.saveInputSpace();        // -> is.h5
imdp.saveDisturbSpace();      // -> ws.h5
imdp.saveTargetSpace();       // -> ts.h5
imdp.saveAvoidSpace();        // -> as.h5

// Transition matrices and vectors
imdp.saveMinTransitionMatrix();         // -> minTM.h5
imdp.saveMaxTransitionMatrix();         // -> maxTM.h5
imdp.saveMinTargetTransitionVector();   // -> minTV.h5
imdp.saveMaxTargetTransitionVector();   // -> maxTV.h5
imdp.saveMinAvoidTransitionVector();    // -> minAV.h5
imdp.saveMaxAvoidTransitionVector();    // -> maxAV.h5

// Controller
imdp.saveController();        // -> controller.h5

Loading Data¶

Load pre-computed data from HDF5 files:

// Spaces
imdp.loadStateSpace("ss.h5");
imdp.loadInputSpace("is.h5");
imdp.loadDisturbSpace("ws.h5");
imdp.loadTargetSpace("ts.h5");
imdp.loadAvoidSpace("as.h5");

// Transition matrices and vectors
imdp.loadMinTransitionMatrix("minTM.h5");
imdp.loadMaxTransitionMatrix("maxTM.h5");
imdp.loadMinTargetTransitionVector("minTV.h5");
imdp.loadMaxTargetTransitionVector("maxTV.h5");
imdp.loadMinAvoidTransitionVector("minAV.h5");
imdp.loadMaxAvoidTransitionVector("maxAV.h5");

// Controller
imdp.loadController("controller.h5");

This is useful for:

GPU synthesis: compute abstraction on CPU, load on GPU for synthesis
Data-driven methods: load transition matrices computed externally
Resuming computation: save intermediate results and continue later

Tip

The misc/ folder contains MATLAB, Python, and R utilities for reading HDF5 files and plotting results.

Debugging Tips¶

Warning

If synthesis diverges to values greater than 1, your loaded matrices may need to be transposed. Use tools like MATLAB’s h5disp and h5read to verify dimensions before loading.

Warning

If the controller shows both upper and lower bounds as zero, this indicates an infeasible solution — typically because a minimal value exceeds a maximal value somewhere. Verify that max >= min for all entries.