[WIP #93] - Revise add-dimension

[mforets]

Closes #93.

[mforets]

There is some conflict with partition option that i didn't look into yet.

julia> A = randn(5, 5); X0 = BallInf(ones(5), 0.1)
julia> s = solve(ContinuousSystem(A, X0), :T=>0.1, :partition=>[1:2, 3:4, 5],
                 :block_types=>Dict(HPolygon=>[1:2, 3:4], Interval=>[[5]]),
                 :vars=>[1,3]);
ERROR: Option :partition must be of 'AbstractArray{#s60,1} where #s60<:AbstractArray{Int64,1}' type.
Stacktrace:
 [1] validate_solver_options_and_add_default_values!(::Reachability.Options) at /Users/forets/.julia/v0.6/Reachability/src/options.jl:276
 [2] solve(::Reachability.Systems.ContinuousSystem, ::Reachability.Options) at /Users/forets/.julia/v0.6/Reachability/src/solve.jl:92
 [3] solve(::Reachability.Systems.ContinuousSystem, ::Pair{Symbol,Float64}, ::Pair{Symbol,Array{Any,1}}, ::Vararg{Pair{Symbol,#s61} where #s61,N} where N) at /Users/forets/.julia/v0.6/Reachability/src/solve.jl:23
4

[schillic]

"odd"

[schillic]

merge else and if to elseif?

[schillic]

There is some conflict with partition option that i didn't look into yet.

The problem is that :partition has the value Any[1:2, 3:4, 5]. It must be of type AbstractVector{<:AbstractVector{Int}}, not AbstractVector{<:Any}.

Fix: In the unit test use :partition=>[1:2, 3:4, 5:5] (wrap 5 in an AbstractVector).
This, however, leads to the next error 😈

LoadError: Option :block_types with value Dict{UnionAll,Any}(Pair{UnionAll,Any}(LazySets.HPolygon, UnitRange{Int64}[1:2, 3:4]),Pair{UnionAll,Any}(LazySets.Interval, Array{Int64,1}[[5]])) must be of 'Dict{Type{#s33} where #s33<:LazySets.LazySet,AbstractArray{#s32,1} where #s32<:AbstractArray{Int64,1}}' type.
  Stacktrace:
   [1] validate_solver_options_and_add_default_values!(::Reachability.Options) at src/options.jl:276

[mforets]

thanks. i am still getting

julia> using Reachability

julia> A = randn(5, 5); X0 = BallInf(ones(5), 0.1)
LazySets.BallInf{Float64}([1.0, 1.0, 1.0, 1.0, 1.0], 0.1)

julia> system = ContinuousSystem(A, X0)
Systems.InitialValueProblem{Systems.LinearContinuousSystem{Float64,Array{Float64,2}},LazySets.BallInf{Float64}}(Systems.LinearContinuousSystem{Float64,Array{Float64,2}}([-0.209005 0.785492 … 0.950694 -0.29526; -0.462302
 0.464034 … 0.706485 0.00687863; … ; 0.352559 -0.234473 … 0.227757 0.475551; 0.974808 0.44691 … 0.35475 0.745588]), LazySets.BallInf{Float64}([1.0, 1.0, 1.0, 1.0, 1.0], 0.1))

julia> options = Options(Dict(:T=>0.1, :partition=>convert(AbstractVector{<:AbstractVector{Int}}, [1:2, 3:4, [5]]), :block_types=>Dict(HPolygon=>[1:2, 3:4], Interval=>[[5]]), :vars=>[1,3]))
Reachability.Options(Dict{Symbol,Any}(Pair{Symbol,Any}(:T, 0.1),Pair{Symbol,Any}(:vars, [1, 3]),Pair{Symbol,Any}(:partition, AbstractArray{Int64,1}[1:2, 3:4, [5]]),Pair{Symbol,Any}(:block_types, Dict{UnionAll,Any}(Pair{
UnionAll,Any}(LazySets.Interval, Array{Int64,1}[[5]]),Pair{UnionAll,Any}(LazySets.HPolygon, UnitRange{Int64}[1:2, 3:4])))))


julia> s = solve(system, options)
ERROR: MethodError: no method matching one(::Type{Array{Float64,1}})
Closest candidates are:
  one(::BitArray{2}) at bitarray.jl:427
  one(::Type{IntervalArithmetic.Interval{T<:Real}}) where T<:Real at /Users/forets/.julia/v0.6/IntervalArithmetic/src/intervals/arithmetic.jl:57
  one(::Type{IntervalArithmetic.DecoratedInterval{T<:Real}}) where T<:Real at /Users/forets/.julia/v0.6/IntervalArithmetic/src/decorations/functions.jl:7
  ...
Stacktrace:
 [1] *(::Array{Float64,1}, ::LazySets.Interval{Float64,IntervalArithmetic.Interval{Float64}}) at /Users/forets/.julia/v0.6/LazySets/src/LinearMap.jl:76
 [2] reach_blocks!(::Array{Float64,2}, ::Array{LazySets.LazySet{Float64},1}, ::Void, ::Reachability.ReachSets.##7#10{Float64}, ::Int64, ::Int64, ::Array{Int64,1}, ::Array{Union{Int64, UnitRange{Int64}},1}, ::Array{LazyS
ets.CartesianProductArray{Float64,S} where S<:LazySets.LazySet{Float64},1}) at /Users/forets/.julia/v0.6/Reachability/src/ReachSets/reach_blocks.jl:145
 [3] #reach#6(::String, ::Float64, ::Type{LazySets.Hyperrectangle}, ::Float64, ::Type{LazySets.Hyperrectangle}, ::Bool, ::Bool, ::Type{T} where T, ::Bool, ::Array{Any,1}, ::Reachability.ReachSets.#reach, ::Systems.Initi
alValueProblem{Systems.LinearDiscreteSystem{Float64,Array{Float64,2}},LazySets.ConvexHull{Float64,LazySets.BallInf{Float64},LazySets.LinearMap{Float64,Float64}}}, ::Int64) at /Users/forets/.julia/v0.6/Reachability/src/R
eachSets/reach.jl:135
 [4] (::Reachability.ReachSets.#kw##reach)(::Array{Any,1}, ::Reachability.ReachSets.#reach, ::Systems.InitialValueProblem{Systems.LinearDiscreteSystem{Float64,Array{Float64,2}},LazySets.ConvexHull{Float64,LazySets.BallI
nf{Float64},LazySets.LinearMap{Float64,Float64}}}, ::Int64) at ./<missing>:0
 [5] solve(::Systems.InitialValueProblem{Systems.LinearContinuousSystem{Float64,Array{Float64,2}},LazySets.BallInf{Float64}}, ::Reachability.Options) at /Users/forets/.julia/v0.6/Reachability/src/solve.jl:149

[schillic]

I think you can re-add this because you convert the value to this type.

[schillic]

thanks. i am still getting

We have bi = 1:2, bj = 5 in arr[j] = ϕpowerk[bi, bj] * Xhat0[j] from reach_blocks.jl.

The problem is this. In LazySets.LinearMap we have:

function *(a::N, X::LazySet) where {N}
    return LinearMap(a * speye(N, dim(X)), X)
end

We call it with the following:

X = Interval([0.9, 1.10445]); a = [0.0029649, -0.00173048];
a * X

Here N becomes Array{Float64,2}, and there is no speye(N, k).

This is a bug in LazySets. See #321.