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#507 - Remove invariant argument from post #551

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merged 7 commits into from
Mar 18, 2019
Merged

#507 - Remove invariant argument from post #551

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f00361d
remove invariant from post
mforets Mar 16, 2019
71f2b88
fix discretize
mforets Mar 17, 2019
e985ba3
fix X and U in new normalization methods
mforets Mar 17, 2019
34f81c9
Update src/solve.jl
schillic Mar 17, 2019
ccf2d9e
update warp inputs funcs
mforets Mar 18, 2019
ffdc42c
revise
mforets Mar 18, 2019
34a11ad
Update src/Utils/normalization.jl
mforets Mar 18, 2019
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29 changes: 14 additions & 15 deletions src/Utils/normalization.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -63,23 +63,21 @@ end

# x' = Ax, in the continuous case
# x+ = Ax, in the discrete case
function normalize(system::LCS{N, AN}) where {N, AN<:AbstractMatrix{N}}
n = statedim(system)
X = Universe(n)
return CLCS(system.A, X)
end

function normalize(system::LDS{N, AN}) where {N, AN<:AbstractMatrix{N}}
n = statedim(system)
X = Universe(n)
return CLDS(system.A, X)
for (L_X, CL_S) in ((:LCS, :CLCS), (:LDS, :CLDS))
@eval begin
function normalize(system::$L_X{N, AN}) where {N, AN<:AbstractMatrix{N}}
n = statedim(system)
X = Universe(n)
return $CL_S(system.A, X)
end
end
end

# x' = Ax, x ∈ X in the continuous case
# x+ = Ax, x ∈ X in the discrete case
for CL_S in (:CLCS, :CLDS)
@eval begin
function normalize(system::$CL_S{N, AN, ST}) where {N, AN<:AbstractMatrix{N}, ST<:LazySet{N}}
function normalize(system::$CL_S{N, AN, XT}) where {N, AN<:AbstractMatrix{N}, XT<:XNCF}
n = statedim(system)
X = _wrap_invariant(stateset(system), n)
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return $CL_S(system.A, X)
Expand All @@ -91,13 +89,14 @@ end
# x+ = Ax + u, x ∈ X, u ∈ U in the discrete case
for CLC_X in (:CLCCS, :CLCDS)
@eval begin
function normalize(system::$CLC_X{N, IdentityMultiple{N}, ST}) where {N, ST<:LazySet{N}}
function normalize(system::$CLC_X{N, IdentityMultiple{N}, XT, UT}) where {N, XT<:XNCF, UT<:UNCF}
n = statedim(system)
X = _wrap_invariant(stateset(system), n)
λ = system.B.M.λ
if λ == oneunit(λ)
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return system
U = _wrap_inputs(system.U, system.B)
return $CLC_X(system.A, system.B, X, U)
else
n = statedim(system)
X = _wrap_invariant(stateset(system), n)
U = _wrap_inputs(system.U, Diagonal(fill(λ, n)))
return $CLC_X(system.A, I(n, N), X, U)
end
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