#56 - Add apply for maps

docs/src/lib/methods.md

@@ -34,4 +34,10 @@ nextinput
 ```@docs
 outputdim
 outputmap
-```
+```
+
+## Maps
+
+```@docs
+apply
+```

src/MathematicalSystems.jl

@@ -88,7 +88,8 @@ export outputmap,
        ConstrainedLinearControlMap,
        AffineControlMap,
        ConstrainedAffineControlMap,
-       ResetMap
+       ResetMap,
+       apply
 
 include("maps.jl")
 

src/abstract.jl

@@ -67,3 +67,10 @@ function outputdim end
 Returns the output map of a system with output.
 """
 function outputmap end
+
+"""
+    apply(m::AbstractMap, args...)
+
+Apply the rule specified by the map to the given arguments.
+"""
+function apply end

src/maps.jl

@@ -14,6 +14,7 @@ struct IdentityMap <: AbstractMap
     dim::Int
 end
 outputdim(m::IdentityMap) = m.dim
+apply(m::IdentityMap, x) = x
 
 """
     LinearMap
@@ -31,6 +32,7 @@ struct LinearMap{T, MT<:AbstractMatrix{T}} <: AbstractMap
     A::MT
 end
 outputdim(m::LinearMap) = size(m.A, 1)
+apply(m::LinearMap, x) = m.A * x
 
 @static if VERSION < v"0.7-"
     LinearMap{T, MT <: AbstractMatrix{T}}(A::MT) = LinearMap{T, MT}(A)
@@ -58,6 +60,7 @@ struct AffineMap{T, MT<:AbstractMatrix{T}, VT<:AbstractVector{T}} <: AbstractMap
     end
 end
 outputdim(m::AffineMap) = length(m.b)
+apply(m::AffineMap, x) = m.A * x + m.b
 
 """
     LinearControlMap
@@ -81,6 +84,7 @@ struct LinearControlMap{T, MTA<:AbstractMatrix{T}, MTB<:AbstractMatrix{T}} <: Ab
     end
 end
 outputdim(m::LinearControlMap) = size(m.A, 1)
+apply(m::LinearControlMap, x, u) = m.A * x + m.B * u
 
 """
     ConstrainedLinearControlMap
@@ -106,6 +110,7 @@ struct ConstrainedLinearControlMap{T, MTA <: AbstractMatrix{T}, MTB <: AbstractM
     end
 end
 outputdim(m::ConstrainedLinearControlMap) = size(m.A, 1)
+apply(m::ConstrainedLinearControlMap, x, u) = m.A * x + m.B * u
 
 """
     AffineControlMap
@@ -131,6 +136,7 @@ struct AffineControlMap{T, MTA <: AbstractMatrix{T}, MTB <: AbstractMatrix{T}, V
     end
 end
 outputdim(m::AffineControlMap) = size(m.A, 1)
+apply(m::AffineControlMap, x, u) = m.A * x + m.B * u + m.c
 
 """
     ConstrainedAffineControlMap
@@ -158,6 +164,7 @@ struct ConstrainedAffineControlMap{T, MTA<:AbstractMatrix{T}, MTB<:AbstractMatri
     end
 end
 outputdim(m::ConstrainedAffineControlMap) = size(m.A, 1)
+apply(m::ConstrainedAffineControlMap, x, u) = m.A * x + m.B * u + m.c
 
 """
     ResetMap
@@ -182,3 +189,11 @@ end
 outputdim(m::ResetMap) = m.dim
 
 ResetMap(dim::Int, args::Pair{Int, <:N}...) where {N} = ResetMap(dim, Dict{Int, N}(args))
+
+function apply(m::ResetMap, x)
+    y = copy(x)
+    for (index, value) in pairs(m.dict)
+        y[index] = value
+    end
+    return y
+end

test/maps.jl

@@ -4,12 +4,20 @@ import MathematicalSystems.LinearMap
 @testset "Identity map" begin
     m = IdentityMap(5)
     @test outputdim(m) == 5
+    @test apply(m, ones(2)) == ones(2)
 end
 
 @testset "Linear map" begin
     A = [1. 1; 1 -1]
     m = LinearMap(A)
     @test outputdim(m) == 2
+
+    # applying the linear map on a vector
+    @test apply(m, ones(2)) == [2.0, 0.0]
+
+    # applying the linear map on a set
+    X = BallInf(zeros(2), 1.0)
+    @test apply(m, X) == LazySets.LinearMap(A, X)
 end
 
 @testset "Affine map" begin
@@ -18,6 +26,9 @@ end
     m = AffineMap(A, b)
     @test outputdim(m) == 2
 
+    # applying the affine map on a vector
+    @test apply(m, ones(2)) == [2.5, 0.5]
+
     A = [1. 1.]
     b = [0.5]
     m = AffineMap(A, b)
@@ -29,6 +40,11 @@ end
     B = Matrix([0.5 1.5]')
     m = LinearControlMap(A, B)
     @test outputdim(m) == 2
+
+    # applying the affine map on a vector
+    x = ones(2)
+    u = [1/2]
+    @test apply(m, x, u) == A * x + B * u
 end
 
 @testset "Constrained linear control map" begin
@@ -37,6 +53,11 @@ end
     U = Interval(-1, 1)
     m = ConstrainedLinearControlMap(A, B, U)
     @test outputdim(m) == 2
+
+    # applying the affine map on a vector
+    x = ones(2)
+    u = [1/2]
+    @test apply(m, x, u) == A*x + B*u
 end
 
 @testset "Affine control map" begin
@@ -45,6 +66,11 @@ end
     c = [0.5, 0.5]
     m = AffineControlMap(A, B, c)
     @test outputdim(m) == 2
+
+    # applying the affine map on a vector
+    x = ones(2)
+    u = [1/2]
+    @test apply(m, x, u) == A*x + B*u + c
 end
 
 @testset "Constrained affine control map" begin
@@ -54,6 +80,11 @@ end
     U = Interval(-1, 1)
     m = ConstrainedAffineControlMap(A, B, c, U)
     @test outputdim(m) == 2
+
+    # applying the affine map on a vector
+    x = ones(2)
+    u = [1/2]
+    @test apply(m, x, u) == A * x + B * u  + c
 end
 
 @testset "Reset map" begin
@@ -62,4 +93,8 @@ end
 
     m = ResetMap(10, 2 => -1., 5 => 1.)
     @test outputdim(m) == 10
+
+    # applying the affine map on a vector
+    x = zeros(10)
+    @test apply(m, x) == [0, -1., 0, 0, 1., 0, 0, 0, 0, 0]
 end