fix flowpipe type

JuliaReach · Mar 17, 2020 · dc37595 · dc37595
1 parent 12be071
commit dc37595
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Showing 3 changed files with 24 additions and 8 deletions.
diff --git a/Project.toml b/Project.toml
@@ -30,7 +30,7 @@ Expokit = "0.2"
 HybridSystems = "0.3"
 IntervalArithmetic = "0.15, 0.16"
 IntervalMatrices = "0.5, 0.6"
-LazySets = "1.30, 1.31"
+LazySets = "1.32"
 MathematicalPredicates = "0.1"
 MathematicalSystems = "0.10, 0.11"
 Memento = "0.10, 0.11, 0.12"

diff --git a/src/ReachSets/ContinuousPost/GLGM06/post.jl b/src/ReachSets/ContinuousPost/GLGM06/post.jl
@@ -21,8 +21,16 @@ function post(𝒜::GLGM06,
     # Flowpipe computation
     # =====================
 
-    # preallocate output
-    Rsets = Vector{ReachSet{Zonotope{Float64}}}(undef, N)
+    # preallocate output (and convert to concrete vector and matrixes)
+    if typeof(Φ) != Matrix{Float64}
+        Φ = Matrix(Φ)
+    end
+    G = genmat(Ω0)
+    if typeof(G) != Matrix{Float64}
+        Ω0 = Zonotope(center(Ω0), Matrix(G))
+    end
+    ZT = Zonotope{Float64, Vector{Float64}, Matrix{Float64}}
+    Rsets = Vector{ReachSet{ZT}}(undef, N)
 
     info("Reachable States Computation...")
     @timing begin
@@ -31,8 +39,13 @@ function post(𝒜::GLGM06,
 
     else
         U = inputset(𝑃_discrete)
+        V = next_set(U)
+        G = genmat(V)
+        if typeof(G) != Matrix{Float64}
+            V = Zonotope(center(V), Matrix(G))
+        end
         max_order = 𝑂[:max_order]
-        reach_inhomog!(Rsets, Ω0, U, Φ, N, δ, max_order)
+        reach_inhomog!(Rsets, Ω0, V, Φ, N, δ, max_order)
     end
     end # timing
 

diff --git a/src/ReachSets/ContinuousPost/GLGM06/reach.jl b/src/ReachSets/ContinuousPost/GLGM06/reach.jl
@@ -2,7 +2,7 @@
 # Homogeneous case
 # ================
 
-function reach_homog!(R::Vector{ReachSet{Zonotope{Float64}}},
+function reach_homog!(R::Vector{<:ReachSet{<:Zonotope}},
                       Ω0::Zonotope,
                       Φ::AbstractMatrix,
                       N::Int,
@@ -27,9 +27,9 @@ end
 # Inhomogeneous case
 # ==================
 
-function reach_inhomog!(R::Vector{ReachSet{Zonotope{Float64}}},
+function reach_inhomog!(R::Vector{<:ReachSet{<:Zonotope}},
                         Ω0::Zonotope,
-                        U::ConstantInput,
+                        V::Zonotope,
                         Φ::AbstractMatrix,
                         N::Int,
                         δ::Float64,
@@ -38,7 +38,6 @@ function reach_inhomog!(R::Vector{ReachSet{Zonotope{Float64}}},
     t0, t1 = zero(δ), δ
     R[1] = ReachSet(Ω0, t0, t1)
 
-    V = next_set(U)
     Wk₊ = V
     Φ_power_k = copy(Φ)
     Φ_power_k_cache = similar(Φ)
@@ -47,6 +46,10 @@ function reach_inhomog!(R::Vector{ReachSet{Zonotope{Float64}}},
     while k <= N
         Rₖ = minkowski_sum(linear_map(Φ_power_k, Ω0), Wk₊)
         Rₖ = reduce_order(Rₖ, max_order)
+        G = genmat(Rₖ)
+        if typeof(G) != Matrix{Float64}
+            Rₖ = Zonotope(center(Rₖ), Matrix(G))
+        end
         t0 = t1
         t1 += δ
         R[k] = ReachSet(Rₖ, t0, t1)