Merge pull request #221 from JuliaReach/schillic/SX

Update old SX models

models/ARCH/AFF/Powertrain/old/runSXDriveTrain.jl

@@ -1,8 +1,12 @@
 # Drive train example
 # ============================
 
+using ReachabilityBenchmarks
 using HybridSystems, MathematicalSystems, LazySets, Plots
-import SX: is_halfspace, is_hyperplane, convert, parse_sxmath
+import Polyhedra
+using SpaceExParser: is_halfspace, is_hyperplane, convert, parse_sxmath, Basic, readsxmodel
+
+HS = readsxmodel(@current_path "drivetrain_theta1_5percent_flat_manually.xml")
 
 x1 = parse_sxmath("x1 - -0.0488 == 0.0005600000000000001 * (x4 - 20.0)")
 x2 = parse_sxmath("x2 - -15.67 == 0.46699999999999997 * (x4 - 20.0)")
@@ -15,6 +19,7 @@ x8 = parse_sxmath("x8 - -0.0019199999999999998 == 0.00005999999999999998 * (x4 -
 x9 = parse_sxmath("x9 - 20.0 == 1.0 * (x4 - 20.0)")
 t = parse_sxmath("t == 0.0")
 
+# initial condition in mode 1
 expr_p = parse_sxmath("x1 - -0.0488 == 0.0005600000000000001 * (x4 - 20.0) & x2 - -15.67 == 0.46699999999999997 * (x4 - 20.0) & x3 == 0.0 & x5 == 0.0 & x6 - 20.0 == 1.0 * (x4 - 20.0) & x7 - 240.0 == 12.0 * (x4 - 20.0) & x8 - -0.0019199999999999998 == 0.00005999999999999998 * (x4 - 20.0) & x9 - 20.0 == 1.0 * (x4 - 20.0) & 20.0 <= x4 & x4 <= 40.0 & t == 0.0")
 expr = [x1, x2, x3, x4, x5, x6, x7, x8, x9, t]
 x0sets = []
@@ -27,19 +32,13 @@ for expr_i in expr_p
     end
 end
 
-AFFINE_SYSTEM = ConstrainedLinearControlContinuousSystem
-HS = readsxmodel("models/ARCH2018/Drivetrain/drivetrain_theta1_5percent_flat_manually.xml";
-                 raw_dict=true)
-# initial condition in mode 1
+prob = InitialValueProblem(HS, x0sets)
 
 # calculate reachable states up to time T
-prob = InitialValueProblem(HS, x0sets)
 input_options = Options(:mode => "reach")
-
 problem_options = Options(:vars => [1, 3, 10], :T => 10.0, :δ => 0.005, :plot_vars => [1, 3],
                           :verbosity => 1);
 options_input = merge(problem_options, input_options)
-using Polyhedra
 sol = solve(HS, options_input);
 
 plot(sol; indices=1:2:length(sol.Xk))

models/FilteredOscillator/SX/runSX_filtered_oscillator.jl

@@ -1,9 +1,13 @@
-# Drive train example
+# Filtered oscillator
 # ============================
 
+using ReachabilityBenchmarks
 using HybridSystems, MathematicalSystems, LazySets, Plots
-import SX: is_halfspace, is_hyperplane, convert, parse_sxmath
-import LazySets.HalfSpace
+import Polyhedra
+using SpaceExParser: is_halfspace, is_hyperplane, convert, parse_sxmath, Basic, readsxmodel
+
+AFFINE_SYSTEM = ConstrainedLinearControlContinuousSystem
+HS = readsxmodel(@current_path "filtered_oscillator_flattened.xml"; ST=AFFINE_SYSTEM)
 
 expr_p = parse_sxmath("0.2<=x & x<=0.3 & -0.1<=y & y<=0.1 & z==0 & x1==0 & x2==0 & x3==0")
 #expr = [x,y,x1,x2,x3,z]
@@ -17,18 +21,13 @@ for expr_i in expr_p
     end
 end
 
-AFFINE_SYSTEM = ConstrainedLinearControlContinuousSystem
-HS = readsxmodel("models/SpaceEx/FilteredOscillator/filtered_oscillator_flattened.xml";
-                 ST=AFFINE_SYSTEM)
+prob = InitialValueProblem(HS, x0sets)
 
 # calculate reachable states up to time T
-prob = InitialValueProblem(HS, x0sets)
 input_options = Options(:mode => "reach");
-
-problem_options = Options(:vars => 1:system_dimension, :T => 5.0, :δ => 0.05,
-                          :plot_vars => [1, 2], :max_jumps => 1, :verbosity => 1, :init_loc => 3);
+problem_options = Options(:vars => 1:system_dimension, :T => 5.0, :δ => 0.05, :plot_vars => [1, 2],
+                          :max_jumps => 1, :verbosity => 1, :init_loc => 3);
 options_input = merge(problem_options, input_options)
-using Polyhedra
 sol = solve(prob, options_input);
 
 plot(sol; indices=1:2:length(sol.Xk))