Merge pull request #117 from JuliaReach/mforets/67

rsetrep to retrieve reach set rep for an algorithm

src/Algorithms/ASB07/ASB07.jl

@@ -2,10 +2,19 @@
     δ::N
     approx_model::AM=CorrectionHull(order=10, exp=:base)
     max_order::Int=10
+    static::Bool=false
 end
 
 step_size(alg::ASB07) = alg.δ
 numtype(::ASB07{N}) where {N} = N
+function rsetrep(::ASB07{N}) where {N}
+    if static
+        error("not implemented")
+    else
+        RT = ReachSet{N, Zonotope{N, Vector{N}, Matrix{N}}}
+    end
+    return RT
+end
 
 include("post.jl")
 include("reach.jl")

src/Algorithms/ASB07/post.jl

@@ -30,7 +30,7 @@ function post(alg::ASB07, ivp::IVP{<:AbstractContinuousSystem}, tspan; kwargs...
     Ω0 = _reduce_order(Ω0, max_order)
 
     # reconvert the set of initial states and state matrix, if needed
-    static = haskey(kwargs, :static) ? kwargs[:static] : false
+    static = haskey(kwargs, :static) ? kwargs[:static] : alg.static
     Ω0 = _reconvert(Ω0, Val(static))
     Φ = _reconvert(Φ, Val(static))
 

src/Algorithms/BFFPSV18/BFFPSV18.jl

@@ -28,6 +28,10 @@ end
 step_size(alg::BFFPSV18) = alg.δ
 numtype(::BFFPSV18{N}) where {N} = N
 
+function rsetrep(::BFFPSV18{N}) where {N}
+    error("not implemented")
+end
+
 #const _DEFAULT_APPROX_MODEL_BFFPSV18 =
 
 include("post.jl")

src/Algorithms/BOX/BOX.jl

@@ -28,10 +28,19 @@ step ``k ∈ \\mathbb{N}``.
 @with_kw struct BOX{N, AM} <: AbstractContinuousPost
     δ::N
     approx_model::AM=Forward(sih=:concrete, exp=:base, phi2=:base, setops=:lazy)
+    static::Bool=false
 end
 
 step_size(alg::BOX) = alg.δ
 numtype(::BOX{N}) where {N} = N
+function rsetrep(::BOX{N}) where {N}
+    if static
+        error("not implemented")
+    else
+        RT = ReachSet{N, Hyperrectangle{N, Vector{N}, Vector{N}}}
+    end
+    return RT
+end
 
 include("post.jl")
 include("reach.jl")

src/Algorithms/BOX/post.jl

@@ -27,7 +27,7 @@ function post(alg::BOX, ivp::IVP{<:AbstractContinuousSystem}, tspan; kwargs...)
     Ω0 = overapproximate(Ω0, Hyperrectangle)
 
     # reconvert the set of initial states and state matrix, if needed
-    static = haskey(kwargs, :static) ? kwargs[:static] : false
+    static = haskey(kwargs, :static) ? kwargs[:static] : alg.static
     Ω0 = _reconvert(Ω0, Val(static))
     Φ = _reconvert(Φ, Val(static))
 

src/Algorithms/GLGM06/GLGM06.jl

@@ -24,15 +24,30 @@ See [xxx] and [yyy]
 """
 @with_kw struct GLGM06{N, AM} <: AbstractContinuousPost
     δ::N
-    # TODO: use set-operations option
-    # nota: la opcion set_operations="zonotope" es ignorada (?)
+    # TODO set_operations="zonotope" used or ignored
     approx_model::AM=Forward(sih=:concrete, exp=:base, phi2=:base, setops=:lazy)
     max_order::Int=10
+    static::Bool=false
 end
 
 step_size(alg::GLGM06) = alg.δ
 numtype(::GLGM06{N}) where {N} = N
 
+function rsetrep(alg::GLGM06{N}) where {N}
+    if !alg.static
+        RT = ReachSet{N, Zonotope{N, Vector{N}, Matrix{N}}}
+    else
+        error("not implemented")
+        # n : other parameter of GLGM06 / or just a field alg.dim
+        # p : order * dimension eg. alg.max_order * alg.dim
+        # VT = SVector{n, N}
+        # MT = SMatrix{n, p, N, n*p}
+        # ZT = Zonotope{N, VT, MT}
+        # RT = ReachSet{N, ZT}
+    end
+    return RT
+end
+
 include("post.jl")
 include("reach.jl")
 #include("check.jl")

src/Algorithms/GLGM06/post.jl

@@ -29,7 +29,7 @@ function post(alg::GLGM06, ivp::IVP{<:AbstractContinuousSystem}, tspan; kwargs..
     Ω0 = _reduce_order(Ω0, max_order)
 
     # reconvert the set of initial states and state matrix, if needed
-    static = haskey(kwargs, :static) ? kwargs[:static] : false
+    static = haskey(kwargs, :static) ? kwargs[:static] : alg.static
     Ω0 = _reconvert(Ω0, Val(static))
     Φ = _reconvert(Φ, Val(static))
 

src/Algorithms/INT/INT.jl

@@ -31,6 +31,7 @@ end
 
 step_size(alg::INT) = alg.δ
 numtype(::INT{N}) where {N} = N
+rsetrep(::INT{N}) where {N} = ReachSet{N, Interval{N, IA.Interval{N}}}
 
 include("post.jl")
 include("reach.jl")

src/Algorithms/LGG09/LGG09.jl

@@ -38,10 +38,20 @@ See [1] and [2].
     δ::N
     approx_model::AM=Forward(sih=:concrete, exp=:base, phi2=:base, setops=:lazy)
     template::AD
+    static::Bool=false
 end
 
 step_size(alg::LGG09) = alg.δ
 numtype(::LGG09{N}) where {N} = N
+function rsetrep(alg::LGG09{N}) where {N}
+    if alg.static
+        error("not implemented")
+    else
+        error("not implemented")
+        #RT = TemplateReachSet{...}
+    end
+    return RT
+end
 
 include("reach.jl")
 include("post.jl")

src/Algorithms/LGG09/post.jl

@@ -28,7 +28,7 @@ function post(alg::LGG09, ivp::IVP{<:AbstractContinuousSystem}, tspan; kwargs...
     Ω0 = _reduce_order(Ω0, max_order)
 
     # reconvert the set of initial states and state matrix, if needed
-    static = haskey(kwargs, :static) ? kwargs[:static] : false
+    static = haskey(kwargs, :static) ? kwargs[:static] : alg.static
     Ω0 = _reconvert(Ω0, Val(static))
     Φ = _reconvert(Φ, Val(static))
 

src/Algorithms/TMJets/TMJets.jl

@@ -18,14 +18,13 @@ by Luis Benet and David Sanders in `TalorModels.jl`.
     abs_tol::N=1e-15
     orderT::Int=8
     orderQ::Int=2
-    # setrep::ST=Zonotope{Float64, Vector{Float64}, Matrix{Float64}}
-    # add setrep as a type?
 end
 
 using TaylorModels: TaylorModelN
 using TaylorModels: fp_rpa, remainder
 
 numtype(::TMJets{N}) where {N} = N
+rsetrep(::TMJets{N}) where {N} = TaylorModelReachSet{N}
 
 include("post.jl")
 include("reach.jl")

src/Continuous/solve.jl

@@ -95,7 +95,7 @@ end
 
 function _solve_distributed(cpost, S, X0, tspan, threading::Val{true}; kwargs...)
     nsets = length(X0)
-    FT = Flowipe{numtype(cpost), rsetrep(cpost)}
+    FT = Flowpipe{numtype(cpost), rsetrep(cpost)}
     sol_tot = Vector{FT}(undef, nsets)
 
     Threads.@threads for i in 1:length(X0)
@@ -217,6 +217,7 @@ function _get_cpost(ivp, args...; kwargs...)
     got_opC = haskey(kwargs, :opC)
     no_args = isempty(args) || args[1] === nothing
 
+    # continous post was specified
     if got_alg
         cpost = kwargs[:alg]
     elseif got_algorithm
@@ -285,7 +286,8 @@ function _default_cpost(ivp::IVP{<:AbstractContinuousSystem}, tspan; kwargs...)
         if statedim(ivp) == 1
             opC = INT(δ=δ)
         else
-            opC = GLGM06(δ=δ)
+            static = haskey(kwargs, :static) ? kwargs[:static] : false
+            opC = GLGM06(δ=δ, static=static)
         end
     else
         opC = TMJets()

src/Initialization/exports.jl

@@ -41,7 +41,9 @@ export
     tend,
     tspan,
     vars_idx, # >> call this vars ?
-    sup_func, # TODO ?
+    sup_func, # TODO keep?
+    setrep,
+    rsetrep,
 
 # Concrete operations
     project,

test/algorithms/TMJets.jl

@@ -16,6 +16,9 @@
     X0s = split(X0, [2, 1]) # split along direction x
     sols = solve(IVP(S, X0s), T=0.1, threading=false) # no threading
     @test flowpipe(sols) isa MixedFlowpipe
+
+    sols = solve(IVP(S, X0s), T=0.1, threading=true) # with threading (default)
+    @test flowpipe(sols) isa MixedFlowpipe
 end
 
 @testset "TMJets algorithm: linear IVPs" begin

test/runtests.jl

@@ -1,5 +1,5 @@
 using Test, ReachabilityAnalysis, StaticArrays
-using ReachabilityAnalysis: _isapprox
+using ReachabilityAnalysis: _isapprox, setrep, rsetrep
 
 # load test models
 include("models/linear/exponential1D.jl")