Merge pull request #834 from JuliaReach/schillic/outsource

Simplify code for UnionSet and UnionSetArray

src/Continuous/solve.jl

@@ -144,17 +144,16 @@ setrep(::InitialValueProblem{HS,ST}) where {HS,ST} = ST
 LazySets.dim(::IA.Interval) = 1
 LazySets.dim(::IA.IntervalBox{D,N}) where {D,N} = D
 
-# lazy sets (or sets that behave like such -- TODO update once UnionSet <: LazySet)
-_dim(X::Union{<:LazySet,<:IA.Interval,<:IA.IntervalBox,<:UnionSet,<:UnionSetArray}) = dim(X)
+# lazy sets (or sets that behave as such)
+_dim(X::Union{<:LazySet,<:IA.Interval,<:IA.IntervalBox}) = dim(X)
 
 # singleton elements
 _dim(X::Number) = 1
 _dim(X::AbstractVector{N}) where {N<:Number} = length(X)
 
 # vector of sets
 function _dim(X::AbstractVector{UT}) where {UT<:Union{<:LazySet,
-                                                      <:IA.Interval,<:IA.IntervalBox,<:UnionSet,
-                                                      <:UnionSetArray}}
+                                                      <:IA.Interval,<:IA.IntervalBox}}
     n = _dim(first(X))
     all(X -> _dim(X) == n, X) || throw(ArgumentError("dimension mismatch between " *
                                                      "the initial sets in this array; expected only sets of dimension $n"))

src/Flowpipes/clustering.jl

@@ -114,12 +114,12 @@ end
 
 function cluster(F, idx, method::LazyClustering{P,Val{true}}) where {P}
     p = _partition(method, idx)
-    return convF = [convexify(view(F, cj)) for cj in p]
+    return [convexify(view(F, cj)) for cj in p]
 end
 
 function cluster(F, idx, method::LazyClustering{P,Val{false}}) where {P}
     p = _partition(method, idx)
-    return convF = [view(F, cj) for cj in p]
+    return [view(F, cj) for cj in p]
 end
 
 # for Taylor model flowpipes we preprocess it with a zonotopic overapproximation

src/Hybrid/solve.jl

@@ -401,7 +401,7 @@ end
 
 #=
 # TODO distribute initial set exceptions:
-# IA.Interval, IntervalBox, UninSet, UnionSetArray
+# IA.Interval, IntervalBox
 
 # no-op if the ivp has a WaitingList
 

src/ReachSets/AbstractLazyReachSet.jl

@@ -59,10 +59,8 @@ end
 # Expose common LazySets operations
 LazySets.constraints_list(R::AbstractLazyReachSet) = constraints_list(set(R))
 LazySets.vertices_list(R::AbstractLazyReachSet) = vertices_list(set(R))
-for ST in (LazySet, UnionSet, UnionSetArray)
-    @eval Base.:⊆(R::AbstractLazyReachSet, X::$(ST)) = ⊆(set(R), X)
-    @eval Base.:⊆(X::$(ST), R::AbstractLazyReachSet) = ⊆(X, set(R))
-end
+Base.:⊆(R::AbstractLazyReachSet, X::LazySet) = ⊆(set(R), X)
+Base.:⊆(X::LazySet, R::AbstractLazyReachSet) = ⊆(X, set(R))
 Base.:⊆(R::AbstractLazyReachSet, S::AbstractLazyReachSet) = ⊆(set(R), set(S))
 LazySets.area(R::AbstractLazyReachSet) = area(set(R))
 LazySets.volume(R::AbstractLazyReachSet) = volume(set(R))

src/ReachSets/AbstractReachSet.jl

@@ -34,8 +34,7 @@ following methods:
 abstract type AbstractReachSet{N} end
 
 # convenience union for dispatch on structs that behave like a set
-const SetOrReachSet = Union{LazySet,UnionSet,UnionSetArray,IA.Interval,IA.IntervalBox,
-                            AbstractReachSet}
+const SetOrReachSet = Union{LazySet,IA.Interval,IA.IntervalBox,AbstractReachSet}
 
 """
     set(R::AbstractReachSet)

src/ReachSets/TaylorModelReachSet.jl

@@ -85,33 +85,6 @@ function _intersection(R::TaylorModelReachSet, Y::LazySet, ::BoxIntersection)
     return isempty(out) ? EmptySet(dim(out)) : overapproximate(out, Hyperrectangle)
 end
 
-# TODO refactor? See LazySets#2158
-function _intersection(R::TaylorModelReachSet, Y::UnionSetArray{N,HT},
-                       ::BoxIntersection) where {N,HT<:HalfSpace{N}}
-    X = set(overapproximate(R, Hyperrectangle))
-
-    # find first non-empty intersection
-    m = length(Y.array) # can't use array(Y) ?
-    i = 1
-    local W
-    @inbounds while i <= m
-        W = intersection(X, Y.array[i])
-        !isempty(W) && break
-        i += 1
-    end
-    if i == m + 1
-        return EmptySet(dim(Y))
-    end
-
-    # add all other non-empty intersections
-    out = [W]
-    @inbounds for j in (i + 1):m
-        W = intersection(X, Y.array[j])
-        !isempty(W) && push!(out, W)
-    end
-    return isempty(out) ? EmptySet(dim(out)) : overapproximate(UnionSetArray(out), Hyperrectangle)
-end
-
 # ======================
 # Inclusion checks
 # ======================
@@ -404,8 +377,7 @@ function overapproximate(R::TaylorModelReachSet{N}, ::Type{<:Zonotope},
     end
     Z = overapproximate.(fX̂, Zonotope)
     Δt = tspan(R)
-    #return ReachSet(UnionSetArray(Z), Δt) # but UnionSetArray is not yet a lazyset
-    return ReachSet(ConvexHullArray(Z), Δt)
+    return ReachSet(UnionSetArray(Z), Δt)
 end
 
 # evaluate at a given time point and overapproximate the resulting set