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Make A20 algorithm run #951

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13 changes: 8 additions & 5 deletions src/Algorithms/A20/A20.jl
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Expand Up @@ -8,21 +8,24 @@ inputs in the Krylov subspace from [Althoff20](@citet).

### Fields

- `δ` -- step-size of the discretization
- `max_order` -- (optional, default: `5`) maximum zonotope order
- `δ` -- step-size of the discretization
- `approx_model` -- (optional, default: `FirstOrderZonotope()`) approximation model
- `max_order` -- (optional, default: `5`) maximum zonotope order

### References

See [Althoff20](@citet) and references therein.
"""
struct A20{N} <: AbstractContinuousPost
struct A20{N,AM} <: AbstractContinuousPost
δ::N
approx_model::AM
max_order::Int
end

# convenience constructor using keywords
function A20(; δ::N, max_order::Int=5) where {N}
return A20(δ, max_order)
# TODO change `FirstOrderZonotope` default
function A20(; δ::N, approx_model::AM=FirstOrderZonotope(), max_order::Int=5) where {N,AM}
return A20(δ, approx_model, max_order)
end

step_size(alg::A20) = alg.δ
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14 changes: 10 additions & 4 deletions src/Algorithms/A20/post.jl
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Expand Up @@ -3,7 +3,14 @@
# discrete post
function post(alg::A20{N}, ivp::IVP{<:AbstractDiscreteSystem}, NSTEPS=nothing;
Δt0::TimeInterval=zeroI, kwargs...) where {N}
@unpack δ, max_order = alg
@unpack δ, approx_model, max_order = alg
# TODO define these options in the algorithm struct
static = Val(get(kwargs, :static, false))
reduction_method = LazySets.GIR05()
dim = missing
ngens = missing
preallocate = Val(get(kwargs, :preallocate, true))
disjointness_method = NoEnclosure()

if isnothing(NSTEPS)
if haskey(kwargs, :NSTEPS)
Expand All @@ -25,7 +32,6 @@ function post(alg::A20{N}, ivp::IVP{<:AbstractDiscreteSystem}, NSTEPS=nothing;
Ω0 = reduce_order(Ω0, max_order, reduction_method)

# reconvert the set of initial states and state matrix, if needed
static = get(kwargs, :static, false)
Ω0 = _reconvert(Ω0, static, dim, ngens)
Φ = _reconvert(Φ, static, dim)

Expand All @@ -34,6 +40,7 @@ function post(alg::A20{N}, ivp::IVP{<:AbstractDiscreteSystem}, NSTEPS=nothing;
ZT = typeof(Ω0)
F = Vector{ReachSet{N,ZT}}(undef, NSTEPS)

# TODO currently uses GLGM06 algorithm
if got_homogeneous

#=
Expand All @@ -46,8 +53,7 @@ function post(alg::A20{N}, ivp::IVP{<:AbstractDiscreteSystem}, NSTEPS=nothing;
end
=#

reach_homog_GLGM06!(F, Ω0, Φ, NSTEPS, δ, max_order, X, preallocate, Δt0,
disjointness_method)
reach_homog_GLGM06!(F, Ω0, Φ, NSTEPS, δ, X, preallocate, Δt0, disjointness_method)
else
# TODO: implement preallocate option for this scenario
U = inputset(ivp)
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2 changes: 1 addition & 1 deletion src/ReachSets/TaylorModelReachSet.jl
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Expand Up @@ -2,7 +2,7 @@
# Taylor model reach set
# ================================================================

import ..Overapproximate: _overapproximate, _overapproximate_hparallelotope
import .Overapproximate: _overapproximate, _overapproximate_hparallelotope

"""
TaylorModelReachSet{N, S} <: AbstractTaylorModelReachSet{N}
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