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Fix ambiguities #811

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Mar 17, 2024
Merged

Fix ambiguities #811

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7dbebf9
fix ambiguities
schillic Mar 10, 2024
5ae8318
remove methods that are not needed anymore
schillic Mar 10, 2024
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13 changes: 6 additions & 7 deletions src/Algorithms/BFFPSV18/reach_homog.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@
# Set representation: Interval
# Matrix operations: Dense
# Invariant: No
function reach_homog_BFFPSV18!(F, Xhat0, Φ::AbstractMatrix{NM}, NSTEPS, δ, X::Universe,
ST::Type{<:Interval{N}}, vars, block_indices,
function reach_homog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::AbstractMatrix{NM}, NSTEPS, δ,
X::Universe, ST::Type{<:Interval{N}}, vars, block_indices,
row_blocks, column_blocks, Δt0,
viewval::Val{true}) where {NM,N}

Expand Down Expand Up @@ -44,8 +44,8 @@ end
# Set representation: Generic
# Matrix operations: Dense
# Invariant: No
function reach_homog_BFFPSV18!(F, Xhat0, Φ::MT, NSTEPS, δ::N, X::Universe,
ST, vars, block_indices,
function reach_homog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::MT, NSTEPS, δ::N,
X::Universe, ST, vars, block_indices,
row_blocks::AbstractVector{<:RBLKi},
column_blocks::AbstractVector{<:CBLKj},
Δt0,
Expand Down Expand Up @@ -86,9 +86,8 @@ end
# Set representation: Generic
# Matrix operations: Sparse
# Invariant: No
function reach_homog_BFFPSV18!(F, Xhat0, Φ::MT, NSTEPS, δ::N, X::Universe,
ST, vars,
block_indices,
function reach_homog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::MT, NSTEPS, δ::N,
X::Universe, ST, vars, block_indices,
row_blocks::AbstractVector{<:RBLKi},
column_blocks::AbstractVector{<:CBLKj},
Δt0,
Expand Down
25 changes: 10 additions & 15 deletions src/Algorithms/BFFPSV18/reach_inhomog.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,8 @@
# Set representation: Interval
# Matrix operations: Dense
# Invariant: No
function reach_inhomog_BFFPSV18!(F, Xhat0::LazySet{N}, Φ::MT, NSTEPS, δ, X::Universe, U,
ST::Type{<:Interval{N}}, vars,
block_indices,
function reach_inhomog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::MT, NSTEPS, δ,
X::Universe, U, ST::Type{<:Interval{N}}, vars, block_indices,
row_blocks::AbstractVector{<:RBLKi},
column_blocks::AbstractVector{<:CBLKj},
Δt0,
Expand Down Expand Up @@ -60,8 +59,8 @@ end
# Set representation: Generic
# Matrix operations: Dense
# Invariant: No
function reach_inhomog_BFFPSV18!(F, Xhat0::LazySet{N}, Φ::MT, NSTEPS, δ, X::Universe, U,
ST, vars, block_indices,
function reach_inhomog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::MT, NSTEPS, δ,
X::Universe, U, ST, vars, block_indices,
row_blocks::AbstractVector{<:RBLKi},
column_blocks::AbstractVector{<:CBLKj},
Δt0,
Expand Down Expand Up @@ -114,10 +113,8 @@ end
# Set representation: Generic
# Matrix operations: Sparse
# Invariant: No
function reach_inhomog_BFFPSV18!(F, Xhat0, Φ::MT, NSTEPS, δ::N,
X::Universe, U,
ST, vars,
block_indices,
function reach_inhomog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::MT, NSTEPS, δ::N,
X::Universe, U, ST, vars, block_indices,
row_blocks::AbstractVector{<:RBLKi},
column_blocks::AbstractVector{<:CBLKj},
Δt0,
Expand Down Expand Up @@ -170,10 +167,8 @@ function reach_inhomog_BFFPSV18!(F, Xhat0, Φ::MT, NSTEPS, δ::N,
return F
end

function reach_inhomog_BFFPSV18!(F, Xhat0, Φ::MT, NSTEPS, δ::N,
X::Universe, U,
ST, vars,
block_indices,
function reach_inhomog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::MT, NSTEPS, δ::N,
X::Universe, U, ST, vars, block_indices,
row_blocks::AbstractVector{<:RBLKi},
column_blocks::AbstractVector{<:CBLKj},
Δt0,
Expand Down Expand Up @@ -233,8 +228,8 @@ end
# Set representation: Generic
# Matrix operations: Dense
# Invariant: LazySet
function reach_inhomog_BFFPSV18!(F, Xhat0::LazySet{N}, Φ::MT, NSTEPS, δ, X::LazySet, U,
ST, vars, block_indices,
function reach_inhomog_BFFPSV18!(F, Xhat0::CartesianProductArray{N}, Φ::MT, NSTEPS, δ,
X::LazySet, U, ST, vars, block_indices,
row_blocks::AbstractVector{<:RBLKi},
column_blocks::AbstractVector{<:CBLKj},
Δt0,
Expand Down
10 changes: 7 additions & 3 deletions src/Flowpipes/setops.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -53,15 +53,15 @@ function _reconvert(Ω0::Hyperrectangle{N,Vector{N},Vector{N}}, static::Val{true
return nodim_msg()
end
_reconvert(Ω0::Hyperrectangle{N,<:SVector,<:SVector}, static::Val{true}, dim) where {N} = Ω0
_reconvert(Ω0::Hyperrectangle{N,<:SVector,<:SVector}, static::Val{true}, dim::Val) where {N} = Ω0

# convert any Hyperrectangle to be represented with regular arrays
function _reconvert(Ω0::Hyperrectangle, static::Val{false}, dim::Missing)
return Ω0 = Hyperrectangle(Vector(Ω0.center), Matrix(Ω0.radius); check_bounds=false)
end

# convert any Hyperrectangle to be represented with static arrays
function _reconvert(Ω0::Hyperrectangle{N,VNC,VNR}, static::Val{true},
dim::Val{n}) where {N,VNC,VNR,n}
function _reconvert(Ω0::Hyperrectangle{N}, static::Val{true}, dim::Val{n}) where {N,n}
#n = length(Ω0.center) # dimension
return Ω0 = Hyperrectangle(SVector{n,N}(Ω0.center), SVector{n,N}(Ω0.radius); check_bounds=false)
end
Expand All @@ -71,6 +71,8 @@ _reconvert(Φ::Matrix{N}, static::Val{false}, dim) where {N} = Φ
_reconvert(Φ::IntervalMatrix{N}, static::Val{false}, dim) where {N} = Φ
_reconvert(Φ::AbstractMatrix, static::Val{false}, dim) = Matrix(Φ)
_reconvert(Φ::SMatrix, static::Val{true}, dim) = Φ
_reconvert(Φ::SMatrix, static::Val{true}, dim::Val) = Φ
_reconvert(Φ::SMatrix, static::Val{true}, dim::Missing) = Φ
function _reconvert(Φ::AbstractMatrix, static::Val{true}, dim::Missing)
return _reconvert(Φ, static, Val(size(Φ, 1)))
end
Expand All @@ -92,6 +94,8 @@ const VPOLY{N,VN} = Union{VPolygon{N,VN},VPolytope{N,VN}}
# no-op
_reconvert(V::VPOLY{N,VN}, static::Val{false}, dim) where {N,VN<:AbstractVector{N}} = V
_reconvert(V::VPOLY{N,VN}, static::Val{true}, dim) where {N,VN<:SVector{N}} = V
_reconvert(V::VPOLY{N,VN}, static::Val{true}, dim::Val) where {N,VN<:SVector{N}} = V
_reconvert(V::VPOLY{N,VN}, static::Val{true}, dim::Missing) where {N,VN<:SVector{N}} = V

function _reconvert(V::VPOLY{N,VN}, static::Val{true},
dim::Val{n}) where {N,VN<:AbstractVector{N},n}
Expand All @@ -105,7 +109,7 @@ function _reconvert(V::VPOLY{N,VN}, static::Val{true}, dim::Missing) where {N,VN
end

Base.convert(::Type{HPolytope{N,VT}}, P::HPolytope{N,VT}) where {N,VT} = P
function Base.convert(::Type{HPolytope{N,VT}}, P) where {N,VT}
function Base.convert(::Type{HPolytope{N,VT}}, P::LazySet) where {N,VT}
return HPolytope([HalfSpace(VT(c.a), c.b) for c in constraints_list(P)])
end

Expand Down
6 changes: 2 additions & 4 deletions src/ReachSets/AbstractLazyReachSet.jl
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Expand Up @@ -169,10 +169,8 @@ project(R::AbstractLazyReachSet; vars) = project(R, Tuple(vars))

# projection of an array of reach-sets
_project_vec(R, vars) = map(Ri -> project(Ri, Tuple(vars)), R)
project(R::Vector{<:AbstractLazyReachSet}, vars::VecOrTupleOrInt) = _project_vec(R, vars)
project(R::Vector{<:AbstractLazyReachSet}; vars) = _project_vec(R, vars)
project(R::SubArray{<:AbstractLazyReachSet}, vars) = _project_vec(R, vars)
project(R::SubArray{<:AbstractLazyReachSet}; vars) = _project_vec(R, vars)
project(R::AbstractVector{<:AbstractLazyReachSet}, vars::VecOrTupleOrInt) = _project_vec(R, vars)
project(R::AbstractVector{<:AbstractLazyReachSet}; vars::VecOrTupleOrInt) = _project_vec(R, vars)

# -------------------------------
# Lazy projection of a reach-set
Expand Down
21 changes: 5 additions & 16 deletions src/ReachSets/AbstractReachSet.jl
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Expand Up @@ -240,22 +240,22 @@ end

# internal implementation
function _is_intersection_empty(R::AbstractReachSet, Y::AbstractReachSet,
method::FallbackDisjointness)
::FallbackDisjointness)
return isdisjoint(set(R), set(Y))
end

@commutative function _is_intersection_empty(R::AbstractReachSet, Y::LazySet,
method::FallbackDisjointness)
::FallbackDisjointness)
return isdisjoint(set(R), Y)
end

@commutative function _is_intersection_empty(R::AbstractReachSet, Y::LazySet,
method::ZonotopeEnclosure)
::ZonotopeEnclosure)
Z = overapproximate(R, Zonotope)
return isdisjoint(set(Z), Y)
end

@commutative function _is_intersection_empty(R::AbstractReachSet, Y::LazySet, method::BoxEnclosure)
@commutative function _is_intersection_empty(R::AbstractReachSet, Y::LazySet, ::BoxEnclosure)
H = overapproximate(R, Hyperrectangle)
return isdisjoint(set(H), Y)
end
Expand All @@ -266,21 +266,10 @@ function _is_intersection_empty(P::HPolyhedron, Z::Zonotope, ::BoxEnclosure)
end

# in this method we assume that the intersection is non-empty
@commutative function _is_intersection_empty(R::AbstractReachSet, Y::LazySet, method::Dummy)
@commutative function _is_intersection_empty(::AbstractReachSet, ::LazySet, ::Dummy)
return false
end

@commutative function _is_intersection_empty(R::AbstractReachSet,
Y::UnionSet{N,<:Interval{N},<:Interval{N}},
method::FallbackDisjointness) where {N}
return isdisjoint(set(R), Y)
end

@commutative function _is_intersection_empty(R::AbstractReachSet, Y::UnionSetArray{N,<:Interval{N}},
method::FallbackDisjointness) where {N}
return isdisjoint(set(R), Y)
end

# ------------------------------
# Concrete intersection methods
# ------------------------------
Expand Down
45 changes: 12 additions & 33 deletions src/ReachSets/TaylorModelReachSet.jl
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Expand Up @@ -125,53 +125,32 @@ end
# Disjointness checks
# ======================

function _is_intersection_empty(R::TaylorModelReachSet, Y::LazySet, method::FallbackDisjointness)
function _is_intersection_empty(R::TaylorModelReachSet, Y::LazySet, ::FallbackDisjointness)
return isdisjoint(set(overapproximate(R, Zonotope)), Y)
end

# TODO when UnionSet, UnionSetArray <: LazySet
function _is_intersection_empty(R::TaylorModelReachSet, Y::Union{UnionSet,UnionSetArray},
method::FallbackDisjointness)
return isdisjoint(set(overapproximate(R, Zonotope)), Y)
end
function _is_intersection_empty(R::TaylorModelReachSet, Y::Union{UnionSet,UnionSetArray},
method::ZonotopeEnclosure)
return isdisjoint(set(overapproximate(R, Zonotope)), Y)
end
function _is_intersection_empty(R::TaylorModelReachSet, Y::Union{UnionSet,UnionSetArray},
method::BoxEnclosure)
return isdisjoint(set(overapproximate(R, Hyperrectangle)), Y)
end

function _is_intersection_empty(R1::TaylorModelReachSet, R2::TaylorModelReachSet,
method::FallbackDisjointness)
::FallbackDisjointness)
return isdisjoint(set(overapproximate(R1, Zonotope)), set(overapproximate(R2, Zonotope)))
end
function _is_intersection_empty(R1::TaylorModelReachSet, R2::TaylorModelReachSet,
method::ZonotopeEnclosure)
::ZonotopeEnclosure)
return isdisjoint(set(overapproximate(R1, Zonotope)), set(overapproximate(R2, Zonotope)))
end

@commutative function _is_intersection_empty(R::TaylorModelReachSet,
Y::Union{LazySet,UnionSet,UnionSetArray},
method::ZonotopeEnclosure)
@commutative function _is_intersection_empty(R::TaylorModelReachSet, Y::LazySet,
::ZonotopeEnclosure)
Z = overapproximate(R, Zonotope)
return isdisjoint(set(Z), Y)
end

@commutative function _is_intersection_empty(R::TaylorModelReachSet, X::Universe,
method::AbstractDisjointnessMethod)
return false
end

@commutative function _is_intersection_empty(R::TaylorModelReachSet, X::Universe,
method::ZonotopeEnclosure)
return false
end

@commutative function _is_intersection_empty(R::TaylorModelReachSet, X::Universe,
method::BoxEnclosure)
return false
for T in (:AbstractDisjointnessMethod, :FallbackDisjointness, :ZonotopeEnclosure, :BoxEnclosure, :Dummy)
@eval begin
@commutative function _is_intersection_empty(::TaylorModelReachSet, ::Universe,
method::$T)
return false
end
end
end

# ======================
Expand Down
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