Fix and activate doctests; fix add_dimension

docs/Project.toml

@@ -8,6 +8,7 @@ JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 LaTeXStrings = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
 LazySets = "b4f0291d-fe17-52bc-9479-3d1a343d9043"
 Literate = "98b081ad-f1c9-55d3-8b20-4c87d4299306"
+MathematicalSystems = "d14a8603-c872-5ed3-9ece-53e0e82e39da"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 
@@ -21,5 +22,6 @@ JLD2 = "0.4"
 LaTeXStrings = "1"
 LazySets = "2"
 Literate = "2"
+MathematicalSystems = "0.11 - 0.13"
 Plots = "1"
 Symbolics = "5"

docs/make.jl

@@ -118,7 +118,7 @@ makedocs(;
                                 assets=["assets/aligned.css"]),
          sitename="ReachabilityAnalysis.jl",
          modules=[ReachabilityAnalysis],
-         doctest=false,
+         #doctest=false,
          pagesonly=true,
          pages=["Overview" => "index.md",
                 "Tutorials" => vcat(SET_REPRESENTATIONS,

src/Continuous/normalization.jl

@@ -57,21 +57,21 @@ Append one or more zero rows and columns to a matrix.
 
 ```jldoctest add_dimension_test
 julia> A = [0.4 0.25; 0.46 -0.67]
-2×2 Array{Float64,2}:
+2×2 Matrix{Float64}:
  0.4    0.25
  0.46  -0.67
 
-julia> add_dimension(A)
-3×3 Array{Float64,2}:
+julia> ReachabilityAnalysis.add_dimension(A)
+3×3 Matrix{Float64}:
  0.4    0.25  0.0
  0.46  -0.67  0.0
  0.0    0.0   0.0
 ```
 To append more than one zero row-column, use the second argument `m`:
 
 ```jldoctest add_dimension_test
-julia> add_dimension(A, 2)
-4×4 Array{Float64,2}:
+julia> ReachabilityAnalysis.add_dimension(A, 2)
+4×4 Matrix{Float64}:
  0.4    0.25  0.0  0.0
  0.46  -0.67  0.0  0.0
  0.0    0.0   0.0  0.0
@@ -101,14 +101,14 @@ julia> X = BallInf(ones(9), 0.5);
 julia> dim(X)
 9
 
-julia> Xext = add_dimension(X);
+julia> Xext = ReachabilityAnalysis.add_dimension(X);
 
 julia> dim(Xext)
 10
 
 julia> X = ZeroSet(4);
 
-julia> dim(add_dimension(X))
+julia> dim(ReachabilityAnalysis.add_dimension(X))
 5
 
 julia> typeof(X)
@@ -118,7 +118,7 @@ ZeroSet{Float64}
 More than one dimension can be added passing the second argument:
 
 ```jldoctest add_dimension_set
-julia> Xext = add_dimension(BallInf(zeros(10), 0.1), 4);
+julia> Xext = ReachabilityAnalysis.add_dimension(BallInf(zeros(10), 0.1), 4);
 
 julia> dim(Xext)
 14
@@ -138,14 +138,14 @@ function add_dimension(X::ZeroSet, m=1)
 end
 
 """
-    add_dimension(cs, m=1)
+    add_dimension(ivp::IVP, m=1)
 
-Adds an extra dimension to a continuous system.
+Adds an extra dimension to a initial-value system.
 
 ### Input
 
-- `cs` -- continuous system
-- `m` -- (optional, default: `1`) the number of extra dimensions
+- `ivp` -- initial-value system
+- `m`   -- (optional, default: `1`) the number of extra dimensions
 
 ### Examples
 
@@ -158,7 +158,7 @@ julia> X0 = BallInf(zeros(3), 1.0);
 
 julia> s = InitialValueProblem(LinearContinuousSystem(A), X0);
 
-julia> sext = add_dimension(s);
+julia> sext = ReachabilityAnalysis.add_dimension(s);
 
 julia> statedim(sext)
 4
@@ -167,16 +167,18 @@ julia> statedim(sext)
 If there is an input set, it is also extended:
 
 ```jldoctest add_dimension_cont_sys
+julia> using LinearAlgebra
+
 julia> U = ConstantInput(Ball2(ones(3), 0.1));
 
 julia> s = InitialValueProblem(ConstrainedLinearControlContinuousSystem(A, Matrix(1.0I, size(A)), nothing, U), X0);
 
-julia> sext = add_dimension(s);
+julia> sext = ReachabilityAnalysis.add_dimension(s);
 
 julia> statedim(sext)
 4
 
-julia> dim(next_set(inputset(sext)))
+julia> dim(ReachabilityAnalysis.next_set(inputset(sext)))
 4
 ```
 
@@ -189,32 +191,32 @@ julia> U = VaryingInput([Ball2(ones(3), 0.1 * i) for i in 1:3]);
 
 julia> s = InitialValueProblem(ConstrainedLinearControlContinuousSystem(A, Matrix(1.0I, size(A)), nothing, U), X0);
 
-julia> sext = add_dimension(s);
+julia> sext = ReachabilityAnalysis.add_dimension(s);
 
 julia> statedim(sext)
 4
 
-julia> dim(next_set(inputset(sext), 1))
+julia> dim(ReachabilityAnalysis.next_set(inputset(sext), 1))
 4
 ```
 
 Extending a varying input set with more than one extra dimension:
-1] normalize(::AffineContinuousSystem{Float64,Array{Float64,2},Array{Float64,1}}) at /home/mforets/.julia/dev/ReachabilityAnalysis/src/Continuous/normalization.jl:387
+
 ```jldoctest add_dimension_cont_sys
-julia> sext = add_dimension(s, 7);
+julia> sext = ReachabilityAnalysis.add_dimension(s, 7);
 
 julia> statedim(sext)
 10
 
-julia> dim(next_set(inputset(sext), 1))
+julia> dim(ReachabilityAnalysis.next_set(inputset(sext), 1))
 10
 ```
 """
-function add_dimension(cs, m=1)
-    Aext = add_dimension(cs.s.A, m)
-    X0ext = add_dimension(cs.x0, m)
-    if hasmethod(inputset, Tuple{typeof(cs.s)})
-        Uext = map(x -> add_dimension(x, m), inputset(cs))
+function add_dimension(ivp::IVP, m=1)  # only correct for linear systems
+    Aext = add_dimension(ivp.s.A, m)
+    X0ext = add_dimension(ivp.x0, m)
+    if !isnothing(inputset(ivp))
+        Uext = map(x -> add_dimension(x, m), inputset(ivp))
         s = CLCCS(Aext, Matrix(1.0I, size(Aext)), nothing, Uext)
     else
         s = LCS(Aext)

src/Discretization/DiscretizationModule.jl

@@ -70,11 +70,15 @@ in the docstring of each method. Here is a list of all the available approximati
 
 ```jldoctest
 julia> subtypes(ReachabilityAnalysis.AbstractApproximationModel)
-5-element Vector{Any}:
+9-element Vector{Any}:
  Backward
  CorrectionHull
+ FirstOrder
+ FirstOrderZonotope
  Forward
+ ForwardBackward
  NoBloating
+ SecondOrderddt
  StepIntersect
 ```