bump TaylorModels version

JuliaReach · Jun 4, 2021 · 43ddf88 · 43ddf88
1 parent 853c17f
commit 43ddf88
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Showing 4 changed files with 14 additions and 8 deletions.
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "ReachabilityAnalysis"
 uuid = "1e97bd63-91d1-579d-8e8d-501d2b57c93f"
 authors = ["mforets <[email protected]>", "schillic <[email protected]>", "dfcaporale <[email protected]>"]
-version = "0.14.7"
+version = "0.14.8"
 
 [deps]
 ExprTools = "e2ba6199-217a-4e67-a87a-7c52f15ade04"
@@ -49,7 +49,7 @@ Requires = "0.5, 1.0"
 StaticArrays = "0.12, 1.0"
 Symbolics = "0.1.24"
 TaylorIntegration = "0.6, 0.7, 0.8"
-TaylorModels = "0.3"
+TaylorModels = "0.4"
 TaylorSeries = "0.10, 0.11"
 UnPack = "0.1, 1.0"
 julia = "1.5"

diff --git a/src/Algorithms/TMJets/TMJets21a/post.jl b/src/Algorithms/TMJets/TMJets21a/post.jl
@@ -33,14 +33,17 @@ function post(alg::TMJets21a{N}, ivp::IVP{<:AbstractContinuousSystem}, timespan;
     X0tm = _initialize(X0, orderQ, orderT)
 
     # call external solver
-    tv, xv, xTM1v = TaylorModels.validated_integ(f!, X0tm, t0, T, orderQ, orderT,
+    TMSol = TaylorModels.validated_integ(f!, X0tm, t0, T, orderQ, orderT,
                                                  abstol, params;
                                                  maxsteps=maxsteps,
                                                  parse_eqs=parse_eqs,
                                                  adaptive=adaptive,
                                                  minabstol=minabstol,
                                                  absorb=absorb,
                                                  check_property=check_property)
+    tv = TMSol.time
+    xv = TMSol.fp
+    xTM1v = TMSol.xTM
 
     # preallocate flowpipe
     F = Vector{TaylorModelReachSet{N}}()

diff --git a/src/Algorithms/TMJets/TMJets21b/post.jl b/src/Algorithms/TMJets/TMJets21b/post.jl
@@ -33,7 +33,7 @@ function post(alg::TMJets21b{N}, ivp::IVP{<:AbstractContinuousSystem}, timespan;
     X0tm = _initialize(X0, orderQ, orderT)
 
     # call external solver
-    tv, xv, xTM1v = TaylorModels.validated_integ2(f!, X0tm, t0, T, orderQ, orderT,
+    TMSol = TaylorModels.validated_integ2(f!, X0tm, t0, T, orderQ, orderT,
                                                   abstol, params;
                                                   parse_eqs=parse_eqs,
                                                   maxsteps=maxsteps,
@@ -42,6 +42,9 @@ function post(alg::TMJets21b{N}, ivp::IVP{<:AbstractContinuousSystem}, timespan;
                                                   minabstol=minabstol,
                                                   validatesteps=validatesteps,
                                                   ε=ε, δ=ε, absorb_steps=absorb_steps)
+    tv = TMSol.time
+    xv = TMSol.fp
+    xTM1v = TMSol.xTM
 
     # build flowpipe
     F = Vector{TaylorModelReachSet{N}}()

diff --git a/src/ReachSets/TaylorModelReachSet.jl b/src/ReachSets/TaylorModelReachSet.jl
@@ -373,7 +373,7 @@ end
 function _overapproximate_structured(Z::AbstractZonotope{N}, ::Type{<:TaylorModelReachSet};
                                      orderQ::Integer=2, orderT::Integer=8, Δt::TimeInterval=zeroI) where {N}
     n = dim(Z)
-    x = set_variables("x", numvars=n, order=2*orderQ)
+    x = set_variables("x", numvars=n, order=orderQ)
 
     # check structure
     order(Z) == 2 || throw(ArgumentError("this function requires that the order of the zonotope is 2, got $(order(Z))"))
@@ -395,7 +395,7 @@ function _overapproximate_structured(Z::AbstractZonotope{N}, ::Type{<:TaylorMode
     # the line segment corresponding to the i-th edge of Z
     @inbounds for i in 1:n
         pi = c[i] + sum(view(M, i, :) .* x)
-        di = D[i, i]
+        di = abs(D[i, i])
         rem = interval(-di, di)
         vTM[i] = TaylorModel1(Taylor1(pi, orderT), rem, zeroI, Δtn)
     end
@@ -406,7 +406,7 @@ end
 function _overapproximate_structured(Zcp::CartesianProduct{N, <:Zonotope, <:Interval}, ::Type{<:TaylorModelReachSet};
                                      orderQ::Integer=2, orderT::Integer=8, Δt::TimeInterval=zeroI) where {N}
     n = dim(Zcp)
-    x = set_variables("x", numvars=n, order=2*orderQ)
+    x = set_variables("x", numvars=n, order=orderQ)
 
     # check structure
     Z = Zcp.X
@@ -446,7 +446,7 @@ end
 function _overapproximate_structured_full(Zcp::CartesianProduct{N, <:Zonotope, <:Interval}, ::Type{<:TaylorModelReachSet};
                                           orderQ::Integer=2, orderT::Integer=8, Δt::TimeInterval=zeroI) where {N}
     n = dim(Zcp) - 1
-    x = set_variables("x", numvars=n+1, order=2*orderQ)
+    x = set_variables("x", numvars=n+1, order=orderQ)
 
     # check structure
     # not checking structure