Merge pull request #798 from JuliaReach/schillic/minor

Minor fixes in comments

src/Algorithms/LGG09/reach_inhomog.jl

@@ -421,7 +421,7 @@ end  # quote / load_krylov_LGG09_inhomog()
 # Methods using eigenvalues of the transition matrix
 # ------------------------------------------------------------
 
-#= FIXME needs review <<
+#= TODO needs review <<
 
 # it is assumed that (λ, d) is an eigenvalue-eigenvector pair of the matrix Φᵀ
 function reach_inhomog_dir_eig_LGG09!(out::AbstractVector{N}, X₀, V, d::AbstractVector{N}, λ::N, NSTEPS) where {N}

src/Algorithms/QINT/post.jl

@@ -1,5 +1,5 @@
 # this algorithms assumes that the initial-value problem is one-dimensional
-# FIXME requires special scalar quadratic system type
+# TODO requires special scalar quadratic system type
 function reach_homog_QINT(alg::QINT{N}, ivp::IVP{<:AbstractContinuousSystem}, tspan;
                           Δt0::TimeInterval=zeroI, kwargs...) where {N}
     n = statedim(ivp)
@@ -8,7 +8,7 @@ function reach_homog_QINT(alg::QINT{N}, ivp::IVP{<:AbstractContinuousSystem}, ts
 
     @unpack Δ, δ, θ, maxiter, approx_model = alg
 
-    # normalize system to canonical form FIXME
+    # normalize system to canonical form TODO
     ivp_norm = _normalize(ivp)
     Ω0 = initial_state(ivp_norm)
 
@@ -30,7 +30,7 @@ function reach_homog_QINT(alg::QINT{N}, ivp::IVP{<:AbstractContinuousSystem}, ts
     #F = Vector{ReachSet{N, IT}}(undef, NSTEPS)
 
     if got_homogeneous
-        # FIXME consider Δt0
+        # TODO consider Δt0
         F = reach_homog_QINT(; a=a, b=b, c=c, X0=Ω0, T=T, Δ=Δ, δ=δ, θ=θ, maxiter=maxiter)
     else
         error("not implemented yet")

src/Discretization/Exponentiation.jl

@@ -33,7 +33,7 @@ Abstract supertype for all exponentiation algorithms.
 """
 abstract type AbstractExpAlg end
 
-# FIXME use _alias_exp to distinguish from setops
+# TODO use _alias_exp to distinguish from setops
 # no-op
 _alias(alg::AbstractExpAlg) = alg
 
@@ -428,8 +428,8 @@ end
 
 # compute the matrix Φ₂ = A^{-2} (exp(A*δ) - I - A*δ) assuming that A is invertible
 # and explicitly computing inv(A); this function optionally receives Φ = exp(Aδ)
-# FIXME don't pass algorithm since it is ignore if Φ is given
-#@time Φ2 = ReachabilityAnalysis._Φ₂_inv(abs.(A), δ, ReachabilityAnalysis.BaseExp, Φ);
+# TODO don't pass algorithm since it is ignored if Φ is given
+# Φ2 = ReachabilityAnalysis._Φ₂_inv(abs.(A), δ, ReachabilityAnalysis.BaseExp, Φ)
 function _Φ₂_inv(A::AbstractMatrix, δ, alg, Φ=nothing)
     Aδ = A * δ
     if isnothing(Φ)

src/Flowpipes/clustering.jl

@@ -107,7 +107,7 @@ function cluster(F, idx, ::LazyClustering{Missing,Val{true}})
     return [convexify(view(F, idx))]
 end
 
-# FIXME return a UnionSetArray of reach-sets
+# TODO return a UnionSetArray of reach-sets
 function cluster(F, idx, ::LazyClustering{Missing,Val{false}})
     return [view(F, idx)]
 end

src/ReachSets/TaylorModelReachSet.jl

@@ -130,7 +130,7 @@ function _is_intersection_empty(R::TaylorModelReachSet, Y::LazySet, method::Fall
     return isdisjoint(set(overapproximate(R, Zonotope)), Y)
 end
 
-# FIXME when UnionSet, UnionSetArray <: LazySet
+# TODO when UnionSet, UnionSetArray <: LazySet
 function _is_intersection_empty(R::TaylorModelReachSet, Y::Union{UnionSet,UnionSetArray},
                                 method::FallbackDisjointness)
     return isdisjoint(set(overapproximate(R, Zonotope)), Y)
@@ -359,7 +359,7 @@ function overapproximate(R::TaylorModelReachSet{N}, ::Type{<:Hyperrectangle};
         if nsdiv == 1
             partition = [S]
         else
-            # FIXME (also below) may use IA.mince directly
+            # TODO (also below) may use IA.mince directly
             partition = fill(nsdiv, D)
             Sdiv = LazySets.split(convert(Hyperrectangle, S), partition)
             partition = convert.(IntervalBox, Sdiv)
@@ -461,7 +461,7 @@ function overapproximate(H::AbstractHyperrectangle{N}, T::Type{<:TaylorModelReac
 end
 
 # overapproximate a zonotopic set with a taylor model reachset
-# FIXME pass algorithm option to choose between using parallelotope oa or  order reduction
+# TODO pass algorithm option to choose between using parallelotope oa or order reduction
 function overapproximate(Z::AbstractZonotope{N}, ::Type{<:TaylorModelReachSet};
                          orderQ::Integer=2, orderT::Integer=8, Δt::TimeInterval=zeroI,
                          indices=1:dim(Z), box_reduction=false) where {N}

src/ReachSets/TemplateReachSet.jl

@@ -58,7 +58,7 @@ function set(R::TemplateReachSet)
     return T([HalfSpace(di, R.sf[i]) for (i, di) in enumerate(R.dirs)])
 end
 
-# FIXME requires adding boundedness property as a type parameter
+# TODO requires adding boundedness property as a type parameter
 setrep(::Type{<:TemplateReachSet{N,VN}}) where {N,VN} = HPolyhedron{N,VN}
 setrep(::TemplateReachSet{N,VN}) where {N,VN} = HPolyhedron{N,VN}
 

test/algorithms/ASB07.jl

@@ -47,7 +47,7 @@ using ..Overapproximate: _convert_or_overapproximate
     sol1_nonrec = solve(P_lin; tspan=(0.0, 1.0), alg=ASB07(; δ=0.04, recursive=false))
     @test diameter(set(sol1_rec[end])) < diameter(set(sol1_nonrec[end]))
 
-    # FIXME test without IntervalMatrix wrapper
+    # TODO test without IntervalMatrix wrapper
     #A = [-1.0 ± 0.05 -4.0 ± 0.05;
     #     4.0 ± 0.05 -1.0 ± 0.05]
     #P_lin = @ivp(x' = Ax, x(0) ∈ X0)

test/flowpipes/flowpipes.jl

@@ -56,7 +56,7 @@ end
 
 @testset begin
     "Flowpipe inclusion"
-    # Projectile problem 
+    # Projectile problem
     A = [0.0 0.5 0.0 0.0; 0.0 0.0 0.0 0.0; 0.0 0.0 0.0 0.7; 0.0 0.0 0.0 0.0]
     X0 = Singleton([0.0, 5.0, 100.0, 0])
     U = Singleton([0.0, 0.0, 0.0, -9.81])
@@ -113,7 +113,7 @@ end
     δ = 0.1
     F1 = Flowpipe([ReachSet(X, (0 .. δ) + k * δ) for k in 0:10])
 
-    #= FIXME requires LazySets#2157
+    #= TODO requires LazySets#2157
     N = eltype(X)
     U1 = cluster(F1, 8:10, UnionClustering())
     @test U1 isa Vector{ReachSet{N, UnionSetArray{N,Interval{N, IntervalArithmetic.Interval{N}}}}}

test/models/hybrid/lotka_volterra.jl

@@ -44,14 +44,14 @@ end
 # TEST RUN:
 
 prob = lotka_volterra_hybrid(nsplit=10, ε_ext=1e-4, n_int = 30, ε = 0.008);
-@time sol = solve(prob,
-                  tspan=(0.0, 3.64),
-                  alg=TMJets(abstol=1e-12, orderT=7, orderQ=1, adaptive=true, disjointness=RA.ZonotopeEnclosure()),
-                  max_jumps=2,
-                  intersect_source_invariant=false,
-                  intersection_method=RA.BoxIntersection(),
-                  clustering_method=RA.BoxClustering(),
-                  disjointness_method=RA.BoxEnclosure());
+sol = solve(prob,
+            tspan=(0.0, 3.64),
+            alg=TMJets(abstol=1e-12, orderT=7, orderQ=1, adaptive=true, disjointness=RA.ZonotopeEnclosure()),
+            max_jumps=2,
+            intersect_source_invariant=false,
+            intersection_method=RA.BoxIntersection(),
+            clustering_method=RA.BoxClustering(),
+            disjointness_method=RA.BoxEnclosure());
 solz = overapproximate(sol, Zonotope);
 
 B = Ball2([1.0, 1.0], 0.15) # "exact"