From b56c91b0d8bb2295d369743a30c023093a03a90c Mon Sep 17 00:00:00 2001
From: johnaoga <johnaoga@gmail.com>
Date: Sun, 10 Nov 2024 05:06:06 +0100
Subject: [PATCH 1/3] init

---
 src/MOI_wrapper.jl                                | 6 ++++++
 src/optim/abstraction/uniform_grid_abstraction.jl | 8 ++++++++
 2 files changed, 14 insertions(+)

diff --git a/src/MOI_wrapper.jl b/src/MOI_wrapper.jl
index 29fb7bfb1..a97cbb82f 100644
--- a/src/MOI_wrapper.jl
+++ b/src/MOI_wrapper.jl
@@ -397,6 +397,11 @@ function input_indices(model::Optimizer)
 end
 
 function setup!(model::Optimizer)
+    if any(isnothing, model.dynamic)
+        error("Missing dynamics. i.e. ∂(x) = f(x, u) or Δ(x) = f(x, u)")
+    end
+
+    println(">>Setting up the model")
     input_index = 0
     state_index = 0
     model.nlp_model = MOI.Nonlinear.Model()
@@ -420,6 +425,7 @@ function setup!(model::Optimizer)
     vars = MOI.VariableIndex.(eachindex(model.lower))
     model.evaluator = MOI.Nonlinear.Evaluator(model.nlp_model, backend, vars)
     MOI.initialize(model.evaluator, Symbol[])
+    println(">>Model setup complete")
     return
 end
 
diff --git a/src/optim/abstraction/uniform_grid_abstraction.jl b/src/optim/abstraction/uniform_grid_abstraction.jl
index 4ed0d7e70..a9baa8621 100644
--- a/src/optim/abstraction/uniform_grid_abstraction.jl
+++ b/src/optim/abstraction/uniform_grid_abstraction.jl
@@ -146,6 +146,14 @@ function discretized_system(
 end
 
 function build_abstraction(concrete_system, model)
+    if isnothing(model.state_grid)
+        error("Please set the `state_grid`.")
+    end
+
+    if isnothing(model.input_grid)
+        error("Please set the `input_grid`.")
+    end
+    
     Xfull = DO.DomainList(model.state_grid)
     DO.add_set!(Xfull, concrete_system.X, DO.INNER)
     Ufull = DO.DomainList(model.input_grid)

From f37aba871c707e71297c6250875ea14c8d9555b9 Mon Sep 17 00:00:00 2001
From: johnaoga <johnaoga@gmail.com>
Date: Sun, 10 Nov 2024 05:11:26 +0100
Subject: [PATCH 2/3] jformat

---
 src/optim/abstraction/uniform_grid_abstraction.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/optim/abstraction/uniform_grid_abstraction.jl b/src/optim/abstraction/uniform_grid_abstraction.jl
index a9baa8621..129a819f2 100644
--- a/src/optim/abstraction/uniform_grid_abstraction.jl
+++ b/src/optim/abstraction/uniform_grid_abstraction.jl
@@ -153,7 +153,7 @@ function build_abstraction(concrete_system, model)
     if isnothing(model.input_grid)
         error("Please set the `input_grid`.")
     end
-    
+
     Xfull = DO.DomainList(model.state_grid)
     DO.add_set!(Xfull, concrete_system.X, DO.INNER)
     Ufull = DO.DomainList(model.input_grid)

From 5b818994e0d622ccc025f034ed28218f3479c430 Mon Sep 17 00:00:00 2001
From: johnaoga <johnaoga@gmail.com>
Date: Sun, 10 Nov 2024 06:13:11 +0100
Subject: [PATCH 3/3] fixing error

---
 src/MOI_wrapper.jl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/MOI_wrapper.jl b/src/MOI_wrapper.jl
index a97cbb82f..574784a30 100644
--- a/src/MOI_wrapper.jl
+++ b/src/MOI_wrapper.jl
@@ -397,7 +397,7 @@ function input_indices(model::Optimizer)
 end
 
 function setup!(model::Optimizer)
-    if any(isnothing, model.dynamic)
+    if all(isnothing, model.dynamic)
         error("Missing dynamics. i.e. ∂(x) = f(x, u) or Δ(x) = f(x, u)")
     end