build based on ade4958

Author: Documenter.jl

dev/.documenter-siteinfo.json

@@ -1 +1 @@
-{"documenter":{"julia_version":"1.11.1","generation_timestamp":"2024-10-30T17:17:33","documenter_version":"1.7.0"}}
+{"documenter":{"julia_version":"1.11.1","generation_timestamp":"2024-10-30T18:45:09","documenter_version":"1.7.0"}}

dev/developers/git/index.html

@@ -15,4 +15,4 @@
 changes on master
 =======
 changes on your branch
-&gt;&gt;&gt;&gt;&gt;&gt;&gt; mybranch</code></pre><p>and choose the changes that should be kept. Then you should <code>git add</code> the conflicting files, run <code>git rebase --continue</code>. See <a href="https://docs.github.com/en/github/using-git/resolving-merge-conflicts-after-a-git-rebase">here</a> for more information on this. In case you have may conflicting commits, the rebase can be tedious, you will even have to resolve conflicts for some changes in some earlier commit even if you reverted these changes in a later commit. To avoid this issue, it is recommended to first squash your commits into a single one. To do that, use</p><pre><code class="language-sh hljs">$ git rebase -i master</code></pre><p>and replace <code>pick</code> by <code>s</code> for all commits except the top one and then follow the instructions, see <a href="https://git-scm.com/book/en/v2/Git-Tools-Rewriting-History">here</a> for more details.</p><h2 id="Switch-branches"><a class="docs-heading-anchor" href="#Switch-branches">Switch branches</a><a id="Switch-branches-1"></a><a class="docs-heading-anchor-permalink" href="#Switch-branches" title="Permalink"></a></h2><p>To switch to the branch <code>mybranch</code>, do the following.</p><h3 id="VSCode-7"><a class="docs-heading-anchor" href="#VSCode-7">VSCode</a><a class="docs-heading-anchor-permalink" href="#VSCode-7" title="Permalink"></a></h3><p>On the bottom left, you should see a sort of &quot;Y&quot; symbol with empty circles at the three leaves. On the right, you see the current branch. Click on it and then write or select <code>mybranch</code>.</p><h3 id="Git-bash-7"><a class="docs-heading-anchor" href="#Git-bash-7">Git bash</a><a class="docs-heading-anchor-permalink" href="#Git-bash-7" title="Permalink"></a></h3><p>First <a href="../setup/#Start-Git-bash">Start Git bash</a>.</p><pre><code class="language-sh hljs">$ git checkout mybranch</code></pre><h2 id="Format-your-code"><a class="docs-heading-anchor" href="#Format-your-code">Format your code</a><a id="Format-your-code-1"></a><a class="docs-heading-anchor-permalink" href="#Format-your-code" title="Permalink"></a></h2><p>To format your code, run the following in your Julia REPL. Make sure you have added <a href="https://github.com/domluna/JuliaFormatter.jl">JuliaFormatter.jl</a> before. </p><pre><code class="language-julia hljs">julia&gt; using JuliaFormatter; format(&quot;.&quot;)</code></pre></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../setup/">« Set up</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.7.0 on <span class="colophon-date" title="Wednesday 30 October 2024 17:17">Wednesday 30 October 2024</span>. Using Julia version 1.11.1.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+&gt;&gt;&gt;&gt;&gt;&gt;&gt; mybranch</code></pre><p>and choose the changes that should be kept. Then you should <code>git add</code> the conflicting files, run <code>git rebase --continue</code>. See <a href="https://docs.github.com/en/github/using-git/resolving-merge-conflicts-after-a-git-rebase">here</a> for more information on this. In case you have may conflicting commits, the rebase can be tedious, you will even have to resolve conflicts for some changes in some earlier commit even if you reverted these changes in a later commit. To avoid this issue, it is recommended to first squash your commits into a single one. To do that, use</p><pre><code class="language-sh hljs">$ git rebase -i master</code></pre><p>and replace <code>pick</code> by <code>s</code> for all commits except the top one and then follow the instructions, see <a href="https://git-scm.com/book/en/v2/Git-Tools-Rewriting-History">here</a> for more details.</p><h2 id="Switch-branches"><a class="docs-heading-anchor" href="#Switch-branches">Switch branches</a><a id="Switch-branches-1"></a><a class="docs-heading-anchor-permalink" href="#Switch-branches" title="Permalink"></a></h2><p>To switch to the branch <code>mybranch</code>, do the following.</p><h3 id="VSCode-7"><a class="docs-heading-anchor" href="#VSCode-7">VSCode</a><a class="docs-heading-anchor-permalink" href="#VSCode-7" title="Permalink"></a></h3><p>On the bottom left, you should see a sort of &quot;Y&quot; symbol with empty circles at the three leaves. On the right, you see the current branch. Click on it and then write or select <code>mybranch</code>.</p><h3 id="Git-bash-7"><a class="docs-heading-anchor" href="#Git-bash-7">Git bash</a><a class="docs-heading-anchor-permalink" href="#Git-bash-7" title="Permalink"></a></h3><p>First <a href="../setup/#Start-Git-bash">Start Git bash</a>.</p><pre><code class="language-sh hljs">$ git checkout mybranch</code></pre><h2 id="Format-your-code"><a class="docs-heading-anchor" href="#Format-your-code">Format your code</a><a id="Format-your-code-1"></a><a class="docs-heading-anchor-permalink" href="#Format-your-code" title="Permalink"></a></h2><p>To format your code, run the following in your Julia REPL. Make sure you have added <a href="https://github.com/domluna/JuliaFormatter.jl">JuliaFormatter.jl</a> before. </p><pre><code class="language-julia hljs">julia&gt; using JuliaFormatter; format(&quot;.&quot;)</code></pre></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../setup/">« Set up</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.7.0 on <span class="colophon-date" title="Wednesday 30 October 2024 18:44">Wednesday 30 October 2024</span>. Using Julia version 1.11.1.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

dev/developers/setup/index.html

@@ -16,4 +16,4 @@
  23 # for example in EXAMPLES_UTILS
  24 #     literate_actions(joinpath(EXAMPLES_UTILS_DIR, example), OUTPUT_DIR)
  25 # end
- 26 # literate_actions(joinpath(@__DIR__, &quot;src&quot;, &quot;Getting Started.jl&quot;), OUTPUT_DIR)</code></pre><p>This will speed up building the documentation quite a lot.</p><p>Now, build the documentation with:</p><pre><code class="language-julia hljs">julia&gt; include(&quot;docs/make.jl&quot;)</code></pre><p>To view it, open the file <code>docs/build/index.html</code> with your web browser.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../../reference/Utils/">« Utils</a><a class="docs-footer-nextpage" href="../git/">Git »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.7.0 on <span class="colophon-date" title="Wednesday 30 October 2024 17:17">Wednesday 30 October 2024</span>. Using Julia version 1.11.1.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+ 26 # literate_actions(joinpath(@__DIR__, &quot;src&quot;, &quot;Getting Started.jl&quot;), OUTPUT_DIR)</code></pre><p>This will speed up building the documentation quite a lot.</p><p>Now, build the documentation with:</p><pre><code class="language-julia hljs">julia&gt; include(&quot;docs/make.jl&quot;)</code></pre><p>To view it, open the file <code>docs/build/index.html</code> with your web browser.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../../reference/Utils/">« Utils</a><a class="docs-footer-nextpage" href="../git/">Git »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option><option value="catppuccin-latte">catppuccin-latte</option><option value="catppuccin-frappe">catppuccin-frappe</option><option value="catppuccin-macchiato">catppuccin-macchiato</option><option value="catppuccin-mocha">catppuccin-mocha</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.7.0 on <span class="colophon-date" title="Wednesday 30 October 2024 18:44">Wednesday 30 October 2024</span>. Using Julia version 1.11.1.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

dev/examples/solvers/Path planning.jl

@@ -33,52 +33,73 @@ using Test     #src
 # First, let us import [StaticArrays](https://github.com/JuliaArrays/StaticArrays.jl) and [Plots](https://github.com/JuliaPlots/Plots.jl).
 using StaticArrays, Plots
 
-# At this point, we import Dionysos.
-using Dionysos
-const DI = Dionysos
-const UT = DI.Utils
-const DO = DI.Domain
-const ST = DI.System
-const SY = DI.Symbolic
-const PR = DI.Problem
-const OP = DI.Optim
-const AB = OP.Abstraction
-
-# And the file defining the hybrid system for this problem
-include(joinpath(dirname(dirname(pathof(Dionysos))), "problems", "path_planning.jl"))
+# At this point, we import Dionysos and JuMP.
+using Dionysos, JuMP
 
 # ### Definition of the problem
 
-# Now we instantiate the problem using the function provided by [PathPlanning.jl](@__REPO_ROOT_URL__/problems/PathPlanning.jl) 
-concrete_problem = PathPlanning.problem(; simple = true, approx_mode = PathPlanning.GROWTH);
-concrete_system = concrete_problem.system;
+# We define the problem using JuMP as follows.
+# We first create a JuMP model:
+model = Model(Dionysos.Optimizer)
+
+# Define the state variables: x1(t), x2(t), x3(t)
+x_low, x_upp = [0.0, 0.0, -pi - 0.4], [4.0, 10.0, pi + 0.4]
+x_start = [0.4, 0.4, 0.0]
+@variable(model, x_low[i] <= x[i = 1:3] <= x_upp[i], start = x_start[i])
+
+# Define the control variables: u1(t), u2(t)
+@variable(model, -1 <= u[1:2] <= 1)
+
+# Set α(t) = arctan(tan(u2(t)) / 2)
+@expression(model, α, atan(tan(u[2]) / 2))
+
+@constraint(model, ∂(x[1]) == u[1] * cos(α + x[3]) * sec(α))
+@constraint(model, ∂(x[2]) == u[1] * sin(α + x[3]) * sec(α))
+@constraint(model, ∂(x[3]) == u[1] * tan(u[2]))
+
+x_target = [3.3, 0.5, 0]
+
+@constraint(model, final(x[1]) in MOI.Interval(3.0, 3.6))
+@constraint(model, final(x[2]) in MOI.Interval(0.3, 0.8))
+@constraint(model, final(x[3]) in MOI.Interval(-100.0, 100.0))
+
+# Obstacle boundaries (provided)
+x1_lb = [1.0, 2.2, 2.2]
+x1_ub = [1.2, 2.4, 2.4]
+x2_lb = [0.0, 0.0, 6.0]
+x2_ub = [9.0, 5.0, 10.0]
+
+# Function to add rectangular obstacle avoidance constraints
+
+for i in eachindex(x1_ub)
+    @constraint(
+        model,
+        x[1:2] ∉ MOI.HyperRectangle([x1_lb[i], x2_lb[i]], [x1_ub[i], x2_ub[i]])
+    )
+end
 
 # ### Definition of the abstraction
 
 # Definition of the grid of the state-space on which the abstraction is based (origin `x0` and state-space discretization `h`):
+
 x0 = SVector(0.0, 0.0, 0.0);
 h = SVector(0.2, 0.2, 0.2);
-state_grid = DO.GridFree(x0, h);
+set_attribute(model, "state_grid", Dionysos.Domain.GridFree(x0, h))
 
 # Definition of the grid of the input-space on which the abstraction is based (origin `u0` and input-space discretization `h`):
 u0 = SVector(0.0, 0.0);
 h = SVector(0.3, 0.3);
-input_grid = DO.GridFree(u0, h);
+set_attribute(model, "input_grid", Dionysos.Domain.GridFree(u0, h))
 
-# We now solve the optimal control problem with the `Abstraction.UniformGridAbstraction.Optimizer`.
-
-using JuMP
-optimizer = MOI.instantiate(AB.UniformGridAbstraction.Optimizer)
-MOI.set(optimizer, MOI.RawOptimizerAttribute("concrete_problem"), concrete_problem)
-MOI.set(optimizer, MOI.RawOptimizerAttribute("state_grid"), state_grid)
-MOI.set(optimizer, MOI.RawOptimizerAttribute("input_grid"), input_grid)
-MOI.optimize!(optimizer)
+optimize!(model)
 
 # Get the results
-abstract_system = MOI.get(optimizer, MOI.RawOptimizerAttribute("abstract_system"))
-abstract_problem = MOI.get(optimizer, MOI.RawOptimizerAttribute("abstract_problem"))
-abstract_controller = MOI.get(optimizer, MOI.RawOptimizerAttribute("abstract_controller"))
-concrete_controller = MOI.get(optimizer, MOI.RawOptimizerAttribute("concrete_controller"))
+abstract_system = get_attribute(model, "abstract_system");
+abstract_problem = get_attribute(model, "abstract_problem");
+abstract_controller = get_attribute(model, "abstract_controller");
+concrete_controller = get_attribute(model, "concrete_controller")
+concrete_problem = get_attribute(model, "concrete_problem");
+concrete_system = concrete_problem.system
 
 @test length(abstract_controller.data) == 19400 #src
 
@@ -93,15 +114,18 @@ function reached(x)
         return false
     end
 end
+
 x0 = SVector(0.4, 0.4, 0.0)
-control_trajectory = ST.get_closed_loop_trajectory(
+control_trajectory = Dionysos.System.get_closed_loop_trajectory(
     concrete_system.f,
     concrete_controller,
     x0,
     nstep;
     stopping = reached,
 )
 
+using Plots
+
 # Here we display the coordinate projection on the two first components of the state space along the trajectory.
 fig = plot(; aspect_ratio = :equal);
 # We display the concrete domain
@@ -116,11 +140,14 @@ plot!(concrete_problem.target_set; dims = [1, 2], color = :red, opacity = 0.2);
 
 # We display the abstract specifications
 plot!(
-    SY.get_domain_from_symbols(abstract_system, abstract_problem.initial_set);
+    Dionysos.Symbolic.get_domain_from_symbols(
+        abstract_system,
+        abstract_problem.initial_set,
+    );
     color = :green,
 );
 plot!(
-    SY.get_domain_from_symbols(abstract_system, abstract_problem.target_set);
+    Dionysos.Symbolic.get_domain_from_symbols(abstract_system, abstract_problem.target_set);
     color = :red,
 );