init

Author: johnaoga

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
 

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)