Merge pull request #205 from JuliaPolyhedra/bl/detectvlin

Fix detectvlinearity

docs/src/redundancy.md

@@ -14,6 +14,7 @@ support_function
 ```@docs
 detecthlinearity!
 detectvlinearity!
+detect_new_lines
 dim
 ```
 

examples/Computing controlled invariant sets.ipynb

@@ -11,7 +11,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": true
+   },
    "outputs": [],
    "source": [
     "include(Pkg.dir(\"HybridSystems\", \"examples\", \"cruise_control.jl\"));"
@@ -40,7 +42,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": true
+   },
    "outputs": [],
    "source": [
     "macro _time(x)\n",
@@ -62,13 +66,15 @@
    "outputs": [],
    "source": [
     "using Gurobi\n",
-    "lpsolver = optimizer_with_attributes(Gurobi.Optimizer, "OutputFlag" => 0);"
+    "lpsolver = optimizer_with_attributes(Gurobi.Optimizer, \"OutputFlag\" => 0);"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": true
+   },
    "outputs": [],
    "source": [
     "function liftu(S, sys::HybridSystems.DiscreteLinearControlSystem)\n",
@@ -114,7 +120,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": true
+   },
    "outputs": [],
    "source": [
     "Mmax = 1\n",
@@ -137,7 +145,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": true
+   },
    "outputs": [],
    "source": [
     "Mmax = size(t, 1)\n",
@@ -155,7 +165,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": true
+   },
    "outputs": [],
    "source": [
     "import Plots\n",
@@ -165,7 +177,9 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {},
+   "metadata": {
+    "collapsed": true
+   },
    "outputs": [],
    "source": [
     "D = [1, 2]\n",
@@ -207,7 +221,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Julia 0.6.0",
+   "display_name": "Julia 0.6.4",
    "language": "julia",
    "name": "julia-0.6"
   },

src/aff.jl

@@ -152,7 +152,7 @@ conetype(::Type{LinesHull{T, AT, D}}) where {T, AT, D} = RaysHull{T, AT, D}
 vreptype(::Type{LinesHull{T, AT, D}}) where {T, AT, D} = Hull{T, AT, D}
 
 # Returns a LinesHull representing the following set (TODO does it have a name?, does someone has a reference talking about it ?)
-# {x | ⟨a, x⟩ = 0 ∀ a such that (α, β) is a valid hyperplane for p}
+# {x | y in p => x + y in p}
 function linespace(v::VRep, current=false)
     if !current
         detectvlinearity!(v)
@@ -172,11 +172,11 @@ function Base.in(v::VRepElement, L::LinesHull)
 end
 
 function removeduplicates(L::LinesHull{T, AT}) where {T, AT}
-    V = LinesHull{T, AT}()
+    V = LinesHull{T, AT}(FullDim(L))
     for l in lines(L)
-        if !(l in H)
-            convexhull!(H, h)
+        if !(l in V)
+            convexhull!(V, l)
         end
     end
-    H
+    V
 end

src/center.jl

@@ -7,7 +7,7 @@ using JuMP
 Return a tuple with the center and radius of the largest euclidean ball contained in the polyhedron `p`.
 Throws an error if the polyhedron is empty or if the radius is infinite.
 """
-function hchebyshevcenter(p::HRep, solver=Polyhedra.default_solver(p; T=Float64)) # Need Float64 for `norm(a, 2)`
+function hchebyshevcenter(p::HRep, solver=default_solver(p; T=Float64)) # Need Float64 for `norm(a, 2)`
     model = JuMP.Model(solver)
     c = JuMP.@variable(model, [1:fulldim(p)])
     for hp in hyperplanes(p)

src/doubledescription.jl

@@ -59,7 +59,7 @@ function intersect_and_remove_redundancy(v, hs, h; verbose=0)
         end
         # removeduplicates is cheaper than removevredundancy since the latter
         # needs to go through all the hrep element
-        v_dup = removeduplicates(v_int)
+        v_dup = removeduplicates(v_int, OppositeRaysMockOptimizer)
         if verbose >= 3
             print("Removing redundancy: ")
             print_v_summary(v_dup)

src/elements.jl

@@ -152,8 +152,9 @@ Base.:-(h::ElemT) where {ElemT<:Union{HyperPlane, HalfSpace}} = ElemT(-h.a, -h.
 Base.:-(elem::ElemT) where ElemT<:VStruct = ElemT(-coord(elem))
 # Used in remproj
 Base.:-(p::AbstractVector, l::Line) = p - coord(l)
-# Ray - Line is done in remproj
+# `Ray - Line` and `Line - Line` are done in `remproj`
 Base.:-(r::Ray, s::Union{Ray, Line}) = Ray(r.a - s.a)
+Base.:-(r::Line, s::Line) = Line(r.a - s.a)
 Base.:+(r::Ray, s::Ray) = Ray(r.a + s.a)
 Base.:+(p::AbstractVector, r::Ray) = p + coord(r)
 

src/opt.jl

@@ -90,8 +90,17 @@ end
 
 coefficient_type(::MOI.ModelLike) = Float64
 
+no_solver_help() = """
+To provide a solver to a polyhedron, first select a solver from https://www.juliaopt.org/JuMP.jl/v0.21.1/installation/#Getting-Solvers-1.
+If you choose for instance `GLPK`, do `using GLPK; solver = GLPK.Optimizer`.
+Then provide the solver to the library. For instance, with the default library, do `lib = DefaultLibrary{Float64}(solver)`
+or if you use an external library, say `QHull`, do `lib = QHull.Library(solver)`.
+Then when you create the polyhedron, say from a representation `rep`, do `polyhedron(rep, lib)`.
+"""
+
 # Inspired by `JuMP.set_optimizer`
 function layered_optimizer(solver)
+    solver === nothing && error("No solver specified.\n", no_solver_help())
     optimizer = solver()
     T = coefficient_type(optimizer)
     if !MOIU.supports_default_copy_to(optimizer, false)