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#634 - Integrate ReachabilityBase.expm #703

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#634 - Integrate ReachabilityBase.expm #703

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913ce5e
integrate ReachabilityBase.expm
schillic Jun 2, 2023
1ca95f7
use checksquare consistently
schillic Jun 2, 2023
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2 changes: 1 addition & 1 deletion Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ IntervalMatrices = "0.6 - 0.8"
LazySets = "2.3"
MathematicalSystems = "0.11 - 0.13"
Parameters = "0.10 - 0.12"
ReachabilityBase = "0.1"
ReachabilityBase = "0.1.8"
RecipesBase = "0.6 - 0.8, 1"
RecursiveArrayTools = "2"
Reexport = "0.2, 1"
Expand Down
16 changes: 8 additions & 8 deletions src/Discretization/exponentiation.jl
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
using LinearAlgebra: checksquare
using ReachabilityBase.Expm: expm

# ==========================
# Exponentiation functions
Expand Down Expand Up @@ -100,8 +101,7 @@ const PadeExp = PadeExpAlg()
_alias(alg::Val{:pade}) = PadeExp

# general case: convert to Matrix
@inline _exp(A::AbstractMatrix, ::BaseExpAlg) = exp(Matrix(A))
@inline _exp(A::Matrix, ::BaseExpAlg) = exp(A)
@inline _exp(A::AbstractMatrix, ::BaseExpAlg) = expm(A)

# static arrays have their own exp method
@inline _exp(A::StaticArray, ::BaseExpAlg) = exp(A)
Expand Down Expand Up @@ -182,7 +182,7 @@ evaluated with an external library such as `ExponentialUtilities.jl` or
`Expokit.jl`.
"""
function _exp(A::AbstractMatrix, δ, alg::AbstractExpAlg=BaseExp)
n = checksquare(A)
checksquare(A)
return _exp(A * δ, alg)
end

Expand Down Expand Up @@ -287,7 +287,7 @@ function _Φ₁_inv(A::AbstractMatrix, δ, alg, Φ=nothing)
if isnothing(Φ)
Φ = _exp(A, δ, alg)
end
n = size(A, 1)
n = checksquare(A)
N = eltype(A)
In = Matrix(one(N) * I, n, n)
Ainv = inv(A)
Expand Down Expand Up @@ -419,7 +419,7 @@ function _Φ₂_inv(A::AbstractMatrix, δ, alg, Φ=nothing)
if isnothing(Φ)
Φ = _exp(Aδ, alg)
end
n = size(A, 1)
n = checksquare(A)
N = eltype(A)
In = Matrix(one(N) * I, n, n)
B = Φ - In - Aδ
Expand All @@ -437,7 +437,7 @@ function _Φ₂_inv(A::IdentityMultiple, δ, alg, Φ=nothing)
return IdentityMultiple(α, size(A, 1))
end

function _Eplus(A::SparseMatrixCSC{N,D}, X0::AbstractHyperrectangle{N}, δt; m=min(30, size(A, 1)),
function _Eplus(A::SparseMatrixCSC{N,D}, X0::AbstractHyperrectangle{N}, δt; m=min(30, checksquare(A)),
tol=1e-7) where {N,D}
n = dim(X0)
A2 = A * A # fast if A sparse
Expand All @@ -458,7 +458,7 @@ end
@inline function _elementwise_abs(A::SparseMatrixCSC)
return SparseMatrixCSC(A.m, A.n, A.colptr, A.rowval, abs.(nonzeros(A)))
end
@inline _elementwise_abs(A::IdentityMultiple) = IdentityMultiple(abs(A.M.λ), size(A, 1))
@inline _elementwise_abs(A::IdentityMultiple) = IdentityMultiple(abs(A.M.λ), checksquare(A))

# ====================================
# Exponentiation of interval matrices
Expand All @@ -468,7 +468,7 @@ end

# compute Iδ + 1/2 * δ^2 * A + 1/6 * δ^3 * A² + ... + 1/(η+1)! * δ^(η+1) * A^η + E(δ) * δ
function _Cδ(A, δ, order)
n = size(A, 1)
n = checksquare(A)
A² = A * A
if isa(A, IntervalMatrix)
Iδ = IntervalMatrix(Diagonal(fill(IA.Interval(δ), n)))
Expand Down
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