This library implements an hybrid system in the form:
where:
- f is the flow map;
- g is the jump map;
- h is the output map;
- C is the flow set;
- D is the jump set.
- p are parameters.
- is an engine time for the integration of t and j.
The flow map is discretized with a Runge Kutta 4 step. For the evolution of the system, both t and j are limited by horizons.