Fix tests and docs

JuliaReach · Feb 7, 2019 · 8ebfd78 · 8ebfd78
1 parent 126f436
commit 8ebfd78
Show file tree

Hide file tree

Showing 4 changed files with 11 additions and 6 deletions.
diff --git a/docs/src/lib/types.md b/docs/src/lib/types.md
@@ -84,8 +84,11 @@ VaryingInput
 ```@docs
 AbstractMap
 IdentityMap
+ConstrainedIdentityMap
 LinearMap
+ConstrainedLinearMap
 AffineMap
+ConstrainedAffineMap
 LinearControlMap
 ConstrainedLinearControlMap
 AffineControlMap

diff --git a/src/maps.jl b/src/maps.jl
@@ -250,7 +250,7 @@ struct AffineControlMap{T, MTA <: AbstractMatrix{T}, MTB <: AbstractMatrix{T}, V
 end
 statedim(m::AffineControlMap) = size(m.A, 2)
 outputdim(m::AffineControlMap) = size(m.A, 1)
-inputdim(m::LinearControlMap) = size(m.B, 1)
+inputdim(m::AffineControlMap) = size(m.B, 1)
 islinear(::AffineControlMap) = false
 isaffine(::AffineControlMap) = true
 apply(m::AffineControlMap, x, u) = m.A * x + m.B * u + m.c

diff --git a/src/outputs.jl b/src/outputs.jl
@@ -77,7 +77,7 @@ continuous system and the output map is a constrained linear control map.
 """
 function LinearTimeInvariantSystem(A, B, C, D, X, U)
     system = ConstrainedLinearControlContinuousSystem(A, B, X, U)
-    outputmap = ConstrainedLinearControlMap(C, D, U)
+    outputmap = ConstrainedLinearControlMap(C, D, X, U)
     return SystemWithOutput(system, outputmap)
 end
 

diff --git a/test/maps.jl b/test/maps.jl
@@ -54,14 +54,15 @@ end
 @testset "Constrained linear control map" begin
     A = [1. 1; 1 -1]
     B = Matrix([0.5 1.5]')
+    X = Line([1., -1], 0.)
     U = Interval(-1, 1)
-    m = ConstrainedLinearControlMap(A, B, U)
+    m = ConstrainedLinearControlMap(A, B, X, U)
     @test outputdim(m) == 2
     @test islinear(m) && isaffine(m)
 
     # applying the affine map on a vector
-    x = ones(2)
-    u = [1/2]
+    x = ones(2) # (it is not checked that x ∈ X in this library)
+    u = [1/2]   # same for u ∈ U
     @test apply(m, x, u) == A*x + B*u
 end
 
@@ -82,9 +83,10 @@ end
 @testset "Constrained affine control map" begin
     A = [1. 1; 1 -1]
     B = Matrix([0.5 1.5]')
+    X = Line([1., -1], 0.) # line x = y
     c = [0.5, 0.5]
     U = Interval(-1, 1)
-    m = ConstrainedAffineControlMap(A, B, c, U)
+    m = ConstrainedAffineControlMap(A, B, c, X, U)
     @test outputdim(m) == 2
     @test !islinear(m) && isaffine(m)