Merge pull request #25 from blegat/mforets/redo_assignment

Add resetmap getter

docs/src/lib/methods.md

@@ -60,6 +60,7 @@ out_transitions
 ### Guards and Assignments
 
 ```@docs
+resetmap
 guard
 assignment
 ```

src/HybridSystems.jl

@@ -17,18 +17,7 @@ abstract type AbstractHybridSystem <: MathematicalSystems.AbstractSystem end
 """
     HybridSystem{A, S, R, W} <: AbstractHybridSystem
 
-A hybrid system modelled as a hybrid automaton. The automaton `automaton` of
-type `A` models the different discrete states and the allowed transitions with
-corresponding labels.
-The mode dynamic and domain are stored in a continuous dynamical system of type
-`S` in the vector `modes`. They are indexed by the discrete states of the
-automaton.
-The reset maps and guards are given as discrete dynamical system or discrete map
-of type `R` in the vector `resetmaps`. They are indexed by the labels of the
-corresponding transition.
-The switching of type `W` is given in the `switchings` vector,
-indexed by the label of the transition.
-Additional data can be stored in the `ext` field.
+A hybrid system modelled as a hybrid automaton.
 
 ### Fields
 
@@ -43,7 +32,25 @@ Additional data can be stored in the `ext` field.
                   transition, see [`AbstractSwitching`](@ref).
 - `ext`        -- dictionary that can be used by extensions.
 
-## Examples
+### Notes
+
+The automaton `automaton` of type `A` models the different discrete states and
+the allowed transitions with corresponding labels.
+
+The mode dynamic and domain are stored in a continuous dynamical system of type
+`S` in the vector `modes`. They are indexed by the discrete states of the
+automaton.
+
+The reset maps and guards are given as a map or a discrete dynamical system of
+type `R` in the vector `resetmaps`. They are indexed by the labels of the
+corresponding transition.
+
+The switching of type `W` is given in the `switchings` vector, indexed by the
+label of the transition.
+
+Additional data can be stored in the `ext` field.
+
+### Examples
 
 See [the Thermostat example](https://github.com/blegat/HybridSystems.jl/blob/master/examples/Thermostat.ipynb).
 """
@@ -78,7 +85,7 @@ for f in [:state_property_type, :transition_property_type]
 end
 
 # System
-export statedim, stateset, inputdim, inputset, guard, assignment, target_mode
+export statedim, stateset, inputdim, inputset, guard, assignment, target_mode, resetmap
 """
     statedim(hs::HybridSystem, u::Int)
 
@@ -100,19 +107,26 @@ Returns the target mode for the transition `t`.
 """
 target_mode(hs::HybridSystem, t) = hs.modes[target(hs, t)]
 
+"""
+    resetmap(hs::HybridSystem, t)
+
+Returns the reset map for the transition `t`.
+"""
+resetmap(hs::HybridSystem, t) = hs.resetmaps[symbol(hs, t)]
+
 """
     assignment(hs::HybridSystem, t)
 
 Returns the assignment for the transition `t`.
 """
-assignment(hs::HybridSystem, t) = hs.resetmaps[symbol(hs, t)]
+assignment(hs::HybridSystem{A,S,R,W}, t) where {A, S<:AbstractSystem, R<:AbstractMap, W} = (args...) -> apply(resetmap(hs, t), args...)
 
 """
     guard(hs::HybridSystem, t)
 
 Returns the guard for the transition `t`.
 """
-guard(hs::HybridSystem, t) = stateset(assignment(hs, t))
+guard(hs::HybridSystem, t) = stateset(resetmap(hs, t))
 
 # for completeness, extend the stateset function from MathematicalSystems
 # because guards are given as the state constraints of the reset map