Updates

.travis.yml

@@ -4,8 +4,7 @@ os:
   - linux
   - osx
 julia:
-  - 0.5
-  - nightly
+  - 0.6
 notifications:
   email: false
 # CSDP needs lapack and blas
@@ -21,9 +20,9 @@ before_script:
 # uncomment the following lines to override the default test script
 #script:
 #  - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi
-#  - julia -e 'Pkg.clone(pwd()); Pkg.build("SwitchedSystems"); Pkg.test("SwitchedSystems"; coverage=true)'
+#  - julia -e 'Pkg.clone(pwd()); Pkg.build("SwitchOnSafety"); Pkg.test("SwitchOnSafety"; coverage=true)'
 after_success:
   # push coverage results to Coveralls
-  - julia -e 'cd(Pkg.dir("SwitchedSystems")); Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())'
+  - julia -e 'cd(Pkg.dir("SwitchOnSafety")); Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())'
   # push coverage results to Codecov
-  - julia -e 'cd(Pkg.dir("SwitchedSystems")); Pkg.add("Coverage"); using Coverage; Codecov.submit(Codecov.process_folder())'
+  - julia -e 'cd(Pkg.dir("SwitchOnSafety")); Pkg.add("Coverage"); using Coverage; Codecov.submit(Codecov.process_folder())'

LICENSE.md

@@ -1,4 +1,4 @@
-The SwitchedSystems.jl package is licensed under the MIT "Expat" License:
+The SwitchOnSafety.jl package is licensed under the MIT "Expat" License:
 
 > Copyright (c) 2016: Benoît Legat.
 > 

README.md

@@ -1,8 +1,23 @@
-# Stability analysis and control synthesis for Switched Systems
+# Switch On Safety (SOS) : Computing invariant sets and controlled invariant sets of hybrid systems
 
-[![Build Status](https://travis-ci.org/blegat/SwitchedSystems.jl.svg?branch=master)](https://travis-ci.org/blegat/SwitchedSystems.jl)
-[![Build status](https://ci.appveyor.com/api/projects/status/afm00qxhh89f8drm/branch/master?svg=true)](https://ci.appveyor.com/project/blegat/switchedsystems-jl/branch/master)
-[![Coverage Status](https://coveralls.io/repos/blegat/SwitchedSystems.jl/badge.svg?branch=master&service=github)](https://coveralls.io/github/blegat/SwitchedSystems.jl?branch=master)
-[![codecov.io](http://codecov.io/github/blegat/SwitchedSystems.jl/coverage.svg?branch=master)](http://codecov.io/github/blegat/SwitchedSystems.jl?branch=master)
+| **Documentation** | **PackageEvaluator** | **Build Status** |
+|:-----------------:|:--------------------:|:----------------:|
+| [![][docs-stable-img]][docs-stable-url] | [![][pkg-0.5-img]][pkg-0.5-url] | [![Build Status][build-img]][build-url] [![Build Status][winbuild-img]][winbuild-url] |
+| [![][docs-latest-img]][docs-latest-url] | [![][pkg-0.6-img]][pkg-0.6-url] | [![Coveralls branch][coveralls-img]][coveralls-url] [![Codecov branch][codecov-img]][codecov-url] |
 
-This packages is in early stage of development but it aims at including tools to analyse the stability and synthesize control of discrete or continuous switched system.
+This packages implements methods for computing invariant sets and controlled invariant sets of [hybrid systems](https://github.com/blegat/HybridSystems.jl) using [Sum Of Squares Programming](https://github.com/JuliaOpt/SumOfSquares.jl).
+It also includes utilities for approximation the [Joint Spectral Radius](https://link.springer.com/book/10.1007%2F978-3-540-95980-9) / Lyapunov exponent of a system using invariant set computation.
+
+[docs-stable-img]: https://img.shields.io/badge/docs-stable-blue.svg
+[docs-latest-img]: https://img.shields.io/badge/docs-latest-blue.svg
+[docs-stable-url]: https://blegat.github.io/SwitchOnSafety.jl/stable
+[docs-latest-url]: https://blegat.github.io/SwitchOnSafety.jl/latest
+
+[build-img]: https://travis-ci.org/blegat/SwitchOnSafety.jl.svg?branch=master
+[build-url]: https://travis-ci.org/blegat/SwitchOnSafety.jl
+[winbuild-img]: https://ci.appveyor.com/api/projects/status/afm00qxhh89f8drm/branch/master?svg=true
+[winbuild-url]: https://ci.appveyor.com/project/blegat/switchedsystems-jl/branch/master
+[coveralls-img]: https://coveralls.io/repos/blegat/SwitchOnSafety.jl/badge.svg?branch=master&service=github
+[coveralls-url]: https://coveralls.io/github/blegat/SwitchOnSafety.jl?branch=master
+[codecov-img]: http://codecov.io/github/blegat/SwitchOnSafety.jl/coverage.svg?branch=master
+[codecov-url]: http://codecov.io/github/blegat/SwitchOnSafety.jl?branch=master

appveyor.yml

@@ -1,9 +1,7 @@
 environment:
   matrix:
-  - JULIAVERSION: "julialang/bin/winnt/x86/0.5/julia-0.5-latest-win32.exe"
-  - JULIAVERSION: "julialang/bin/winnt/x64/0.5/julia-0.5-latest-win64.exe"
-  - JULIAVERSION: "julianightlies/bin/winnt/x86/julia-latest-win32.exe"
-  - JULIAVERSION: "julianightlies/bin/winnt/x64/julia-latest-win64.exe"
+  - JULIA_URL: "https://julialang-s3.julialang.org/bin/winnt/x86/0.6/julia-0.6-latest-win32.exe"
+  - JULIA_URL: "https://julialang-s3.julialang.org/bin/winnt/x64/0.6/julia-0.6-latest-win64.exe"
 
 branches:
   only:
@@ -17,9 +15,10 @@ notifications:
     on_build_status_changed: false
 
 install:
+  - ps: "[System.Net.ServicePointManager]::SecurityProtocol = [System.Net.SecurityProtocolType]::Tls12"
 # Download most recent Julia Windows binary
   - ps: (new-object net.webclient).DownloadFile(
-        $("http://s3.amazonaws.com/"+$env:JULIAVERSION),
+        $env:JULIA_URL,
         "C:\projects\julia-binary.exe")
 # Run installer silently, output to C:\projects\julia
   - C:\projects\julia-binary.exe /S /D=C:\projects\julia
@@ -28,7 +27,7 @@ build_script:
 # Need to convert from shallow to complete for Pkg.clone to work
   - IF EXIST .git\shallow (git fetch --unshallow)
   - C:\projects\julia\bin\julia -e "versioninfo();
-      Pkg.clone(\"https://github.com/blegat/MultivariatePolynomials.jl\"); Pkg.clone(\"https://github.com/JuliaOpt/PolyJuMP.jl\"); Pkg.clone(\"https://github.com/JuliaOpt/SumOfSquares.jl\"); Pkg.clone(pwd(), \"SwitchedSystems\"); Pkg.build(\"SwitchedSystems\")"
+      Pkg.clone(\"https://github.com/blegat/MultivariatePolynomials.jl\"); Pkg.clone(\"https://github.com/JuliaOpt/PolyJuMP.jl\"); Pkg.clone(\"https://github.com/JuliaOpt/SumOfSquares.jl\"); Pkg.clone(pwd(), \"SwitchOnSafety\"); Pkg.build(\"SwitchOnSafety\")"
 
 test_script:
-  - C:\projects\julia\bin\julia -e "Pkg.test(\"SwitchedSystems\")"
+  - C:\projects\julia\bin\julia -e "Pkg.test(\"SwitchOnSafety\")"

src/constrained.jl

@@ -1,6 +1,6 @@
 export ConstrainedDiscretePeriodicSwitching, ConstrainedDiscreteSwitchedSystem
 
-mutable struct ConstrainedDiscretePeriodicSwitching <: AbstractPeriodicSwitching
+struct ConstrainedDiscretePeriodicSwitching <: AbstractPeriodicSwitching
     s::AbstractDiscreteSwitchedSystem # Cannot say DiscreteSwitchedSystem as it would be a circular type declaration https://github.com/JuliaLang/julia/issues/269
     period::Vector{Edge}
     growthrate::Float64

src/continuous.jl

@@ -4,7 +4,7 @@ export ContinuousSwitchedSystem, ContinuousPeriodicSwitching, getsmp
 
 abstract type AbstractContinuousSwitchedSystem <: AbstractSwitchedSystem end
 
-mutable struct ContinuousPeriodicSwitching <: AbstractPeriodicSwitching
+struct ContinuousPeriodicSwitching <: AbstractPeriodicSwitching
     s::AbstractContinuousSwitchedSystem
     period::Vector{Tuple{Int, Float64}}
     growthrate::Float64

src/discrete.jl

@@ -2,7 +2,7 @@ export DiscreteSwitchedSystem, DiscretePeriodicSwitching, getsmp
 
 abstract type AbstractDiscreteSwitchedSystem <: AbstractSwitchedSystem end
 
-mutable struct DiscretePeriodicSwitching <: AbstractPeriodicSwitching
+struct DiscretePeriodicSwitching <: AbstractPeriodicSwitching
     s::AbstractDiscreteSwitchedSystem # Cannot say DiscreteSwitchedSystem as it would be a circular type declaration https://github.com/JuliaLang/julia/issues/269
     period::Vector{Int}
     growthrate::Float64

src/switchings.jl

@@ -116,7 +116,7 @@ function dynamicfor(s::AbstractDiscreteSwitchedSystem, sw::AbstractDiscreteSwitc
     sw.A
 end
 
-mutable struct SwitchingIterator
+struct SwitchingIterator
     s::AbstractDiscreteSwitchedSystem
     k::Int
     v0::Int

test/AJPR14e54.jl

@@ -7,19 +7,19 @@
 @testset "[AJPR14] Example 5.4" begin
     s = DiscreteSwitchedSystem([[-1 -1; -4 0],[3 3; -2 1]])
     qub = 4.31959610746
-    @test_approx_eq(quicklb(s), 3)
-    @test_approx_eq(quickub(s), qub)
+    @test quicklb(s) ≈ 3
+    @test quickub(s) ≈ qub
     qb = quickb(s)
     @test typeof(qb) == NTuple{2,Float64}
-    @test_approx_eq(qb[1], 3)
-    @test_approx_eq(qb[2], qub)
+    @test qb[1] ≈ 3
+    @test qb[2] ≈ qub
     # pnorm=Inf: [17.2409,7.42377,5.65853,4.92192,4.52597,4.28099,4.11275,3.99139,3.8991,3.827,3.76891,3.72121,3.6813,3.64744,3.61834,3.59307,3.57092,3.55135,3.53393,3.51832,3.50426,3.49152,3.47994]
     # pnorm=1:   [15.1245,7.35044,5.47402,4.84722,4.45847,4.23242,4.0709,3.95644,3.8687,3.80015,3.74485,3.69944,3.66141,3.62914,3.6014,3.5773,3.55616,3.53748,3.52085,3.50595,3.49253,3.48037,3.4693,3.45919]
     # pnorm=2:   [14.1535,6.81871,5.32651,4.7096,4.37067,4.15723,4.01117,3.90488,3.82407,3.7606,3.70945,3.66735,3.6321,3.60215,3.57639,3.554,3.53437,3.517,3.50154,3.48768,3.47519]
     @test_throws ArgumentError pradius(s, 1)
     @test_throws MethodError pradius(s, 2, :MagicAlgo)
-    @test_approx_eq_eps(pradius(s, 2), 3.234535151244, 1e-9)
-    @test_approx_eq(pradius(s, 2, :BruteForce, pnorm=2), 3.632097274822649)
+    @test pradius(s, 2) ≈ 3.234535151244 rtol=1e-9
+    @test pradius(s, 2, :BruteForce, pnorm=2) ≈ 3.632097274822649
 
     pρlb = [3.23453515151244, 3.4275601560595668, 3.543749287036915]
     pρub = [4.574323478862314, 4.0760789246858735, 3.977724083422336]
@@ -37,11 +37,11 @@
         tol = ismosek(solver) ? 1e-5 : 5e-4
         println("  > With solver $(typeof(solver))")
         lb, ub = soslyapb(s, 1, solver=solver, tol=tol)
-        @test isapprox(log(lb), log(2.814640557), rtol=tol)
-        @test isapprox(log(ub), log(3.980502849), rtol=tol)
+        @test log(lb) ≈ log(2.814640557) rtol=tol
+        @test log(ub) ≈ log(3.980502849) rtol=tol
         lb, ub = soslyapb(s, 2, solver=solver, tol=tol)
-        @test isapprox(log(lb), log(3.299750624), rtol=tol)
-        @test isapprox(log(ub), log(3.924086919), rtol=tol)
+        @test log(lb) ≈ log(3.299750624) rtol=tol
+        @test log(ub) ≈ log(3.924086919) rtol=tol
         seq = sosbuildsequence(s, 1, p_0=:Primal)
         psw = findsmp(seq)
         @test !isnull(psw)
@@ -52,10 +52,10 @@
         @test get(psw) == smp
     end
     if isempty(sdp_solvers)
-        @test isapprox(s.ub, 4.0760789246858735)
+        @test s.ub ≈ 4.0760789246858735
     else
-        @test isapprox(log(s.ub), log(3.924086919), rtol=5e-4)
+        @test log(s.ub) ≈ log(3.924086919) rtol=5e-4
         @test getsmp(s) == smp
-        @test isapprox(s.lb, 3.917384715148, rtol=1e-12)
+        @test s.lb ≈ 3.917384715148 rtol=1e-12
     end
 end

test/PJ08e54.jl

@@ -26,7 +26,7 @@
         iscsdp(solver) && continue
         println("  > With solver $(typeof(solver))")
         for d in 1:3
-            tol = ismosek(solver) ? (d <= 2 ? 4e-4 : 3e-2) : 1e-3
+            tol = ismosek(solver) ? (d <= 2 ? 4e-4 : 4e-2) : 1e-3
             lb, ub = soslyapb(s, d, solver=solver, tol=tol)
             @test abs(log(expected_lb[d]) - log(lb)) <= tol
             @test abs(log(expected_ub[d]) - log(ub)) <= tol