no message

@logicalZonotope/and.m

@@ -27,6 +27,17 @@
 % Last revision: ---
 
 %------------- BEGIN CODE --------------
+
+if ~isa(Z1,'logicalZonotope') 
+Z1=logicalZonotope.enclosePoints(Z1);
+
+end
+
+if ~isa(Z2,'logicalZonotope') 
+Z2=logicalZonotope.enclosePoints(Z2);
+
+end
+
 if(~isempty(Z1.c) & ~isempty(Z2.c))
 newcen = Z1.c & Z2.c;
 else

@logicalZonotope/enclosePoints.asv → @logicalZonotope/enclosePoints2.asv

@@ -1,4 +1,4 @@
-function Z = enclosePoints(points,varargin)
+function Z = enclosePoints2(points,varargin)
 % enclosePoints - enclose a point cloud with a zonotope
 %
 % Syntax:  
@@ -51,33 +51,34 @@ cen = points(:,1);
 if numOfPoints > 1
     containsZeroFlag=0;
     newPoints = [];
-   for i =1:numOfPoints
-
+    for i =1:numOfPoints
         if points(:,i) == zeros(dim,1)
             containsZeroFlag =1;
-            saveI = i;
-            break;
-
-            els
+        else
+            newPoints =[newPoints points(:,i)];
+        end
+    end
+    gen ={};
+    if containsZeroFlag ==1
+        cen = zeros(dim,1);
+        index =1;
+        for i =1:numOfPoints-1
+
+            tempZ = logicalZonotope(cen,gen);
+            if(~tempZ.containsPoint(points(:,i)))
+                gen{index} =newPoints(:,i);
+                index = index +1;
+            end
+        end
+    else
+        index =1;
+        for i =2:numOfPoints
+            tempZ = logicalZonotope(cen,gen);
+            if(~tempZ.containsPoint(points(:,i)))
+                gen{index} = xor(cen,points(:,i));
+                index = index +1;
+            end
         end
-   end
-
-   if containsZeroFlag ==1
-       cen = points(:,saveI);
-       for i =1:numOfPoints
-           if i==saveI
-
-           else
-               gen{index} = xor(cen,points(:,i));
-               index = index +1;
-           end
-       end
-   else
-       index =1;
-       for i =2:numOfPoints
-           gen{index} = xor(cen,points(:,i));
-           index = index +1;
-       end
    end
     Z =logicalZonotope(cen,gen);
 else

@logicalZonotope/enclosePoints2.m

@@ -0,0 +1,90 @@
+function Z = enclosePoints2(points,varargin)
+% enclosePoints - enclose a point cloud with a zonotope
+%
+% Syntax:  
+%    Z = enclosePoints(points)
+%
+% Inputs:
+%    points - matrix storing point cloud (dimension: [n,p] for p points)
+%
+% Outputs:
+%    Z - zonotope object
+%
+% Example: 
+%
+% References:
+% Other m-files required: none
+% Subfunctions: none
+% MAT-files required: none
+%
+% See also: interval, polytope
+
+% Author:        Amr Alanwar
+% Written:       11-Aug-2020
+% Last update:   ---
+% Last revision: ---
+
+%------------- BEGIN CODE --------------
+% [dim,numOfPoints] = size(points);
+% cen = [];
+% newpoints = [];
+% for i = 1:numOfPoints
+%     if zeros(dim,1) ==points(:,i)
+%         cen =zeros(dim,1);
+%     else
+%         newpoints= [newpoints points(:,i)];
+%     end
+% end
+% newpoints=unique(newpoints','rows')';
+% 
+% [row,cols] = size(newpoints);
+% for i = 1:cols
+%     gen{i} = newpoints(:,i);
+% end
+
+%points=unique(points','rows')';
+% cen =zeros(dim,1);
+% gen = {points};
+points=unique(points','rows')';
+[dim,numOfPoints] = size(points);
+cen = points(:,1);
+if numOfPoints > 1
+    containsZeroFlag=0;
+    newPoints = [];
+    for i =1:numOfPoints
+        if points(:,i) == zeros(dim,1)
+            containsZeroFlag =1;
+        else
+            newPoints =[newPoints points(:,i)];
+        end
+    end
+    gen ={};
+    if containsZeroFlag ==1
+        cen = zeros(dim,1);
+        index =1;
+        for i =1:numOfPoints-1           
+            tempZ = logicalZonotope(cen,gen);
+            if(~tempZ.containsPoint(newPoints(:,i)))
+                gen{index} =newPoints(:,i);
+                index = index +1;
+            end
+        end
+    else
+        index =1;
+        for i =2:numOfPoints
+            tempZ = logicalZonotope(cen,gen);
+            if(~tempZ.containsPoint(points(:,i)))
+                gen{index} = xor(cen,points(:,i));
+                index = index +1;
+            end
+        end
+   end
+    Z =logicalZonotope(cen,gen);
+else
+    Z =logicalZonotope(cen,{});
+end
+Z=unique(Z);
+
+end
+
+%------------- END OF CODE --------------

@logicalZonotope/logicalZonotope.m

@@ -102,6 +102,7 @@
 methods (Static = true)
     %Z = generateRandom(varargin) % generate random zonotope
     Z = enclosePoints(points,varargin) % enclose point cloud with zonotope
+    Z = enclosePoints2(points,varargin) % enclose point cloud with zonotope
     Z = encloseMany(Zcell)
 end
 

@logicalZonotope/or.m

@@ -37,8 +37,18 @@
 % Last revision: ---
 
 %------------- BEGIN CODE --------------
+if ~isa(Z1,'logicalZonotope') 
+Z1=logicalZonotope.enclosePoints(Z1);
+end
+
+if ~isa(Z2,'logicalZonotope') 
+Z2=logicalZonotope.enclosePoints(Z2);
+end
+
 [crows1,~] = size(Z1.c);
 [crows2,~] = size(Z2.c);
+Z1 = reduce(Z1);
+Z2 = reduce(Z2);
 
 done=0;
 if ~isempty( Z1.G)

LFSR1Bits.m

@@ -1,4 +1,4 @@
-function [z,A] = LFSR1(A,N)
+function [z,A] = LFSR1Bits(A,N)
 %TRIVIUM Summary of this function goes here
 %   Detailed explanation goes here
 

Logical_Zono_XOR.m

@@ -6,7 +6,7 @@
 c2 = [0;1];
 g1 = {[1;0]};
 %g1 = {[0 1;1 1]};
-g2 = {[1;1],[1;0]};
+g2 = {[1;1]};
 %g2 = {[1 0;0 1]};
 dim =20;
 c3= [randi([0 1],dim,1) ];

pursuit_evader_main.asv

@@ -0,0 +1,80 @@
+
+clear all
+% get environment constraints
+[neigh_set, vis_set] = env();
+
+% state
+n_pursuers = 2;
+n_regions = 21;
+l = cell(n_regions, 1);
+v = cell(n_regions, 1);
+c = cell(n_regions, 1);
+for i =1:n_regions
+l{i} =0;
+v{i} =0;
+c{i} =0;
+end
+u_state = cell(n_pursuers*n_regions, 1);
+%state = [has_pursuer; visible; cleared; inputs];
+%size(state)
+
+l_idx = 1:n_regions;
+v_idx = n_regions+1:2*n_regions;
+c_idx = 2*n_regions+1:3*n_regions;
+
+u_start = 3*n_regions;
+u_starts = [];
+for i = 1:n_pursuers
+   % u_starts = [u_starts u_start + (i-1)*n_regions];
+   u_starts = [u_starts  (i-1)*n_regions];
+end
+
+% initialization
+pursuer_init_locations = [12 15];
+for pursuer = 1:n_pursuers
+    u_state{ u_starts(pursuer) + pursuer_init_locations(pursuer)} = 1;
+end
+
+% forward simulation w/ randomly chosen u
+n_steps = 10;
+num_sat_steps=0;
+last_num_sat_steps = 0;
+for step = 1:n_steps
+    % evaluate boolean function until state reaches new steady-state
+    last_l = 0;
+    last_v = 0 ;
+    last_c = 0;
+    steps  = 0;
+    last_num_sat_steps = max(last_num_sat_steps,num_sat_steps);
+    num_sat_steps =0;
+    while ~isequal(last_l,l)|| ~isequal(last_v,v) || ~isequal(last_c,c)
+        % dynamics
+        %         l = state(l_idx);
+        %         v = state(v_idx);
+        %         c = state(c_idx);
+        %         u = state(u_start+1:end);
+        %         last_state = state;
+        last_l = l;
+        last_v = v ;
+        last_c = c;
+        [l,v ,c]  = dynamics(l, v, c, u_state, u_starts, vis_set, neigh_set);
+        steps = steps + 1;
+        num_sat_steps = num_sat_steps +1;
+    end
+
+    % find valid inputs for current inputs
+    %u = state(u_start+1:end);
+    [valid_u] = input_constraint(u_state, u_starts, neigh_set);
+
+    % set new input (should be replaced by logical zonotopes)
+
+    for i =1:length(u_state)
+        u_state{i} = 0;
+    end
+
+    for pursuer = 1:n_pursuers
+        u_perm = randperm(size(valid_u{pursuer}, 2));
+        pursuer_u = valid_u{pursuer}(u_perm(1));
+        u_state{u_starts(pursuer) + pursuer_u} = 1;
+    end
+end

pursuit_evader_main.m

@@ -0,0 +1,96 @@
+
+clear all
+% get environment constraints
+[neigh_set, vis_set] = env();
+
+% state
+n_pursuers = 2;
+n_regions = 21;
+l = cell(n_regions, 1);
+v = cell(n_regions, 1);
+c = cell(n_regions, 1);
+for i =1:n_regions
+l{i} =logicalZonotope.enclosePoints([0]);
+v{i} =logicalZonotope.enclosePoints([0]);
+c{i} =logicalZonotope.enclosePoints([0]);
+end
+u_state = cell(n_pursuers*n_regions, 1);
+for i =1:n_pursuers*n_regions
+u_state{i}=logicalZonotope.enclosePoints([0]);
+end
+%state = [has_pursuer; visible; cleared; inputs];
+%size(state)
+
+l_idx = 1:n_regions;
+v_idx = n_regions+1:2*n_regions;
+c_idx = 2*n_regions+1:3*n_regions;
+
+u_start = 3*n_regions;
+u_starts = [];
+for i = 1:n_pursuers
+   % u_starts = [u_starts u_start + (i-1)*n_regions];
+   u_starts = [u_starts  (i-1)*n_regions];
+end
+
+% initialization
+pursuer_init_locations = [12 15];
+for pursuer = 1:n_pursuers
+    u_state{ u_starts(pursuer) + pursuer_init_locations(pursuer)}  =logicalZonotope.enclosePoints([1]);
+end
+
+% forward simulation w/ randomly chosen u
+n_steps = 10;
+num_sat_steps=0;
+last_num_sat_steps = 0;
+for step = 1:n_steps
+    % evaluate boolean function until state reaches new steady-state
+    last_l = 0;
+    last_v = 0 ;
+    last_c = 0;
+    steps  = 0;
+    last_num_sat_steps = max(last_num_sat_steps,num_sat_steps);
+    num_sat_steps =0;
+    %while ~isequal(last_l,l)|| ~isequal(last_v,v) || ~isequal(last_c,c)
+        % dynamics
+        %         l = state(l_idx);
+        %         v = state(v_idx);
+        %         c = state(c_idx);
+        %         u = state(u_start+1:end);
+        %         last_state = state;
+     for i =1:30
+        last_l = l;
+        last_v = v ;
+        last_c = c;
+        [l,v ,c]  = dynamics(l, v, c, u_state, u_starts, vis_set, neigh_set);
+        steps = steps + 1;
+        num_sat_steps = num_sat_steps +1;
+        if i ==29
+            i
+        end
+     end
+    %end
+
+    % find valid inputs for current inputs
+    %u = state(u_start+1:end);
+    [valid_u] = input_constraint(u_state, u_starts, neigh_set);
+
+    % set new input (should be replaced by logical zonotopes)
+
+    for i =1:length(u_state)
+        u_state{i}  =logicalZonotope.enclosePoints([0]);
+    end
+
+    for pursuer = 1:n_pursuers
+%         u_perm = randperm(size(valid_u{pursuer}, 2));
+%         pursuer_u = valid_u{pursuer}(u_perm(1));
+%         u_state{u_starts(pursuer) + pursuer_u} = 1;
+        for vj = 1:length(valid_u{pursuer})
+            pursuer_u = valid_u{pursuer}(vj);
+            u_state{u_starts(pursuer) + pursuer_u} = logicalZonotope.enclosePoints([0 1]);
+        end
+
+    end
+
+
+
+end