Merge pull request #754 from JuliaReach/schillic/ASB07_zonotope

Concretely type zonotopes in ASB07

Author: schillic

src/ReachSets/ContinuousPost/ASB07/post.jl

@@ -14,14 +14,19 @@ function post(𝒜::ASB07,
                             order=𝑂[:order_discretization],
                             set_operations=𝑂[:set_operations_discretization])
     Ω0, Φ = 𝑃_discrete.x0, 𝑃_discrete.s.A
+    if ! (genmat(Ω0) isa Matrix)
+        Ω0 = Zonotope(center(Ω0), Matrix(genmat(Ω0)))
+    end
 
     # ====================
     # Flowpipe computation
     # ====================
 
     # preallocate output
-    T = 𝑂[:set_operations_discretization] == "zonotope" ? Zonotope : LazySet
-    Rsets = Vector{ReachSet{T{Float64}}}(undef, N)
+    T = 𝑂[:set_operations_discretization] == "zonotope" ?
+        Zonotope{Float64, Vector{Float64}, Matrix{Float64}} :
+        LazySet{Float64}
+    Rsets = Vector{ReachSet{T}}(undef, N)
 
     max_order = 𝑂[:max_order]
 

src/ReachSets/ContinuousPost/ASB07/reach.jl

@@ -20,6 +20,9 @@ function reach_ASB07!(R::Vector{<:ReachSet},
         # store reach set
         t0 = t1
         t1 += δ
+        if ! (genmat(Rₖ) isa Matrix)
+            Rₖ = Zonotope(center(Rₖ), Matrix(genmat(Rₖ)))
+        end
         R[k] = ReachSet(Rₖ, t0, t1)
 
         k += 1