Commit 4d6ebac8 authored by Matthias Rungger's avatar Matthias Rungger
Browse files

Bugfix in the unicycle example.

parent 1b991b02
...@@ -51,8 +51,8 @@ auto unicycle_post = [](state_type &x, input_type &u) -> void { ...@@ -51,8 +51,8 @@ auto unicycle_post = [](state_type &x, input_type &u) -> void {
/* computation of the growth bound (the result is stored in r) */ /* computation of the growth bound (the result is stored in r) */
auto radius_post = [](state_type &r, input_type &u) -> void { auto radius_post = [](state_type &r, input_type &u) -> void {
r[0] = r[0]+r[2]*u[0]*0.3; r[0] = r[0]+r[2]*std::abs(u[0])*0.3;
r[1] = r[1]+r[2]*u[0]*0.3; r[1] = r[1]+r[2]*std::abs(u[0])*0.3;
}; };
...@@ -152,7 +152,7 @@ scots::SymbolicSet unicycleCreateStateSpace(Cudd &mgr) { ...@@ -152,7 +152,7 @@ scots::SymbolicSet unicycleCreateStateSpace(Cudd &mgr) {
/* upper bounds of the hyper rectangle */ /* upper bounds of the hyper rectangle */
double ub[sDIM]={10,10,M_PI+0.4}; double ub[sDIM]={10,10,M_PI+0.4};
/* grid node distance diameter */ /* grid node distance diameter */
double eta[sDIM]={.2,.2,.2}; double eta[sDIM]={.2,.2,.1};
...@@ -223,11 +223,11 @@ scots::SymbolicSet unicycleCreateStateSpace(Cudd &mgr) { ...@@ -223,11 +223,11 @@ scots::SymbolicSet unicycleCreateStateSpace(Cudd &mgr) {
scots::SymbolicSet unicycleCreateInputSpace(Cudd &mgr) { scots::SymbolicSet unicycleCreateInputSpace(Cudd &mgr) {
/* lower bounds of the hyper rectangle */ /* lower bounds of the hyper rectangle */
double lb[sDIM]={-1,-1}; double lb[sDIM]={-1,-1.5};
/* upper bounds of the hyper rectangle */ /* upper bounds of the hyper rectangle */
double ub[sDIM]={1,1}; double ub[sDIM]={1,1.5};
/* grid node distance diameter */ /* grid node distance diameter */
double eta[sDIM]={.3,.3}; double eta[sDIM]={.3,.2};
scots::SymbolicSet is(mgr,iDIM,lb,ub,eta); scots::SymbolicSet is(mgr,iDIM,lb,ub,eta);
is.addGridPoints(); is.addGridPoints();
......
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