clean_up_boundary.m

CheckMate is a MATLAB-based tool for modeling, simulating and investigating properties of hybrid dyn

function [boundary_new,hpflags_new] = clean_up_boundary(first_boundary,second_boundary,first_hpflags,second_hpflags)

global GLOBAL_PIHA
global GLOBAL_APPROX_PARAM

hyperplanes = GLOBAL_PIHA.Hyperplanes;

[c1,d1]=cell_ineq(first_boundary,first_hpflags);
[c2,d2]=cell_ineq(second_boundary,second_hpflags);

a=linearcon([],[],c1,d1);
b=linearcon([],[],c2,d2);

if isempty(a&b)
   boundary_new=[];
   hpflags_new=[];
else
boundary=[first_boundary second_boundary];
hpflags=[first_hpflags second_hpflags];

[CBND,dBND] = cell_ineq(boundary,hpflags);
[CE,dE,CI,dI] = linearcon_data(clean_up(linearcon([],[],CBND,dBND)));

%Use the following to indicate which hpflags elements will still be valid
hp_flag_index=[];

if (length(dI) == length(dBND))
  boundary_new = boundary;
else
  hyperplane_tol = GLOBAL_APPROX_PARAM.poly_hyperplane_tol;
  boundary_new = [];
  for k = 1:length(boundary)
    ck = hyperplanes{boundary(k)}.c;
    dk = hyperplanes{boundary(k)}.d;
    found = 0;
    for l = 1:length(dI)
      if rank([CI(l,:) dI(l); ck dk],hyperplane_tol) == 1
        found = 1;
        break;
      end
    end
    if found&~ismember(boundary(k),boundary_new)
      boundary_new = [boundary_new boundary(k)];
      hp_flag_index=[hp_flag_index k];
   end
end

%Create new hpflags vector
for j=1:length(hp_flag_index)
   hpflags_new(j)=hpflags(hp_flag_index(j));
end


end

end

return
%-------------------------------------------------------------------------------------------------------------------------------
%  function clean_transition()
%
% This function eliminates duplicate transitions. It compares the guards of two transitions.
%If the lists of guards are equal, merge the transitions.