create_hyperplanes.m

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

function [pthb,NAR]=create_hyperplanes(NBDHP,AR,pthb)

global GLOBAL_PIHA
global GLOBAL_APPROX_PARAM
global GLOBAL_OPTIM_PAR

hyperplanes = [];

% This function creates the list of hyperplanes. It originally resided in the
% 'partition_ss' function, but it has become necessary to have the hp's before
% the state space is divided.

% Put hyperplanes constituting the boundary of AR at the beginning of the
% hyperplane list.

[CE,dE,CAR,dAR] = linearcon_data(AR);
hyperplanes = {};
for k = 1:length(dAR)
  hyperplanes{k}.pthb = -1;
  hyperplanes{k}.index = k;
  hyperplanes{k}.c = CAR(k,:);
  hyperplanes{k}.d = dAR(k);
end
NAR = length(hyperplanes);

hyperplane_tol = GLOBAL_APPROX_PARAM.poly_hyperplane_tol;
counter_hyperplanes=NAR;
for k = 1:length(NBDHP)
    dup=0;
  for j=1:counter_hyperplanes
        c1 = hyperplanes{j}.c;
        b1 = hyperplanes{j}.d;
        c =NBDHP{k}.c;
        b=NBDHP{k}.d;
        MATRIX = [c1 b1; c b];
        if rank(MATRIX,hyperplane_tol) < 2
         dup=1;
         i=NBDHP{k}.pthb;
         pthb{i}.hps=[pthb{i}.hps j];
         break;
     else
         dup=0;
     end
  end
  if dup==0
  counter_hyperplanes = counter_hyperplanes+1;
  hyperplanes{counter_hyperplanes}.pthb = NBDHP{k}.pthb;
  hyperplanes{counter_hyperplanes}.index = NBDHP{k}.index;
  hyperplanes{counter_hyperplanes}.c = NBDHP{k}.c;
  hyperplanes{counter_hyperplanes}.d = NBDHP{k}.d;
  end
end

%Sort out which HP's go with which pthb
for n=NAR+1:length(hyperplanes)
   j=hyperplanes{n}.pthb;
   if j~=-1
      pthb{j}.hps=[pthb{j}.hps n];
   end
end

GLOBAL_PIHA.Hyperplanes = hyperplanes;

return

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