src/include/ReachHybridization.h

/*
 * ReachHybridization.h
 *
 *  Created on: Jan 9, 2013
 *      Author: romain
 */

#ifndef REACHHYBRIDIZATION_H_
#define REACHHYBRIDIZATION_H_

#include "utils.h"
#include "ReachLinear.h"
#include "Hpolyhedron.h"
#include "ApproximationBuilder.h"

namespace nltool {

class ReachHybridization {
public:

        struct HybridizationElement {
                HybridizationElement(Hpolyhedron s, ReachLinear a, Hpolyhedron d) :
                                set(s), approximation(a), domain(d), steps(0) {
                }
                Hpolyhedron set;
                ReachLinear approximation;
                Hpolyhedron domain;
                int steps;
        };

        ReachHybridization(DynamicalSystem* nonLinearSystem, Hpolyhedron initialSet,
                        Number error, Number dt);

        virtual ~ReachHybridization();

        void reach(int nbstep = 1);

        // Getters and Setters

        Number getDiscretizationTime() const {
                return discretizationTime;
        }

        void setDiscretizationTime(Number discretizationTime) {
                this->discretizationTime = discretizationTime;
        }

        Number getErrorBound() const {
                return errorBound;
        }

        void setErrorBound(Number errorBound) {
                this->errorBound = errorBound;
        }

        std::vector<Hpolyhedron> getReachabilityResult() const {
                return reachabilityResult;
        }

        std::vector<Hpolyhedron> getDomainsCreated() const {
                return domainsCreated;
        }

        std::vector<std::vector<HybridizationElement> > getHybElementsResult() const {
                return hybElementsResult;
        }

private:

        void createApproximation(Hpolyhedron& initialSet,
                        std::vector<HybridizationElement>& result, bool requireSplitting =
                                        false);

        std::vector<HybridizationElement> currentState;
        DynamicalSystem* originalSystem;

        ApproximationBuilder approximationBuilder;
        Number errorBound;
        Number discretizationTime;
        Number curvatureDomainSize;

        std::vector<std::vector<HybridizationElement> > hybElementsResult;
        std::vector<Hpolyhedron> reachabilityResult;
        std::vector<Hpolyhedron> domainsCreated;
};

void checkErrorBound(Number errorBound, LinearSystem& approximation, DynamicalSystem& originalSystem,
                Hpolyhedron domain);

}  // namespace nltool

#endif /* REACHHYBRIDIZATION_H_ */