Add files via upload

singlevehiclesat-out.json

+{
+    "unsafeSet": "",
+    "initialSet": [
+        [
+            0,
+            -0.2,
+            0
+        ],
+        [
+            0,
+            0.2,
+            0
+        ]
+    ],
+    "timeHorizon": 10,
+    "directory": "examples/curve_controller_hybrid",
+    "initialVertex": 0,
+    "deterministic": true,
+    "variables": [
+        "vx",
+        "vy",
+        "dist"
+    ],
+    "vertex": [
+        "0",
+        "1",
+        "2"
+    ],
+    "edge": [
+        [
+            "0",
+            "0"
+        ],
+        [
+            "1",
+            "0"
+        ],
+        [
+            "2",
+            "0"
+        ],
+        [
+            "0",
+            "1"
+        ],
+        [
+            "1",
+            "1"
+        ],
+        [
+            "2",
+            "1"
+        ],
+        [
+            "0",
+            "2"
+        ],
+        [
+            "1",
+            "2"
+        ],
+        [
+            "2",
+            "2"
+        ]
+    ],
+    "guards": [
+        "And(dist < 10,And((dist > 2),And(dist < 2,state != move_over)))",
+        "And(dist < 10,And((dist > 2),And(dist < 2,state != move_over)))",
+        "And(dist < 10,And((dist > 2),And(dist < 2,state != move_over)))",
+        "dist < 10",
+        "dist < 10",
+        "dist < 10",
+        "And(dist < 10,state == move_over)",
+        "And(dist < 10,state == move_over)",
+        "And(dist < 10,state == move_over)"
+    ],
+    "resets": [
+        "vy=vy - 5;vx= vx + 5;{",
+        "vy=vy - 5;vx= vx + 5;{",
+        "vy=vy - 5;vx= vx + 5;{",
+        "vx=vx - 5;{",
+        "vx=vx - 5;{",
+        "vx=vx - 5;{",
+        "vx = vx + 5",
+        "vx = vx + 5",
+        "vx = vx + 5"
+    ]
+}
\ No newline at end of file

singlevehiclesat.c

+enum modes {Normal,Sat_low,Sat_high};
+
+struct State {
+double tau;
+double yf;
+double thetaf;
+enum modes mode;
+};
+
+	
+	
+struct State P(struct State s) {
+	double tau = s.tau;
+	double yf = s.yf;
+	double thetaf = s.theta;
+	enum modes state = s.mode;
+	if (s.mode==Normal) {
+		if (-0.155914*yf-thetaf <= -0.60871) {
+			state=Sat_low;
+		}
+		if (-0.155914*yf-thetaf >= 0.60871) {
+                        state=Sat_high;
+                }
+	
+	}
+	if (s.mode ==Sat_low) {
+		if (-0.155914*yf-thetaf >= -0.60871) {
+                        state=Normal;
+                }
+	
+	}
+	if (s.mode == Sat_high) {
+		if (-0.155914*yf-thetaf <= 0.60871) {
+                        state=Normal;
+                }
+	}
+	
+	}
+	s.mode = state;
+	return s;
+
+}

singlevehiclesat.json

+{
+"unsafeSet": "",
+"initialSet": [[0,-0.2,0, "Normal"],[0,0.2,0, "Normal"]],
+"timeHorizon": 10,
+"directory": "examples/curve_controller_hybrid",
+"initialVertex":0,
+"deterministic":true
+}