bool ode_solver::contain_NaN(C0Rect2Set const & s) {
return contain_NaN(IVector(s));
}
ode_solver::ODE_result ode_solver::compute_forward(vector<pair<interval, IVector>> & bucket) {
ODE_result ret = ODE_result::SAT;
auto start = high_resolution_clock::now();
bool invariantViolated = false;
try {
// Set up VectorField
IMap vectorField(m_diff_sys_forward);
for (Enode * par : m_pars) {
double lb = get_lb(par);
double ub = get_ub(par);
string name = par->getCar()->getName();
vectorField.setParameter(name, interval(lb, ub));
}
ITaylor solver(vectorField, m_config.nra_ODE_taylor_order, .001);
ITimeMap timeMap(solver);
C0Rect2Set s(m_X_0);
timeMap.stopAfterStep(true);
timeMap.turnOnStepControl();
// TODO(soonhok): visualization
if (m_config.nra_json) {
m_trajectory.clear();
m_trajectory.emplace_back(timeMap.getCurrentTime(), IVector(s));
}
interval prevTime(0.);
do {
// Handle Timeout
if (m_config.nra_ODE_timeout > 0.0) {
auto end = high_resolution_clock::now();
if (duration_cast<milliseconds>(end - start).count() >= m_config.nra_ODE_timeout) {
return ODE_result::TIMEOUT;
}
}
// Check Invariant
invariantViolated = !check_invariant(s, m_inv);
if (invariantViolated) {
// TODO(soonhok): invariant
if (timeMap.getCurrentTime().rightBound() < m_T.leftBound()) {
ret = ODE_result::UNSAT;
} else {
ret = ODE_result::SAT;
}
break;
}
// Control TimeStep
timeMap.turnOnStepControl();
if (m_stepControl > 0 && solver.getStep() < m_stepControl) {
timeMap.turnOffStepControl();
solver.setStep(m_stepControl);
timeMap.setStep(m_stepControl);
}
// Move s toward m_T.rightBound()
timeMap(m_T.rightBound(), s);
if (contain_NaN(s)) { return ODE_result::SAT; }
if (m_T.leftBound() <= timeMap.getCurrentTime().rightBound()) {
invariantViolated = inner_loop_forward(solver, prevTime, bucket);
if (invariantViolated) {
// TODO(soonhok): invariant
ret = ODE_result::SAT;
break;
}
} else {
if (m_config.nra_json) {
interval const stepMade = solver.getStep();
const ITaylor::CurveType& curve = solver.getCurve();
interval domain = interval(0, 1) * stepMade;
list<interval> intvs;
intvs = split(domain, m_config.nra_ODE_grid_size);
for (interval subsetOfDomain : intvs) {
interval dt = prevTime + subsetOfDomain;
IVector v = curve(subsetOfDomain);
m_trajectory.emplace_back(dt, v);
}
}
}
prevTime = timeMap.getCurrentTime();
} while (!invariantViolated && !timeMap.completed());
} catch (exception& e) {
ret = ODE_result::EXCEPTION;
}
if (m_config.nra_json) {
prune_trajectory(m_T, m_X_t);
}
return ret;
}