add google colab online demo

Author: JianqiangDing

pybdr/algorithm/asb2008cdc.py

@@ -2,7 +2,7 @@
 from dataclasses import dataclass
 import numpy as np
 
-np.seterr(divide='ignore', invalid='ignore')
+np.seterr(divide="ignore", invalid="ignore")
 
 from scipy.special import factorial
 from concurrent.futures import ProcessPoolExecutor, as_completed
@@ -59,9 +59,10 @@ def linearize(dyn: Callable, dims, r: Geometry.Base, opt: Options):
         lin_opt.taylor_terms = opt.taylor_terms
         lin_opt.factors = opt.factors
         lin_opt.u = b @ (opt.u + opt.u_trans - opt.lin_err_u)
+        u_center = lin_opt.u.c
         lin_opt.u -= lin_opt.u.c
         lin_opt.u_trans = Zonotope(
-            opt.lin_err_f0 + lin_opt.u.c, np.zeros((opt.lin_err_f0.shape[0], 1))
+            opt.lin_err_f0 + u_center, np.zeros((opt.lin_err_f0.shape[0], 1))
         )
         return lin_sys, lin_opt
 
@@ -183,15 +184,16 @@ def reach(cls, dyn: Callable, dims, opts: Options, x: Zonotope):
         next_rp = x
 
         for step in range(opts.steps_num):
-            next_ri, next_rp = cls.reach_one_step(dyn, dims, next_rp, np.zeros(x.shape), opts)
+            next_ri, next_rp = cls.reach_one_step(
+                dyn, dims, next_rp, np.zeros(x.shape), opts
+            )
             ri_set.append(next_ri)
             rp_set.append(next_rp)
 
         return ri_set, rp_set
 
     @classmethod
     def reach_parallel(cls, dyn: Callable, dims, opts: Options, xs: [Zonotope]):
-
         def ll_decompose(ll):
             return [list(group) for group in zip(*ll)]
 

pybdr/model/model.py

@@ -57,8 +57,8 @@ def __series(self, order: int, mod: str, v: int):
 
     def __take_derivative(self, order: int, v: int):
         if (
-                order - 1 not in self.__inr_series
-                or v not in self.__inr_series[order - 1]["sym"]
+            order - 1 not in self.__inr_series
+            or v not in self.__inr_series[order - 1]["sym"]
         ):
             self.__take_derivative(order - 1, v)
         start, end = self.__inr_idx[v]
@@ -77,22 +77,30 @@ def evaluate(self, xs: tuple, mod: str, order: int, v: int):
             self.__take_derivative(order, v)
 
         def _eval_numpy():
-            if mod not in self.__inr_series[order] or v not in self.__inr_series[order][mod]:
+            if (
+                mod not in self.__inr_series[order]
+                or v not in self.__inr_series[order][mod]
+            ):
                 if mod not in self.__inr_series:
                     self.__inr_series[order][mod] = {}
                 d = self.__series(order, "sym", v)
                 d = d if order == 0 else d.squeeze(axis=-1)
                 d = ImmutableDenseNDimArray(d)
                 if v not in self.__inr_series[order][mod]:
-                    self.__inr_series[order][mod][v] = lambdify(self.__inr_x, d, "numpy")
+                    self.__inr_series[order][mod][v] = lambdify(
+                        self.__inr_x, d, "numpy"
+                    )
                 # self.__inr_series[order][mod] = {v: lambdify(self.__inr_x, d, "numpy")}
             r = np.asarray(self.__series(order, mod, v)(*np.concatenate(xs, axis=-1)))
             return r.squeeze(axis=-1) if order == 0 else r
 
         def _eval_interval():
             from pybdr.geometry import Interval
 
-            if mod not in self.__inr_series[order] or v not in self.__inr_series[order][mod]:
+            if (
+                mod not in self.__inr_series[order]
+                or v not in self.__inr_series[order][mod]
+            ):
                 if mod not in self.__inr_series:
                     self.__inr_series[order][mod] = {}
                 d = self.__series(order, "sym", v)