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Merged
schillic merged 1 commit into from
Apr 19, 2025
Merged

#112 - Replace assertions with errors #325

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18 changes: 9 additions & 9 deletions src/identity.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ Base.:(*)(𝐼::IdentityMultiple, x::Number) = IdentityMultiple(x * 𝐼.M, 𝐼
Base.:(/)(𝐼::IdentityMultiple, x::Number) = IdentityMultiple(𝐼.M / x, 𝐼.n)

function Base.:(*)(𝐼::IdentityMultiple, v::AbstractVector)
@assert 𝐼.n == length(v)
𝐼.n != length(v) && throw(DimensionMismatch("incompatible dimensions"))
return 𝐼.M.λ * v
end

Expand All @@ -111,12 +111,12 @@ for M in @static VERSION < v"1.6" ? [:AbstractMatrix] :
:(Adjoint{<:Any,<:AbstractVector}), :(LinearAlgebra.AbstractTriangular))
@eval begin
function Base.:(*)(𝐼::IdentityMultiple, A::$M)
@assert 𝐼.n == size(A, 1)
𝐼.n != size(A, 1) && throw(DimensionMismatch("incompatible dimensions"))
return 𝐼.M.λ * A
end

function Base.:(*)(A::$M, 𝐼::IdentityMultiple)
@assert size(A, 2) == 𝐼.n
size(A, 2) != 𝐼.n && throw(DimensionMismatch("incompatible dimensions"))
return A * 𝐼.M.λ
end
end
Expand All @@ -129,24 +129,24 @@ for M in @static VERSION < v"1.6" ? [:AbstractMatrix] :
:(Adjoint{<:Any,<:AbstractVector}))
@eval begin
function Base.:(/)(A::$M, 𝐼::IdentityMultiple)
@assert size(A, 2) == 𝐼.n
size(A, 2) != 𝐼.n && throw(DimensionMismatch("incompatible dimensions"))
return A * inv(𝐼.M.λ)
end
end
end

function Base.:(+)(𝐼1::IdentityMultiple, 𝐼2::IdentityMultiple)
@assert 𝐼1.n == 𝐼2.n
𝐼1.n != 𝐼2.n && throw(DimensionMismatch("incompatible dimensions"))
return IdentityMultiple(𝐼1.M + 𝐼2.M, 𝐼1.n)
end

function Base.:(-)(𝐼1::IdentityMultiple, 𝐼2::IdentityMultiple)
@assert 𝐼1.n == 𝐼2.n
𝐼1.n != 𝐼2.n && throw(DimensionMismatch("incompatible dimensions"))
return IdentityMultiple(𝐼1.M - 𝐼2.M, 𝐼1.n)
end

function Base.:(*)(𝐼1::IdentityMultiple, 𝐼2::IdentityMultiple)
@assert 𝐼1.n == 𝐼2.n
𝐼1.n != 𝐼2.n && throw(DimensionMismatch("incompatible dimensions"))
return IdentityMultiple(𝐼1.M * 𝐼2.M, 𝐼1.n)
end

Expand All @@ -159,12 +159,12 @@ function Base.:(*)(U::UniformScaling{T}, 𝐼::IdentityMultiple{S}) where {T<:Nu
end

function Base.:(/)(𝐼::IdentityMultiple{T}, U::UniformScaling{S}) where {T<:Number,S<:Number}
@assert !iszero(U.λ)
iszero(U.λ) && throw(DivideError())
return IdentityMultiple(𝐼.M * inv(U.λ), 𝐼.n)
end

function Base.:(/)(U::UniformScaling{T}, 𝐼::IdentityMultiple{S}) where {T<:Number,S<:Number}
@assert !iszero(𝐼.M.λ)
iszero(𝐼.M.λ) && throw(DivideError())
return IdentityMultiple(U * inv(𝐼.M.λ), 𝐼.n)
end

Expand Down
16 changes: 10 additions & 6 deletions src/maps.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ struct AffineMap{T,MT<:AbstractMatrix{T},VT<:AbstractVector{T}} <: AbstractMap
A::MT
c::VT
function AffineMap(A::MT, c::VT) where {T,MT<:AbstractMatrix{T},VT<:AbstractVector{T}}
@assert size(A, 1) == length(c)
size(A, 1) != length(c) && throw(DimensionMismatch("incompatible dimensions"))
return new{T,MT,VT}(A, c)
end
end
Expand Down Expand Up @@ -152,7 +152,7 @@ struct ConstrainedAffineMap{T,MT<:AbstractMatrix{T},VT<:AbstractVector{T},ST} <:
X::ST
function ConstrainedAffineMap(A::MT, c::VT,
X::ST) where {T,MT<:AbstractMatrix{T},VT<:AbstractVector{T},ST}
@assert size(A, 1) == length(c)
size(A, 1) != length(c) && throw(DimensionMismatch("incompatible dimensions"))
return new{T,MT,VT,ST}(A, c, X)
end
end
Expand Down Expand Up @@ -185,7 +185,7 @@ struct LinearControlMap{T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T}} <: Abst
B::MTB
function LinearControlMap(A::MTA,
B::MTB) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T}}
@assert size(A, 1) == size(B, 1)
size(A, 1) != size(B, 1) && throw(DimensionMismatch("incompatible dimensions"))
return new{T,MTA,MTB}(A, B)
end
end
Expand Down Expand Up @@ -223,7 +223,7 @@ struct ConstrainedLinearControlMap{T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{
function ConstrainedLinearControlMap(A::MTA, B::MTB, X::ST,
U::UT) where {T,MTA<:AbstractMatrix{T},
MTB<:AbstractMatrix{T},ST,UT}
@assert size(A, 1) == size(B, 1)
size(A, 1) != size(B, 1) && throw(DimensionMismatch("incompatible dimensions"))
return new{T,MTA,MTB,ST,UT}(A, B, X, U)
end
end
Expand Down Expand Up @@ -261,7 +261,9 @@ struct AffineControlMap{T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},VT<:Abst
function AffineControlMap(A::MTA, B::MTB,
c::VT) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},
VT<:AbstractVector{T}}
@assert size(A, 1) == size(B, 1) == length(c)
if !(size(A, 1) == size(B, 1) == length(c))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,VT}(A, B, c)
end
end
Expand Down Expand Up @@ -303,7 +305,9 @@ struct ConstrainedAffineControlMap{T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{
U::UT) where {T,MTA<:AbstractMatrix{T},
MTB<:AbstractMatrix{T},VT<:AbstractVector{T},
ST,UT}
@assert size(A, 1) == size(B, 1) == length(c)
if !(size(A, 1) == size(B, 1) == length(c))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,VT,ST,UT}(A, B, c, X, U)
end
end
Expand Down
96 changes: 66 additions & 30 deletions src/systems.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,3 @@
# check if a matrix is square
@inline function issquare(A::AbstractMatrix)
return size(A, 1) == size(A, 2)
end

for (Z, AZ) in ((:ContinuousIdentitySystem, :AbstractContinuousSystem),
(:DiscreteIdentitySystem, :AbstractDiscreteSystem))
@eval begin
Expand Down Expand Up @@ -120,7 +115,7 @@ for (Z, AZ) in ((:LinearContinuousSystem, :AbstractContinuousSystem),
struct $(Z){T,MT<:AbstractMatrix{T}} <: $(AZ)
A::MT
function $(Z)(A::MT) where {T,MT<:AbstractMatrix{T}}
@assert issquare(A)
checksquare(A)
return new{T,MT}(A)
end
end
Expand Down Expand Up @@ -183,7 +178,9 @@ for (Z, AZ) in ((:AffineContinuousSystem, :AbstractContinuousSystem),
A::MT
c::VT
function $(Z)(A::MT, c::VT) where {T,MT<:AbstractMatrix{T},VT<:AbstractVector{T}}
@assert checksquare(A) == length(c)
if checksquare(A) != length(c)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MT,VT}(A, c)
end
end
Expand Down Expand Up @@ -249,7 +246,9 @@ for (Z, AZ) in ((:LinearControlContinuousSystem, :AbstractContinuousSystem),
A::MTA
B::MTB
function $(Z)(A::MTA, B::MTB) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T}}
@assert checksquare(A) == size(B, 1)
if checksquare(A) != size(B, 1)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB}(A, B)
end
end
Expand Down Expand Up @@ -315,7 +314,7 @@ for (Z, AZ) in ((:ConstrainedLinearContinuousSystem, :AbstractContinuousSystem),
A::MT
X::ST
function $(Z)(A::MT, X::ST) where {T,MT<:AbstractMatrix{T},ST}
@assert issquare(A)
checksquare(A)
return new{T,MT,ST}(A, X)
end
end
Expand Down Expand Up @@ -383,7 +382,9 @@ for (Z, AZ) in ((:ConstrainedAffineContinuousSystem, :AbstractContinuousSystem),
X::ST
function $(Z)(A::MT, c::VT,
X::ST) where {T,MT<:AbstractMatrix{T},VT<:AbstractVector{T},ST}
@assert checksquare(A) == length(c)
if checksquare(A) != length(c)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MT,VT,ST}(A, c, X)
end
end
Expand Down Expand Up @@ -455,7 +456,9 @@ for (Z, AZ) in ((:AffineControlContinuousSystem, :AbstractContinuousSystem),
function $(Z)(A::MTA, B::MTB,
c::VT) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},
VT<:AbstractVector{T}}
@assert checksquare(A) == length(c) == size(B, 1)
if !(checksquare(A) == length(c) == size(B, 1))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,VT}(A, B, c)
end
end
Expand Down Expand Up @@ -530,7 +533,9 @@ for (Z, AZ) in ((:ConstrainedAffineControlContinuousSystem, :AbstractContinuousS
function $(Z)(A::MTA, B::MTB, c::VT, X::ST,
U::UT) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},
VT<:AbstractVector{T},ST,UT}
@assert checksquare(A) == length(c) == size(B, 1)
if !(checksquare(A) == length(c) == size(B, 1))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,VT,ST,UT}(A, B, c, X, U)
end
end
Expand Down Expand Up @@ -608,7 +613,9 @@ for (Z, AZ) in ((:ConstrainedLinearControlContinuousSystem, :AbstractContinuousS
U::UT
function $(Z)(A::MTA, B::MTB, X::ST,
U::UT) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},ST,UT}
@assert checksquare(A) == size(B, 1)
if checksquare(A) != size(B, 1)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,ST,UT}(A, B, X, U)
end
end
Expand Down Expand Up @@ -679,7 +686,9 @@ for (Z, AZ) in ((:LinearDescriptorContinuousSystem, :AbstractContinuousSystem),
A::MTA
E::MTE
function $(Z)(A::MTA, E::MTE) where {T,MTA<:AbstractMatrix{T},MTE<:AbstractMatrix{T}}
@assert size(A) == size(E)
if size(A) != size(E)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTE}(A, E)
end
end
Expand Down Expand Up @@ -746,7 +755,9 @@ for (Z, AZ) in ((:ConstrainedLinearDescriptorContinuousSystem, :AbstractContinuo
X::ST
function $(Z)(A::MTA, E::MTE,
X::ST) where {T,MTA<:AbstractMatrix{T},MTE<:AbstractMatrix{T},ST}
@assert size(A) == size(E)
if size(A) != size(E)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTE,ST}(A, E, X)
end
end
Expand Down Expand Up @@ -816,7 +827,9 @@ for (Z, AZ) in ((:PolynomialContinuousSystem, :AbstractContinuousSystem),
function $(Z)(p::VPT,
statedim::Int) where {T,PT<:AbstractPolynomialLike{T},
VPT<:AbstractVector{PT}}
@assert statedim == MultivariatePolynomials.nvariables(p) "the state dimension $(statedim) does not match the number of state variables"
if statedim != MultivariatePolynomials.nvariables(p)
throw(DimensionMismatch("the state dimension $(statedim) does not match the number of state variables"))
end
return new{T,PT,VPT}(p, statedim)
end
end
Expand Down Expand Up @@ -887,7 +900,9 @@ for (Z, AZ) in ((:ConstrainedPolynomialContinuousSystem, :AbstractContinuousSyst
X::ST
function $(Z)(p::VPT, statedim::Int,
X::ST) where {T,PT<:AbstractPolynomialLike{T},VPT<:AbstractVector{PT},ST}
@assert statedim == MultivariatePolynomials.nvariables(p) "the state dimension $(statedim) does not match the number of state variables"
if statedim != MultivariatePolynomials.nvariables(p)
throw(DimensionMismatch("the state dimension $(statedim) does not match the number of state variables"))
end
return new{T,PT,VPT,ST}(p, statedim, X)
end
end
Expand Down Expand Up @@ -1213,7 +1228,9 @@ for (Z, AZ) in ((:NoisyLinearContinuousSystem, :AbstractContinuousSystem),
A::MTA
D::MTD
function $(Z)(A::MTA, D::MTD) where {T,MTA<:AbstractMatrix{T},MTD<:AbstractMatrix{T}}
@assert checksquare(A) == size(D, 1)
if checksquare(A) != size(D, 1)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTD}(A, D)
end
end
Expand Down Expand Up @@ -1282,7 +1299,9 @@ for (Z, AZ) in ((:NoisyConstrainedLinearContinuousSystem, :AbstractContinuousSys
W::WT
function $(Z)(A::MTA, D::MTD, X::ST,
W::WT) where {T,MTA<:AbstractMatrix{T},MTD<:AbstractMatrix{T},ST,WT}
@assert checksquare(A) == size(D, 1)
if checksquare(A) != size(D, 1)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTD,ST,WT}(A, D, X, W)
end
end
Expand Down Expand Up @@ -1357,7 +1376,9 @@ for (Z, AZ) in ((:NoisyLinearControlContinuousSystem, :AbstractContinuousSystem)
function $(Z)(A::MTA, B::MTB,
D::MTD) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},
MTD<:AbstractMatrix{T}}
@assert checksquare(A) == size(B, 1) == size(D, 1)
if !(checksquare(A) == size(B, 1) == size(D, 1))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,MTD}(A, B, D)
end
end
Expand Down Expand Up @@ -1435,7 +1456,9 @@ for (Z, AZ) in ((:NoisyConstrainedLinearControlContinuousSystem, :AbstractContin
function $(Z)(A::MTA, B::MTB, D::MTD, X::ST, U::UT,
W::WT) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},
MTD<:AbstractMatrix{T},ST,UT,WT}
@assert checksquare(A) == size(B, 1) == size(D, 1)
if !(checksquare(A) == size(B, 1) == size(D, 1))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,MTD,ST,UT,WT}(A, B, D, X, U, W)
end
end
Expand Down Expand Up @@ -1522,7 +1545,9 @@ for (Z, AZ) in ((:NoisyAffineControlContinuousSystem, :AbstractContinuousSystem)
function $(Z)(A::MTA, B::MTB, c::VT,
D::MTD) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},
VT<:AbstractVector{T},MTD<:AbstractMatrix{T}}
@assert checksquare(A) == length(c) == size(B, 1) == size(D, 1)
if !(checksquare(A) == length(c) == size(B, 1) == size(D, 1))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,VT,MTD}(A, B, c, D)
end
end
Expand Down Expand Up @@ -1602,7 +1627,9 @@ for (Z, AZ) in ((:NoisyConstrainedAffineControlContinuousSystem, :AbstractContin
function $(Z)(A::MTA, B::MTB, c::VT, D::MTD, X::ST, U::UT,
W::WT) where {T,MTA<:AbstractMatrix{T},MTB<:AbstractMatrix{T},
VT<:AbstractVector{T},MTD<:AbstractMatrix{T},ST,UT,WT}
@assert checksquare(A) == length(c) == size(B, 1) == size(D, 1)
if !(checksquare(A) == length(c) == size(B, 1) == size(D, 1))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTA,MTB,VT,MTD,ST,UT,WT}(A, B, c, D, X, U, W)
end
end
Expand Down Expand Up @@ -1867,7 +1894,9 @@ for (Z, AZ) in ((:SecondOrderLinearContinuousSystem, :AbstractContinuousSystem),
K::MTK) where {T,MTM<:AbstractMatrix{T},
MTC<:AbstractMatrix{T},
MTK<:AbstractMatrix{T}}
@assert checksquare(M) == checksquare(C) == checksquare(K)
if !(checksquare(M) == checksquare(C) == checksquare(K))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTM,MTC,MTK}(M, C, K)
end
end
Expand Down Expand Up @@ -1947,7 +1976,7 @@ for (Z, AZ) in ((:SecondOrderAffineContinuousSystem, :AbstractContinuousSystem),
MTC<:AbstractMatrix{T},
MTK<:AbstractMatrix{T},
VT<:AbstractVector{T}}
@assert checksquare(M) == checksquare(C) == checksquare(K) == length(b)
checksquare(M) == checksquare(C) == checksquare(K) == length(b)
return new{T,MTM,MTC,MTK,VT}(M, C, K, b)
end
end
Expand Down Expand Up @@ -2037,7 +2066,9 @@ for (Z, AZ) in ((:SecondOrderConstrainedLinearControlContinuousSystem, :Abstract
MTB<:AbstractMatrix{T},
ST,
UT}
@assert checksquare(M) == checksquare(C) == checksquare(K) == size(B, 1)
if !(checksquare(M) == checksquare(C) == checksquare(K) == size(B, 1))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTM,MTC,MTK,MTB,ST,UT}(M, C, K, B, X, U)
end
end
Expand Down Expand Up @@ -2135,8 +2166,9 @@ for (Z, AZ) in ((:SecondOrderConstrainedAffineControlContinuousSystem, :Abstract
VT<:AbstractVector{T},
ST,
UT}
@assert checksquare(M) == checksquare(C) == checksquare(K) == size(B, 1) ==
length(d)
if !(checksquare(M) == checksquare(C) == checksquare(K) == size(B, 1) == length(d))
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTM,MTC,MTK,MTB,VT,ST,UT}(M, C, K, B, d, X, U)
end
end
Expand Down Expand Up @@ -2226,7 +2258,9 @@ for (Z, AZ) in ((:SecondOrderContinuousSystem, :AbstractContinuousSystem),
fe::FE
function $(Z)(M::MTM, C::MTC, fi::FI,
fe::FE) where {T,MTM<:AbstractMatrix{T},MTC<:AbstractMatrix{T},FI,FE}
@assert checksquare(M) == checksquare(C)
if checksquare(M) != checksquare(C)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTM,MTC,FI,FE}(M, C, fi, fe)
end
end
Expand Down Expand Up @@ -2309,7 +2343,9 @@ for (Z, AZ) in ((:SecondOrderConstrainedContinuousSystem, :AbstractContinuousSys

function $(Z)(M::MTM, C::MTC, fi::FI, fe::FE, X::ST,
U::UT) where {T,MTM<:AbstractMatrix{T},MTC<:AbstractMatrix{T},FI,FE,ST,UT}
@assert checksquare(M) == checksquare(C)
if checksquare(M) != checksquare(C)
throw(DimensionMismatch("incompatible dimensions"))
end
return new{T,MTM,MTC,FI,FE,ST,UT}(M, C, fi, fe, X, U)
end
end
Expand Down
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