Revert mistakenly pushed to master

This reverts commit c5cdd03fc0588f7d34d8b97713caa6d19e5becea.

5 files changed, 0 insertions, 350 deletions

diff --git a/templates/chebycenter.m b/templates/chebycenter.m
deleted file mode 100755
index cbdce1c..0000000
--- a/templates/chebycenter.m
+++ /dev/null
@@ -1,20 +0,0 @@
-function [c,r] = chebycenter(A,b)
-%CHEBYCENTER Compute Chebyshev center of polytope Ax <= b.
-%  The Chebyshev center of a polytope is the center of the largest
-%  hypersphere enclosed by the polytope. 
-%  Requires optimization toolbox.
-
-[n,p] = size(A);
-an = sqrt(sum(A.^2,2));
-A1 = zeros(n,p+1);
-A1(:,1:p) = A;
-A1(:,p+1) = an;
-f = zeros(p+1,1);
-f(p+1) = -1;
-
-options = optimset;
-options = optimset(options,'Display', 'off');
-c = linprog(f,A1,b,[],[],[],[],[],options);
-r = c(p+1);
-c = c(1:p);
-end
diff --git a/templates/cprnd.m b/templates/cprnd.m
deleted file mode 100755
index 4183ac3..0000000
--- a/templates/cprnd.m
+++ /dev/null
@@ -1,296 +0,0 @@
-function [X S] = cprnd(N,A,b,options)
-%CPRND Draw from the uniform distribution over a convex polytope.
-%   X = cprnd(N,A,b) Returns an N-by-P matrix of random vectors drawn
-%   from the uniform distribution over the interior of the polytope
-%   defined by Ax <= b. A is a M-by-P matrix of constraint equation
-%   coefficients. b is a M-by-1 vector of constraint equation
-%   constants.
-%    
-%   cprnd(N,A,b,options) allows various options to be specified.
-
-%   'method'    Specifies the algorithm. One of the strings 'gibbs',
-%               'hitandrun' (the default), and 'achr'. The default
-%               algorithm 'hitandrun' is a vanilla hit-and-run sampler
-%               [1]. 'gibbs' specifies a Gibbs sampler, 'achr' is the
-%               Adaptive Centering Hit-and-Run algorithm of [2]. 
-%
-%   'x0'        Vector x0 is a starting point which should be interior 
-%               to the polytope. If x0 is not supplied CPRND uses the
-%               Chebyshev center as the initial point.
-%    
-%   'isotropic' Perform an adaptive istropic transformation of the 
-%               polytope. The values 0, 1 and 2 respectively turn
-%               off the transformation, construct it during a runup
-%               period only, or continuously update the
-%               tranformation throughout sample production. The
-%               transformation makes sense only for the Gibbs and
-%               Hit-and-run samplers (ACHR is invariant under
-%               linear transformations).
-%   
-%   'discard'   Number of initial samples (post-runup) to discard.
-%
-%   'runup'     When the method is gibbs or hitandrun and the
-%               isotropic transformation is used, this is the
-%               number of initial iterations of the algorithm in
-%               the untransformed space. That is a sample of size
-%               runup is generated and its covariance used as the
-%               basis of a transformation. 
-%               When the method is achr runup is the number of
-%               conventional hitandrun iterations. See [2].
-%
-%   'ortho'     Zero/one flag. If turned on direction vectors for
-%               the hitandrun algorithm are generated in random
-%               orthonormal blocks rather than one by
-%               one. Experimental and of dubious utility.
-%   
-%   'quasi' Allows the user to specify a quasirandom number generator
-%               (such as 'halton' or 'sobol').  Experimental and of
-%               dubious utility.
-%
-%      
-
-%   By default CPRND employs the hit-and-run sampler which may
-%   exhibit marked serial correlation and very long convergence times.
-%
-% References
-% [1] Kroese, D.P. and Taimre, T. and Botev, Z.I., "Handbook of Monte
-% Carlo Methods" (2011), pp. 240-244.
-% [2] Kaufman, David E. and Smith, Robert L., "Direction Choice for
-% Accelerated Convergence in Hit-and-Run Sampling", Op. Res. 46,
-% pp. 84-95.
-%
-% Copyright (c) 2011-2012 Tim J. Benham, School of Mathematics and Physics,
-%                University of Queensland.
-
-    function y = stdize(z)
-        y = z/norm(z);
-    end
-
-    p = size(A,2);                         % dimension
-    m = size(A,1);                         % num constraint ineqs
-    x0 = [];
-    runup = [];                              % runup necessary to method
-    discard = [];                            % num initial pts discarded
-    quasi = 0;
-    method = 'achr';
-    orthogonal = 0;
-    isotropic = [];
-    
-    % gendir generates a random unit (direction) vector.
-    gendir = @() stdize(randn(p,1));
-
-    % Alternative function ogendir forces directions to come in
-    % orthogonal bunches.
-    Ucache = {};
-    function u = ogendir()
-        if length(Ucache) == 0
-            u = stdize(randn(p,1));
-            m = null(u');               % orthonormal basis for nullspace
-            Ucache = mat2cell(m',ones(1,p-1));
-        else
-            u = Ucache{end}';
-            Ucache(end) = [];
-        end
-    end
-    
-    % Check input arguments
-    
-    if m < p+1                             
-        % obv a prob here
-        error('cprnd:obvprob',['At least ',num2str(p+1),' inequalities ' ...
-                            'required']);
-    end
-
-    if nargin == 4
-        if isstruct(options)
-
-            if isfield(options,'method')
-                method = lower(options.method);
-                switch method
-                  case 'gibbs'
-                  case 'hitandrun'
-                  case 'achr'
-                  otherwise
-                    error('cprnd:badopt',...
-                          ['The method option takes only the ' ...
-                           'values "gibbs", "hitandrun", and "ACHR".']);
-                end
-            end
-            
-            if isfield(options,'isotropic')
-                % Controls application of isotropic transformation,
-                % which seems to help a lot.
-                isotropic = options.isotropic;
-            end
-
-            if isfield(options,'discard')
-                % num. of samples to discard
-                discard = options.discard;
-            end
-
-            if isfield(options,'quasi')
-                % Use quasi random numbers, which doesn't seem to
-                % help much.
-                quasi = options.quasi;
-                if quasi && ~ischar(quasi), quasi='halton'; end
-                if ~strcmp(quasi,'none')
-                    qstr = qrandstream(quasi,p,'Skip',1);
-                    gendir = @() stdize(norminv(qrand(qstr,1),0,1)');
-                end
-            end
-
-            if isfield(options,'x0')
-                % initial interior point
-                x0 = options.x0;
-            end
-
-            if isfield(options,'runup')
-                % number of points to generate before first output point
-                runup = options.runup;
-            end
-            
-            if isfield(options,'ortho')
-                % Generate direction vectors in orthogonal
-                % groups. Seems to help a little.
-                orthogonal = options.ortho;
-            end
-            
-        else
-            x0 = options;                   % legacy support
-        end
-    end
-
-    % Default and apply options
-    
-    if isempty(isotropic)
-        if ~strcmp(method,'achr')
-            isotropic = 2;
-        else
-            isotropic = 0;
-        end
-    end
-    
-    if orthogonal
-        gendir = @() ogendir();
-    end
-    
-    % Choose a starting point x0 if user did not provide one.
-    if isempty(x0)
-        x0 = chebycenter(A,b); % prob. if p==1?
-    end
-    
-    % Default the runup to something arbitrary.
-    if isempty(runup)
-        if strcmp(method,'achr')
-            runup = 10*(p+1);
-        elseif isotropic > 0
-            runup = 10*p*(p+1);
-        else 
-            runup = 0;
-        end
-    end
-
-    % Default the discard to something arbitrary
-    if isempty(discard)
-        if strcmp(method,'achr')
-            discard = 25*(p+1);
-        else
-            discard = runup;
-        end
-    end
-
-    X = zeros(N+runup+discard,p);
-
-    n = 0;                                  % num generated so far
-    x = x0;
-
-    % Initialize variables for keeping track of sample mean, covariance
-    % and isotropic transform.
-    M = zeros(p,1);                         % Incremental mean.
-    S2 = zeros(p,p);                        % Incremental sum of
-                                            % outer prodcts.
-    S = eye(p); T = eye(p); W = A;
-    
-    while n < N+runup+discard
-        y = x;
-        
-        % compute approximate stochastic transformation
-        if isotropic>0
-            if n == runup || (isotropic > 1 && n > runup)
-                T = chol(S,'lower');
-                W = A*T;
-            end
-            y = T\y;
-        end
-        
-        switch method
-            
-          case 'gibbs'
-            % choose p new components
-            for i = 1:p
-                % Find points where the line with the (p-1) components x_i
-                % fixed intersects the bounding polytope.
-                e = circshift(eye(p,1),i-1);
-                z = W*e;
-                c = (b - W*y)./z;
-                tmin = max(c(z<0)); tmax = min(c(z>0));
-                % choose a point on that line segment
-                y = y + (tmin+(tmax-tmin)*rand)*e;
-            end
-            
-          case 'hitandrun'
-            % choose a direction
-            u = gendir();
-            % determine intersections of x + ut with the polytope
-            z = W*u;
-            c = (b - W*y)./z;
-            tmin = max(c(z<0)); tmax = min(c(z>0));
-            % choose a point on that line segment
-            y = y + (tmin+(tmax-tmin)*rand)*u;
-            
-          case 'achr'
-            % test whether in runup or not
-            if n < runup
-                % same as hitandrun
-                u = gendir();
-            else
-                % choose a previous point at random
-                v = X(randi(n),:)';
-                % line sampling direction is from v to sample mean
-                u = (v-M)/norm(v-M);
-            end
-            % proceed as in hit and run
-            z = A*u;
-            c = (b - A*y)./z;
-            tmin = max(c(z<0)); tmax = min(c(z>0));
-            % Choose a random point on that line segment
-            y = y + (tmin+(tmax-tmin)*rand)*u;
-        end
-        
-        if isotropic>0
-            x = T*y;
-        else
-            x = y;
-        end
-        
-        X(n+1,:)=x';
-        n = n + 1;
-        
-        % Incremental mean and covariance updates
-        delta0 = x - M;       % delta new point wrt old mean
-        M = M + delta0/n;     % sample mean
-        delta1 = x - M;       % delta new point wrt new mean
-        if n > 1
-            S2 = S2 + (n-1)/(n*n)*delta0*delta0'...
-                 + delta1*delta1';
-            S0 = S;
-            S = S2/(n-1);           % sample covariance
-        else 
-            S = eye(p);
-        end
-        
-    end
-        
-    X = X((discard+runup+1):(N+discard+runup),:); 
-
-end
diff --git a/templates/generate_disturbances.m b/templates/generate_disturbances.m
index f08cdb5..570a4c9 100644
--- a/templates/generate_disturbances.m
+++ b/templates/generate_disturbances.m
@@ -8,10 +8,4 @@
 
 function Wt = generate_disturbances(params)
     % YOUR CODE HERE
-    % params_z = generate_params_z(params);
-    Hw = params.constraints.DisturbanceMatrix;
-    hw = params.constraints.DisturbanceRHS;
-    % Pw = Polyhedron('A', Hw, 'b', hw);
-    N = params.model.HorizonLength;
-    Wt = cprnd(N,Hw,hw)';
 end
\ No newline at end of file
diff --git a/templates/generate_params_z.m b/templates/generate_params_z.m
index 6d25f63..a7cfaa9 100644
--- a/templates/generate_params_z.m
+++ b/templates/generate_params_z.m
@@ -9,7 +9,6 @@
 function [params_z] = generate_params_z(params)
 % initialize params_z
 params_z = params;
-% display(params.model);
 
 % add initial condition of z-subsystem
 params_z.model = rmfield(params_z.model,{'InitialConditionA', ...
diff --git a/templates/license.txt b/templates/license.txt
deleted file mode 100644
index 4d6117c..0000000
--- a/templates/license.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-Copyright (c) 2011, Tim Benham
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in
-      the documentation and/or other materials provided with the distribution
-    * Neither the name of the University of Queensland nor the names
-      of its contributors may be used to endorse or promote products derived
-      from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGE.