SReachTools/stochasticReachAvoid/getDynProgLevelSets2D Get level sets based
on the value function returned by getDynProgSolForTube
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The function computes an array of polytopes based on the results from
getDynProgSolForTube
See also examples/doubleIntegratorDynamicProgramming.m, SReachDynProg
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poly_array = getDynProgLevelSets2D(sys, prob_x, prob_lvls)
Inputs:
-------
cell_xvec - Gridding along the particular dimension (sys.state_dim x 1
cell array, with grid info along each dimension) | Output for
SReachDynProg
prob_x - Probability values at each grid point (M number of them) in
grid_X (Mx1 array)
prob_lvls - A vector containing safety probability thresholds of interest
Each element needs to be within [0,1].
safety_tube- Safety tube used for the dynamic programming solution
Outputs:
--------
poly_array - Array of Polyhedron objects for each of the level sets
Notes:
------
* Uses MATLAB's contour function to create the boundary info which is then fed
to MPT (takes a convex hull). Because contour function may ignore corners
(if value function saturates), we check for all the corners when
constructing the polytope.
* To be used in conjunction with SReachDynProg
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This function is part of the Stochastic Reachability Toolbox.
License for the use of this function is given in
https://sreachtools.github.io/license/