Merge pull request #21 from SciML/interface

Added support for ODEs with control inputs $f(x, u, p, t)$. Doing so required some restructuring of how $f$ is called/how to specify that, so there are some breaking changes here. Additionally, when dynamics are represented with an `ODESystem`, the training domain is now specified with a `Dict` mapping states to domains, rather than `lb` and `ub` (so that users don't need to consider the order of arguments in the constructed dynamics function).

Project.toml

@@ -24,6 +24,7 @@ SciMLBase = "2"
 julia = "1.10"
 
 [extras]
+DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
 Lux = "b2108857-7c20-44ae-9111-449ecde12c47"
 NLopt = "76087f3c-5699-56af-9a33-bf431cd00edd"
 NeuralPDE = "315f7962-48a3-4962-8226-d0f33b1235f0"
@@ -35,4 +36,4 @@ SafeTestsets = "1bc83da4-3b8d-516f-aca4-4fe02f6d838f"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["SafeTestsets", "Test", "Lux", "Optimization", "OptimizationOptimJL", "OptimizationOptimisers", "NLopt", "Random", "NeuralPDE"]
+test = ["SafeTestsets", "Test", "Lux", "Optimization", "OptimizationOptimJL", "OptimizationOptimisers", "NLopt", "Random", "NeuralPDE", "DifferentialEquations"]

src/NeuralLyapunov.jl

@@ -13,13 +13,15 @@ include("decrease_conditions.jl")
 include("decrease_conditions_RoA_aware.jl")
 include("NeuralLyapunovPDESystem.jl")
 include("local_Lyapunov.jl")
+include("policy_search.jl")
 
 export NeuralLyapunovPDESystem, NumericalNeuralLyapunovFunctions
 export local_Lyapunov
 export NeuralLyapunovSpecification, NeuralLyapunovStructure, UnstructuredNeuralLyapunov,
  NonnegativeNeuralLyapunov, PositiveSemiDefiniteStructure,
  LyapunovMinimizationCondition, StrictlyPositiveDefinite, PositiveSemiDefinite,
  DontCheckNonnegativity, LyapunovDecreaseCondition, AsymptoticDecrease,
- ExponentialDecrease, DontCheckDecrease, RoAAwareDecreaseCondition, make_RoA_aware
+ ExponentialDecrease, DontCheckDecrease, RoAAwareDecreaseCondition, make_RoA_aware,
+ add_policy_search, get_policy
 
 end