Renamed package to ControlBarrierFunctions

.github/workflows/ci.yml

@@ -61,8 +61,8 @@ jobs:
       - run: |
           julia --project=docs -e '
             using Documenter: doctest
-            using CBFToolbox     # change to the name of your package
-            doctest(CBFToolbox)' # change to the name of your package
+            using ControlBarrierFunctions     # change to the name of your package
+            doctest(ControlBarrierFunctions)' # change to the name of your package
       - run: julia --project=docs docs/make.jl
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

Manifest.toml

@@ -2,7 +2,7 @@
 
 julia_version = "1.10.4"
 manifest_format = "2.0"
-project_hash = "ad05b28674e6254a83a89b8c4348f48c2e3b78e0"
+project_hash = "d904e69cf5f4914450332acac1ec16cb69ba172f"
 
 [[deps.ADTypes]]
 git-tree-sha1 = "99a6f5d0ce1c7c6afdb759daa30226f71c54f6b0"
@@ -295,9 +295,9 @@ version = "5.47.4"
 
 [[deps.DiffEqBase]]
 deps = ["ArrayInterface", "ConcreteStructs", "DataStructures", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "ForwardDiff", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "Parameters", "PreallocationTools", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "Setfield", "Static", "StaticArraysCore", "Statistics", "Tricks", "TruncatedStacktraces"]
-git-tree-sha1 = "2f3dfa7d150ca5401482777836d0e8f361087a80"
+git-tree-sha1 = "4cb796ab54311147b9c7191d34d502693b603a22"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.153.0"
+version = "6.154.0"
 
     [deps.DiffEqBase.extensions]
     DiffEqBaseCUDAExt = "CUDA"
@@ -366,9 +366,9 @@ version = "7.13.0"
 
 [[deps.DifferentiationInterface]]
 deps = ["ADTypes", "Compat", "DocStringExtensions", "FillArrays", "LinearAlgebra", "PackageExtensionCompat", "SparseArrays", "SparseMatrixColorings"]
-git-tree-sha1 = "5f9a52dc40218e85daa695600733f5ccaa7eb80b"
+git-tree-sha1 = "06955b4e80eff01df10552ccf0226571bde94d49"
 uuid = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63"
-version = "0.5.13"
+version = "0.5.14"
 
     [deps.DifferentiationInterface.extensions]
     DifferentiationInterfaceChainRulesCoreExt = "ChainRulesCore"
@@ -791,9 +791,9 @@ uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
 [[deps.LinearSolve]]
 deps = ["ArrayInterface", "ChainRulesCore", "ConcreteStructs", "CpuId", "DocStringExtensions", "EnumX", "FastLapackInterface", "GPUArraysCore", "InteractiveUtils", "KLU", "Krylov", "LazyArrays", "Libdl", "LinearAlgebra", "MKL_jll", "Markdown", "PrecompileTools", "Preferences", "RecursiveFactorization", "Reexport", "SciMLBase", "SciMLOperators", "Setfield", "SparseArrays", "Sparspak", "StaticArraysCore", "UnPack"]
-git-tree-sha1 = "ee625f4053362526950661ce3022c7a483c6f8e5"
+git-tree-sha1 = "6b7011b27e35453f68a8f851776271b31fce021c"
 uuid = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
-version = "2.32.0"
+version = "2.33.0"
 
     [deps.LinearSolve.extensions]
     LinearSolveBandedMatricesExt = "BandedMatrices"
@@ -1286,9 +1286,9 @@ version = "0.6.43"
 
 [[deps.SciMLBase]]
 deps = ["ADTypes", "Accessors", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "Expronicon", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables"]
-git-tree-sha1 = "79564263adfdeb7a7110316c0bf0da55b95ab281"
+git-tree-sha1 = "5123ca064567e81c31fb3acdf15d2c9459bb7cc3"
 uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
-version = "2.49.0"
+version = "2.50.0"
 
     [deps.SciMLBase.extensions]
     SciMLBaseChainRulesCoreExt = "ChainRulesCore"
@@ -1489,9 +1489,9 @@ version = "2.3.0"
 
 [[deps.StochasticDiffEq]]
 deps = ["Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DiffEqNoiseProcess", "DocStringExtensions", "FiniteDiff", "ForwardDiff", "JumpProcesses", "LevyArea", "LinearAlgebra", "Logging", "MuladdMacro", "NLsolve", "OrdinaryDiffEq", "Random", "RandomNumbers", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SparseArrays", "SparseDiffTools", "StaticArrays", "UnPack"]
-git-tree-sha1 = "b47f8ccc5bd06d5f7a643bf6671365ab9d6595d9"
+git-tree-sha1 = "1e013d271e025fc676f5b944f9537e09238b73c5"
 uuid = "789caeaf-c7a9-5a7d-9973-96adeb23e2a0"
-version = "6.67.0"
+version = "6.68.0"
 
 [[deps.StrideArraysCore]]
 deps = ["ArrayInterface", "CloseOpenIntervals", "IfElse", "LayoutPointers", "LinearAlgebra", "ManualMemory", "SIMDTypes", "Static", "StaticArrayInterface", "ThreadingUtilities"]
@@ -1510,9 +1510,9 @@ version = "7.2.1+1"
 
 [[deps.Sundials]]
 deps = ["CEnum", "DataStructures", "DiffEqBase", "Libdl", "LinearAlgebra", "Logging", "PrecompileTools", "Reexport", "SciMLBase", "SparseArrays", "Sundials_jll"]
-git-tree-sha1 = "e15f5a73f0d14b9079b807a9d1dac13e4302e997"
+git-tree-sha1 = "82304990120934137261aa085e0d05a412fe0825"
 uuid = "c3572dad-4567-51f8-b174-8c6c989267f4"
-version = "4.24.0"
+version = "4.25.0"
 
 [[deps.Sundials_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "SuiteSparse_jll", "libblastrampoline_jll"]

Project.toml

@@ -1,5 +1,5 @@
-name = "CBFToolbox"
-uuid = "9bb58977-20e0-447d-80ed-b4444e16eeb9"
+name = "ControlBarrierFunctions"
+uuid = "e4acb5c7-ee58-4719-8a40-5cc01da1b2a4"
 authors = ["Max Cohen <[email protected]>"]
 version = "0.1.0"
 

README.md

@@ -1,8 +1,8 @@
-[![Build status (Github Actions)](https://github.com/maxhcohen/CBFToolbox.jl/workflows/CI/badge.svg)](https://github.com/maxhcohen/CBFToolbox.jl/actions)
-[![codecov.io](http://codecov.io/github/maxhcohen/CBFToolbox.jl/coverage.svg?branch=main)](http://codecov.io/github/maxhcohen/CBFToolbox.jl?branch=main)
-[![](https://img.shields.io/badge/docs-dev-blue.svg)](https://maxhcohen.github.io/CBFToolbox.jl/dev)
+[![Build status (Github Actions)](https://github.com/maxhcohen/ControlBarrierFunctions.jl/workflows/CI/badge.svg)](https://github.com/maxhcohen/ControlBarrierFunctions.jl/actions)
+[![codecov.io](http://codecov.io/github/maxhcohen/ControlBarrierFunctions.jl/coverage.svg?branch=main)](http://codecov.io/github/maxhcohen/CBFToolbox.jl?branch=main)
+[![](https://img.shields.io/badge/docs-dev-blue.svg)](https://maxhcohen.github.io/ControlBarrierFunctions.jl/dev)
 
-# CBFToolbox.jl
+# ControlBarrierFunctions.jl
 A package for implementing control barrier functions (CBFs) in Julia.
 
 ## Overview
@@ -13,13 +13,13 @@ To download this package open the Julia REPL, enter the package manager (type `]
 
 ```julia
 using Pkg
-Pkg.add("https://github.com/maxhcohen/CBFToolbox.jl")
+Pkg.add("https://github.com/maxhcohen/ControlBarrierFunctions.jl")
 ```
 
 ## Usage
 ```julia
 # Load in packages
-using CBFToolbox
+using ControlBarrierFunctions
 using LinearAlgebra
 using Plots
 

docs/Project.toml

@@ -1,4 +1,4 @@
 [deps]
-CBFToolbox = "9bb58977-20e0-447d-80ed-b4444e16eeb9"
+ControlBarrierFunctions = "e4acb5c7-ee58-4719-8a40-5cc01da1b2a4"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 DocumenterTools = "35a29f4d-8980-5a13-9543-d66fff28ecb8"

docs/make.jl

@@ -3,10 +3,10 @@ using Pkg
 Pkg.activate(".")
 Pkg.instantiate()
 using Documenter
-using CBFToolbox
+using ControlBarrierFunctions
 
 makedocs(;
-    sitename="CBFToolbox.jl",
+    sitename="ControlBarrierFunctions.jl",
     pages=[
         "Home" => "index.md",
         "Systems" => "systems.md",
@@ -16,4 +16,4 @@ makedocs(;
     ],
 )
 
-deploydocs(; repo="github.com/maxhcohen/CBFToolbox.jl", devbranch="main")
+deploydocs(; repo="github.com/maxhcohen/ControlBarrierFunctions.jl", devbranch="main")

docs/src/index.md

@@ -1,4 +1,4 @@
-# CBFToolbox.jl
+# ControlBarrierFunctions.jl
 A package for implementing control barrier functions (CBFs) in Julia.
 
 ## Overview
@@ -8,13 +8,13 @@ This toolbox provides utilities to construct nonlinear systems and control polic
 To download this package open the Julia REPL, enter the package manager (type `]` into the REPL) and run
 ```julia
 using Pkg
-Pkg.add("https://github.com/maxhcohen/CBFToolbox.jl")
+Pkg.add("https://github.com/maxhcohen/ControlBarrierFunctions.jl")
 ```
 
 ## Usage
 ```julia
 # Load in packages
-using CBFToolbox
+using ControlBarrierFunctions
 using LinearAlgebra
 using Plots
 

examples/Project.toml

@@ -1,5 +1,5 @@
 [deps]
-CBFToolbox = "9bb58977-20e0-447d-80ed-b4444e16eeb9"
+ControlBarrierFunctions = "e4acb5c7-ee58-4719-8a40-5cc01da1b2a4"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"

examples/obstacle_avoidance.jl

@@ -1,6 +1,6 @@
 # Load in packages
 using Revise
-using CBFToolbox
+using ControlBarrierFunctions
 using LinearAlgebra
 using Plots
 

src/CBFToolbox.jl → src/ControlBarrierFunctions.jl

@@ -1,4 +1,4 @@
-module CBFToolbox
+module ControlBarrierFunctions
 
 # Julia packages required for this module
 using LinearAlgebra

test/runtests.jl

@@ -1,5 +1,5 @@
 using Test
-using CBFToolbox
+using ControlBarrierFunctions
 using LinearAlgebra
 using ForwardDiff
 
@@ -17,6 +17,14 @@ g(x) = [1.0 0.0; 0.0 1.0]
 @test Σ.f(zeros(2)) == f(zeros(2))
 @test Σ.g(zeros(2)) == g(zeros(2))
 
+# Do it again without specifying name
+Σ1 = ControlAffineSystem(n, m, f, g)
+@test Σ1.name == ""
+@test Σ1.n == n
+@test Σ1.m == m
+@test Σ1.f(zeros(2)) == f(zeros(2))
+@test Σ1.g(zeros(2)) == g(zeros(2))
+
 # Make sure we can simulate a simple system
 x0 = [-1.0, 1.0]
 T = 20.0