adapt to renamed kwarg in 'Polyhedra.removeredundancy' ('ztol' -> 'tol')

src/ConcreteOperations/intersection.jl

@@ -545,7 +545,7 @@ A `VPolytope`.
 ### Notes
 
 If `prunefunc` is `nothing`, this implementation sets it to
-`(X -> removevredundancy!(X; ztol=_ztol(eltype(P1))))`.
+`(X -> removevredundancy!(X; tol=_ztol(eltype(P1))))`.
 """
 function intersection(P1::Union{VPolygon,VPolytope},
                       P2::Union{VPolygon,VPolytope};
@@ -578,7 +578,7 @@ function intersection(P1::Union{VPolygon,VPolytope},
 
     N = promote_type(eltype(P1), eltype(P2))
     if isnothing(prunefunc)
-        prunefunc = (X -> removevredundancy!(X; ztol=_ztol(N)))
+        prunefunc = (X -> _removeredundancy!(X; N=N))
     end
     prunefunc(Pint)
 

src/Initialization/init_Polyhedra.jl

@@ -37,6 +37,19 @@ function _is_polyhedra_backend(backend::Polyhedra.Library)
     return true
 end
 
+# in v0.8.0, `Polyhedra` renamed the kwarg `ztol` to `tol`
+@static if hasmethod(Polyhedra.detecthlinearity, (Polyhedra.HRepresentation, Any), (:ztol,))
+    function _removeredundancy!(X; N)
+        return removevredundancy!(X; ztol=_ztol(N))
+    end
+else
+    @assert hasmethod(Polyhedra.detecthlinearity, (Polyhedra.HRepresentation, Any), (:tol,))
+
+    function _removeredundancy!(X; N)
+        return removevredundancy!(X; tol=_ztol(N))
+    end
+end
+
 eval(load_polyhedra_mesh())
 eval(load_Polyhedra_polyhedron())
 

src/Interfaces/AbstractPolyhedron.jl

@@ -77,13 +77,14 @@ function _linear_map_hrep_helper(M::AbstractMatrix, P::LazySet,
     return HPolyhedron(constraints)
 end
 
-# internal functions; defined here due to dependency SymEngine and submodules
+# internal functions; defined here due to optional dependencies and submodules
 function isfeasible end
 function remove_redundant_constraints end
 function remove_redundant_constraints! end
 function _ishalfspace end
 function _ishyperplanar end
 function _parse_linear_expression end
+function _removeredundancy! end
 
 # To account for the compilation order, other functions are defined in the file
 # AbstractPolyhedron_functions.jl

src/Sets/HPolytope/HPolytopeModule.jl

@@ -5,7 +5,8 @@ using Reexport, Requires
 using ..LazySets: AbstractPolytope, LazySet, AbstractLinearMapAlgorithm,
                   default_polyhedra_backend, vertices_list_1d,
                   _infeasible_constraints_list, _linear_map_hrep,
-                  _minkowski_sum_hrep_preprocess, _normal_Vector
+                  _minkowski_sum_hrep_preprocess, _normal_Vector,
+                  _removeredundancy!
 using ..HalfSpaceModule: HalfSpace
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Distribution: reseed!

src/Sets/HPolytope/vertices_list.jl

@@ -52,7 +52,7 @@ function vertices_list(P::HPolytope; backend=nothing, prune::Bool=true)
     end
     Q = Polyhedra.polyhedron(P; backend=backend)
     if prune
-        Polyhedra.removevredundancy!(Q; ztol=_ztol(N))
+        _removeredundancy!(Q; N=N)
     end
     return collect(Polyhedra.points(Q))
 end

src/Sets/VPolytope/VPolytopeModule.jl

@@ -5,7 +5,8 @@ using Reexport, Requires
 using ..LazySets: AbstractPolytope, LazySet, LinearMapVRep, default_lp_solver,
                   default_lp_solver_polyhedra, default_polyhedra_backend,
                   is_lp_infeasible, is_lp_optimal, linprog, _extrema_vlist,
-                  _high_vlist, _low_vlist, _minkowski_sum_vrep_nd
+                  _high_vlist, _low_vlist, _minkowski_sum_vrep_nd,
+                  _removeredundancy!
 using LinearAlgebra: dot
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Arrays: projection_matrix

src/Sets/VPolytope/remove_redundant_vertices.jl

@@ -42,7 +42,7 @@ function remove_redundant_vertices(P::VPolytope; backend=nothing, solver=nothing
         vQ = Polyhedra.vrep(Q)
         Polyhedra.setvrep!(Q, Polyhedra.removevredundancy(vQ, solver))
     else
-        Polyhedra.removevredundancy!(Q; ztol=_ztol(N))
+        _removeredundancy!(Q; N=N)
     end
     return VPolytope(Q)
 end