function [initial_conditions,locations_updated] = find_initial_conditions(X0,locations_list)%This function finds the list of continuous set, the discrete set, the initial cells% and the initial location for the initial conditions set X0.% INPUT% X0 : a Linearcon object with the state-space region defined as the initial condition% locations_list : set of locations. We will assume that the default initial location is one (01)% scsbList : List of SCSB with parameters. For reset purposes.%% OUTPUT% initial_conditions: Cell array with the following fields:%%   .continuousSet    = linearcon object with the region for the initial region%   .initialCells          = cell where the initial conditon is located%   .discreteCells      = configuration of the SFM when in this element (value of vector q)%   .initialLocation    = Location where the initial condition is located%% locations: list of locations updated for some guard;% In the future, this routine will receive a structure containing the state (q) and X0.global CELLSICL{1}.location = 01;ICL{1}.X0        = X0;for counter_list = 1:length(ICL)    init_loc = ICL{counter_list}.location;    X0       = ICL{counter_list}.X0;    initial_invariant=locations_list{init_loc}.interior_cells;    init_cond ={};    init_counter = 1;    for j=1:length(X0)        for i=1:length(initial_invariant)            [C,d] = cell_ineq(CELLS{initial_invariant(i)}.boundary,CELLS{initial_invariant(i)}.hpflags);    	    INV = linearcon([],[],C,d);            if isfeasible(X0{j},INV)                init_counter = length(init_cond);                init_cond{init_counter+1}.continuousSet      = and(X0{j},INV);                init_cond{init_counter+1}.initialCells            = initial_invariant(i);                init_cond{init_counter+1}.discreteSet           = locations_list{01}.q;                init_cond{init_counter+1}.initialLocation      = 01;           end%if       end%if    end%if    %Test to see if any of the initial continuous set either a.) satifies a guard or b.) is outside of the    %analysis region.    disc_state = locations_list{init_loc}.q;    transitions=locations_list{init_loc}.transitions;    for i=1:length(transitions)        guards=transitions{i}.guard;        for j=1:length(guards)    	    [C,d] = cell_ineq(CELLS{guards(j)}.boundary,CELLS{guards(j)}.hpflags);    	    GUARD = linearcon([],[],C,d);            for m=1:length(X0)                if isfeasible(X0{m},GUARD)                    if isempty(transitions{i}.clock)                        warning(['Some section of the initial continuous set satisfies the guard of the initial location.'                       	'  This section will be neglected.']);% moved                    else                        init_counter = length(init_cond);                        init_cond{init_counter+1}.continuousSet      = and(X0{m},GUARD);                        init_cond{init_counter+1}.initialCells            = guards(j);                        init_cond{init_counter+1}.discreteSet           = disc_state;                        init_cond{init_counter+1}.initialLocation       = 01;                        [dum1,dum2,cell_idx]=intersect(guards(j),locations_list{init_loc}.interior_cells);                        if isempty(cell_idx)                            locations_list{init_loc}.interior_cells(length(locations_list{init_loc}.interior_cells)+1)= guards(j);                        end%if                    end %if                end %if            end %for        end%for    end%forend%forinitial_conditions      = init_cond;locations_updated    = locations_list;return% -----------------------------------------------------------------------------