--------------------------------
Data structure for a PIHA object
--------------------------------

A PIHA object, HA, obtained after the conversion from a C/E system consists of 
the following fields:

   HA.Hyperplanes          : List of threshold hyperplanes in the C/E system
   HA.NAR                  : Number of hyperplanes on analysis boundary
   HA.InitialContinuousSet : Set of initial continuous states
   HA.InitialDiscreteSet   : Set of initial discrete states
   HA.Cells                : List of cells in the continuous state space 
                             partition
   HA.InitialCells         : List of cells which overlaps with the initial
                             continuous set
   HA.Locations            : List of hybrid automaton locations
   HA.InitialLocations     : Indices to initial locations
   HA.SCSBlocks            : List of switch continuous system blocks in the 
                             C/E system
   HA.PTHBlocks            : List of polyhedral threshold blocks in the C/E
                             system
   HA.FSMBlocks            : List of finite state machine blocks in the C/E
                             system

The data structure for each field is described below.

(1) Hyperplanes
---------------

Threshold hyperplanes from all PTHBs and the analysis region AR are collected 
in this field. The field is a cell array of hyperplane structures, each with 
the following format

   Hyperplanes{i}.pthb  : -1 if it belongs to analysis region AR, otherwise
                          it is the index to the parent PTHB in PTHBlocks
   Hyperplanes{i}.index : The hyperplane index within the parent PTHB
   Hyperplanes{i}.c     : Vector and constant pair representing the hyperplane
   Hyperplanes{i}.d     : c*x = d
  
(2) NAR
-------

This field is an integer indicating the number of hyperplanes on the analysis 
region boundary. The first NAR hyperplanes in the Hyperplanes list are the 
hyperplanes from the analysis region.

(3) InitialContinuousSet
------------------------

A linearcon object with parameters CE,dE,CI, and dI representing the initial 
continuous set

   CE*x  = dE
   CI*x <= dI

(4) InitialDiscreteSet 
----------------------

A cell array of initial discrete states. Each initial discrete state (cell 
element) is a vector of state indices for FSMBlocks in the same order as in 
FSMBlocks list.

(5) Cells
---------

A cell array of "cells" in the partition of the continuous state space. Each 
cell is a structure of the following format

   Cells{i}.boundary  : A vector of indices to hyperplanes in Hyperplanes list 
                        that comprises the boundary of the ith cell.
   Cells{i}.hpflags   : A vector of the same length as the Hyperplanes list.
                        hpflags(j) is a boolean flag indicating the side of
                        the jth hyperplane in Hyperplanes list in which the 
                        cell lies. Specifically,
                           hpflags(j) = 1 --> c_j*x <= d_j
                           hpflags(j) = 0 --> c_j*x >= d_j
                        for any x in the ith cell.
   Cells{i}.pthflags  : A vector of the same length as the PTHBlocks list 
			(simulink diagram). pthflags(j) is a boolean flag 
			indicating the output value of the jth PTHB in 
			PTHBlocks list for any x in the ith cell.
 			 0 --> point x generates zero  at the jth PTHB
 			 1 --> point x generates one  at the jth PTHB
			-1 --> point x belongs to jth PTHB (??)

   Cells{i}.neighbors : A vector of indices to the neighboring cells.

(6) InitialCells
----------------

A vector of indices to the continuous state space cells in the field Cells 
that overlaps with the initial continuous set.


(7) Locations
-------------

A cell array of locations, each with the following format
   LOCATIONS{i}.p           : Index to a continuous cell in the field Cells
   LOCATIONS{i}.q           : A vector of discrete state numbers (same format 
                              as each element of InitialDiscreteSet)
   LOCATIONS{i}.transitions : A cell array of location indices. transitions{j}
                              indicates the destination location(s) for the 
                              location transition taken when the continuous 
                              trajectory exits through the jth hyperplane of 
                              on the boundary of the cell p. 

                              transitions{j} is a structure array with each 
                              elements containing 2 field 'type' and 'value'

                              If crossing the jth hyperplanes means
                              leaving the analysis region, then
                              transition{j} contains a single element with 
                              the following field values                                
                                type: 'out_of_bound'
                                destination: []

                              If crossing the jth hyperplane may lead to
                              a "terminal" FSM state q' (a state for
                              which there is no transition out of any
                              of the component states), then
                              transition{j} contains an element with the 
                              following field values
                                type: 'terminal'
                                destination: q'
                              where q' is a row FSM state vector

                              For each regular location transition, 
                              transition{j} contains an element with the 
                              following field values
                                type: 'regular'
                                destination: idx
                              where idx is the destination location index 
                              (a scalar)


(8) InitialLocations
--------------------

A vector of indices to the locations in the field Locations that are the 
initial locations.

(9) SCSBlocks
-------------

A cell array of switched continuous system blocks, each with the following 
format

   SCSBlocks{i}.name        : Name of the ith SCSB
   SCSBlocks{i}.nx          : Number of continuous variables
   SCSBlocks{i}.nu          : Number of discrete inputs
   SCSBlocks{i}.swfunc      : Name of the switching function m-file
   SCSBlocks{i}.fsmbindices : A vector of indices to FSMBs in the FSMBlocks 
                              fields in the order that feeds into the input
                              of the block SCSBlock{i}.

(10) PTHBlocks
--------------

A cell array of polyhedral threshold blocks, each with the following format

   PTHBlocks{i}.name : Name of the ith PTHB. 

Name of PTHBs will be used as atomic propositions for CTL verifications.

(11) FSMBlocks
--------------

A cell array of finite state machine blocks, each with the following format
   FSMBlocks{i}.name   : Name of the ith FSMB.
   FSMBlocks{i}.states : A cell array listing the discrete states in the ith
                         FSMB by name.