classdef MyBouncingBall < HybridSystem
    % Define bouncing ball system as a subclass of HybridSystem.
    properties
        % Define variable class properties.
        ...
    end
    properties(SetAccess = immutable)
        % Define constant (i.e., "immutable") class properties.
        gamma = 9.81;
        lambda = 0.7;
    end
    methods
        % Define functions, including definitions of f, g, C, and D.      
        function xdot = flowMap(this, x, ~, ~)
            v = x(2); 
            xdot = [v; -this.gamma];
        end
        function xplus = jumpMap(this, x)
            h = x(1);
            v = x(2); 
            xplus = [h; -this.lambda*v];
        end
        function inC = flowSetIndicator(~, x)
            h = x(1);
            v = x(2);
            inC = (h >= 0) || (v >= 0);
        end
        function inD = jumpSetIndicator(~, x)
            h = x(1);
            v = x(2);
            inD = (h <= 0) && (v <= 0);
        end
    end
end