#include <Point.hpp>

Inheritance diagram for ZonoOpt::Point:

[legend]

Collaboration diagram for ZonoOpt::Point:

[legend]

Public Member Functions
HybZono *	clone () const override
	Clone method for polymorphic behavior.

std::unique_ptr< ConZono >	constraint_reduction () const override
	Execute constraint reduction algorithm from Scott et. al. 2016.

void	convert_form () override
	Converts the set representation between -1-1 and 0-1 forms.

void	operator*= (const Box &box)
	in-place cartesian product with box

void	operator*= (const Box &box)=delete
	Deleted: use operator* instead — result type would be Zono.

void	operator*= (HybZono &other)
	in-place cartesian product

void	operator*= (HybZono &other)=delete
	Deleted: use operator* instead — result type would be Zono or wider.

void	operator*= (Point &other)
	In-place Cartesian product with another Point. Use operator* for Zono/ConZono/HybZono/Box arguments, which return a wider type.

void	operator*= (zono_float f)
	scalar multiplication in place

void	operator+= (const Box &box)
	in-place minkowski sum with box

void	operator+= (const Box &box)=delete
	Deleted: use operator+ instead — result type would be Zono.

void	operator+= (const Eigen::Vector< zono_float, -1 > &v)
	in-place minkowski sum with point

void	operator+= (HybZono &other)
	in-place minkowski sum

void	operator+= (HybZono &other)=delete
	Deleted: use operator+ instead — result type would be Zono or wider.

void	operator+= (Point &other)
	In-place Minkowski sum with another Point (translation). Use operator+ for Zono/ConZono/HybZono/Box arguments, which return a wider type.

void	operator-= (const Box &box)
	in-place pontryagin difference with box

void	operator-= (const Box &box)=delete
	Deleted: use operator- instead — Point ⊖ Box does not yield a Point.

void	operator-= (const Eigen::Vector< zono_float, -1 > &v)
	in-place pontryagin difference with point

void	operator-= (Zono &other)
	in-place pontryagin difference

void	operator-= (Zono &other)=delete
	Deleted: use operator- instead — Point ⊖ Zono does not yield a Point.

	Point ()
	Default constructor for Point class.

	Point (const Eigen::Vector< zono_float, -1 > &c)
	Point constructor.

std::string	print () const override
	Returns set information as a string.

std::unique_ptr< HybZono >	remove_redundancy (int) const override
	Removes redundant constraints and any unused generators.

void	set (const Eigen::Vector< zono_float, -1 > &c)
	Reset point object with the given parameters.

Public Member Functions inherited from ZonoOpt::Zono
HybZono *	clone () const override
	Clone method for polymorphic behavior.

std::unique_ptr< ConZono >	constraint_reduction () const override
	Execute constraint reduction algorithm from Scott et. al. 2016.

void	convert_form () override
	Converts the set representation between -1-1 and 0-1 forms.

Eigen::Vector< zono_float, -1 >	get_center ()
	get center of zonotope

zono_float	get_volume ()
	Get volume of zonotope.

void	operator*= (const Box &box)
	in-place cartesian product with box

void	operator*= (HybZono &other)
	in-place cartesian product

void	operator*= (HybZono &other)=delete
	Deleted: use operator* instead — result type would be ConZono or HybZono.

void	operator*= (Zono &other)
	In-place Cartesian product (type-preserving: Zono or Point argument). Use operator* for ConZono/HybZono arguments, which return a wider type.

void	operator*= (zono_float f)
	scalar multiplication in place

void	operator+= (const Box &box)
	in-place minkowski sum with box

void	operator+= (const Eigen::Vector< zono_float, -1 > &v)
	in-place minkowski sum with point

void	operator+= (HybZono &other)
	in-place minkowski sum

void	operator+= (HybZono &other)=delete
	Deleted: use operator+ instead — result type would be ConZono or HybZono.

void	operator+= (Zono &other)
	In-place Minkowski sum (type-preserving: Zono or Point argument). Use operator+ for ConZono/HybZono arguments, which return a wider type.

std::string	print () const override
	Returns set information as a string.

std::unique_ptr< Zono >	reduce_order (int n_o)
	Perform zonotope order reduction.

void	set (const Eigen::SparseMatrix< zono_float > &G, const Eigen::Vector< zono_float, -1 > &c, bool zero_one_form=false)
	Reset zonotope object with the given parameters.

	Zono ()
	Default constructor for Zono class.

	Zono (const Eigen::SparseMatrix< zono_float > &G, const Eigen::Vector< zono_float, -1 > &c, const bool zero_one_form=false)
	Zono constructor.

	~Zono () override=default

Public Member Functions inherited from ZonoOpt::ConZono
	ConZono ()
	Default constructor for ConZono class.

	ConZono (const Eigen::SparseMatrix< zono_float > &G, const Eigen::Vector< zono_float, -1 > &c, const Eigen::SparseMatrix< zono_float > &A, const Eigen::Vector< zono_float, -1 > &b, const bool zero_one_form=false)
	ConZono constructor.

void	operator*= (const Box &box)
	in-place cartesian product with box

void	operator*= (ConZono &other)
	In-place Cartesian product (type-preserving: ConZono, Zono, or Point argument). Use operator* for operations with HybZono, which return HybZono.

void	operator*= (HybZono &other)
	in-place cartesian product

void	operator*= (HybZono &other)=delete
	Deleted: use operator* instead — result type would be HybZono.

void	operator*= (zono_float f)
	scalar multiplication in place

void	operator+= (const Box &box)
	in-place minkowski sum with box

void	operator+= (const Eigen::Vector< zono_float, -1 > &v)
	in-place minkowski sum with point

void	operator+= (ConZono &other)
	In-place Minkowski sum (type-preserving: ConZono, Zono, or Point argument). Use operator+ for operations with HybZono, which return HybZono.

void	operator+= (HybZono &other)
	in-place minkowski sum

void	operator+= (HybZono &other)=delete
	Deleted: use operator+ instead — result type would be HybZono.

void	set (const Eigen::SparseMatrix< zono_float > &G, const Eigen::Vector< zono_float, -1 > &c, const Eigen::SparseMatrix< zono_float > &A, const Eigen::Vector< zono_float, -1 > &b, bool zero_one_form=false)
	Reset constrained zonotope object with the given parameters.

virtual std::unique_ptr< Zono >	to_zono_approx () const
	Compute outer approximation of constrained zonotope as zonotope using SVD.

	~ConZono () override=default

Public Member Functions inherited from ZonoOpt::HybZono
Box	bounding_box (const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams())
	Computes a bounding box of the set object as a Box object.

virtual std::unique_ptr< HybZono >	complement (const zono_float delta_m=100, const bool remove_redundancy=true, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const int n_leaves=std::numeric_limits< int >::max(), const int contractor_iter=10)
	Computes the complement of the set Z.

bool	contains_point (const Eigen::Vector< zono_float, -1 > &x, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const
	Checks whether the point x is contained in the set object.

virtual std::unique_ptr< ConZono >	convex_relaxation () const
	Returns convex relaxation of the hybrid zonotope.

virtual Eigen::SparseMatrix< zono_float >	get_A () const
	Returns constraint matrix.

virtual Eigen::SparseMatrix< zono_float >	get_Ab () const
	Returns binary constraint matrix.

virtual Eigen::SparseMatrix< zono_float >	get_Ac () const
	Returns continuous constraint matrix.

virtual Eigen::Vector< zono_float, -1 >	get_b () const
	Returns constraint vector.

virtual Eigen::Vector< zono_float, -1 >	get_c () const
	Returns center vector.

virtual Eigen::SparseMatrix< zono_float >	get_G () const
	Returns generator matrix.

virtual Eigen::SparseMatrix< zono_float >	get_Gb () const
	Returns binary generator matrix.

virtual Eigen::SparseMatrix< zono_float >	get_Gc () const
	Returns continuous generator matrix.

std::vector< std::unique_ptr< ConZono > >	get_leaves (bool remove_redundancy=false, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, int n_leaves=std::numeric_limits< int >::max(), int contractor_iter=10) const
	Computes individual constrained zonotopes whose union is the hybrid zonotope object.

virtual int	get_n () const
	Returns dimension of set.

virtual int	get_nC () const
	Returns number of constraints in set definition.

virtual int	get_nG () const
	Returns number of generators in set definition.

virtual int	get_nGb () const
	Returns number of binary generators in set definition.

virtual int	get_nGc () const
	Returns number of continuous generators in set definition.

	HybZono ()=default
	Default constructor for HybZono class.

	HybZono (const Eigen::SparseMatrix< zono_float > &Gc, const Eigen::SparseMatrix< zono_float > &Gb, const Eigen::Vector< zono_float, -1 > &c, const Eigen::SparseMatrix< zono_float > &Ac, const Eigen::SparseMatrix< zono_float > &Ab, const Eigen::Vector< zono_float, -1 > &b, const bool zero_one_form=false, const bool sharp=false)
	HybZono constructor.

virtual bool	is_0_1_form () const
	Returns true if factors are in range [0,1], false if they are in range [-1,1].

bool	is_conzono () const
	Polymorphic type checking: true if set is a constrained zonotope.

bool	is_empty (const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const
	Returns true if the set is provably empty, false otherwise.

bool	is_empty_set () const
	Polymorphic type checking: true if set is empty set object.

bool	is_hybzono () const
	Polymorphic type checking: true if set is a hybrid zonotope.

bool	is_point () const
	Polymorphic type checking: true if set is a point.

bool	is_sharp () const
	Returns true if set is known to be sharp.

bool	is_zono () const
	Polymorphic type checking: true if set is a zonotope.

std::unique_ptr< HybZono >	operator& (HybZono &other) const
	intersection

std::unique_ptr< HybZono >	operator* (const Box &box) const
	cartesian product with box

std::unique_ptr< HybZono >	operator* (HybZono &other) const
	cartesian product

std::unique_ptr< HybZono >	operator* (zono_float f) const
	scalar multiplication: returns f*Z

void	operator*= (const Box &box)
	in-place cartesian product with box

void	operator*= (HybZono &other)
	in-place cartesian product

void	operator*= (zono_float f)
	scalar multiplication in place

std::unique_ptr< HybZono >	operator+ (const Box &box) const
	minkowski sum with box

std::unique_ptr< HybZono >	operator+ (const Eigen::Vector< zono_float, -1 > &v) const
	minkowski sum with point

std::unique_ptr< HybZono >	operator+ (HybZono &other) const
	minkowski sum

void	operator+= (const Box &box)
	in-place minkowski sum with box

void	operator+= (const Eigen::Vector< zono_float, -1 > &v)
	in-place minkowski sum with point

void	operator+= (HybZono &other)
	in-place minkowski sum

std::unique_ptr< HybZono >	operator- () const
	unary minus: returns -I * this

std::unique_ptr< HybZono >	operator- (const Box &box)
	pontryagin difference with box

std::unique_ptr< HybZono >	operator- (const Eigen::Vector< zono_float, -1 > &v)
	pontryagin difference with point

std::unique_ptr< HybZono >	operator- (Zono &other)
	pontryagin difference

void	operator-= (const Box &box)
	in-place pontryagin difference with box

void	operator-= (const Eigen::Vector< zono_float, -1 > &v)
	in-place pontryagin difference with point

void	operator-= (Zono &other)
	in-place pontryagin difference

std::unique_ptr< HybZono >	operator\| (HybZono &other) const
	union

Eigen::Vector< zono_float, -1 >	optimize_over (const Eigen::SparseMatrix< zono_float > &P, const Eigen::Vector< zono_float, -1 > &q, zono_float c=0, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const
	Solves optimization problem with quadratic objective over the current set.

Eigen::Vector< zono_float, -1 >	project_point (const Eigen::Vector< zono_float, -1 > &x, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const
	Returns the projection of the point x onto the set object.

void	set (const Eigen::SparseMatrix< zono_float > &Gc, const Eigen::SparseMatrix< zono_float > &Gb, const Eigen::Vector< zono_float, -1 > &c, const Eigen::SparseMatrix< zono_float > &Ac, const Eigen::SparseMatrix< zono_float > &Ab, const Eigen::Vector< zono_float, -1 > &b, bool zero_one_form=false, bool sharp=false)
	Reset hybrid zonotope object with the given parameters.

zono_float	support (const Eigen::Vector< zono_float, -1 > &d, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams())
	Computes support function of the set in the direction d.

virtual	~HybZono ()=default

Protected Member Functions
Box	do_bounding_box (const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) override

bool	do_contains_point (const Eigen::Vector< zono_float, -1 > &x, const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) const override

Eigen::Vector< zono_float, -1 >	do_optimize_over (const Eigen::SparseMatrix< zono_float > &, const Eigen::Vector< zono_float, -1 > &, zono_float, const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) const override

Eigen::Vector< zono_float, -1 >	do_project_point (const Eigen::Vector< zono_float, -1 > &x, const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) const override

zono_float	do_support (const Eigen::Vector< zono_float, -1 > &d, const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) override

Protected Member Functions inherited from ZonoOpt::Zono
Box	do_bounding_box (const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) override

bool	do_is_empty (const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) const override

zono_float	do_support (const Eigen::Vector< zono_float, -1 > &d, const SolverSettings &, std::shared_ptr< OptSolution > *sol, const WarmStartParams &) override

Protected Member Functions inherited from ZonoOpt::ConZono
std::unique_ptr< HybZono >	do_complement (zono_float delta_m, bool, const SolverSettings &, std::shared_ptr< OptSolution > *, int, int) override

OptSolution	qp_opt (const Eigen::SparseMatrix< zono_float > &P, const Eigen::Vector< zono_float, -1 > &q, zono_float c, const Eigen::SparseMatrix< zono_float > &A, const Eigen::Vector< zono_float, -1 > &b, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const

Protected Member Functions inherited from ZonoOpt::HybZono
OptSolution	mi_opt (const Eigen::SparseMatrix< zono_float > &P, const Eigen::Vector< zono_float, -1 > &q, zono_float c, const Eigen::SparseMatrix< zono_float > &A, const Eigen::Vector< zono_float, -1 > &b, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const

std::vector< OptSolution >	mi_opt_multisol (const Eigen::SparseMatrix< zono_float > &P, const Eigen::Vector< zono_float, -1 > &q, zono_float c, const Eigen::SparseMatrix< zono_float > &A, const Eigen::Vector< zono_float, -1 > &b, int n_sols, const SolverSettings &settings=get_default_solver_settings(), std::shared_ptr< OptSolution > *solution=nullptr) const

Additional Inherited Members
Static Protected Member Functions inherited from ZonoOpt::HybZono
static std::set< int >	find_unused_generators (const Eigen::SparseMatrix< zono_float > &G, const Eigen::SparseMatrix< zono_float > &A)

static void	remove_cols (Eigen::SparseMatrix< zono_float > &M, const std::set< int > &idx_to_remove)

Protected Attributes inherited from ZonoOpt::HybZono
Eigen::SparseMatrix< zono_float >	A = Eigen::SparseMatrix<zono_float>(0, 0)
	constraint matrix A = [Ac, Ab]

Eigen::SparseMatrix< zono_float >	Ab = Eigen::SparseMatrix<zono_float>(0, 0)
	binary constraint matrix

Eigen::SparseMatrix< zono_float >	Ac = Eigen::SparseMatrix<zono_float>(0, 0)
	continuous constraint matrix

Eigen::Vector< zono_float, -1 >	b = Eigen::Vector<zono_float, -1>(0)
	constraint vector

Eigen::Vector< zono_float, -1 >	c = Eigen::Vector<zono_float, -1>(0)
	center vector

Eigen::SparseMatrix< zono_float >	G = Eigen::SparseMatrix<zono_float>(0, 0)
	generator matrix G = [Gc, Gb]

Eigen::SparseMatrix< zono_float >	Gb = Eigen::SparseMatrix<zono_float>(0, 0)
	binary generator matrix

Eigen::SparseMatrix< zono_float >	Gc = Eigen::SparseMatrix<zono_float>(0, 0)
	continuous generator matrix

int	n = 0
	set dimension

int	nC = 0
	number of constraints

int	nG = 0
	total number of factors. nG = nGc + nGb

int	nGb = 0
	number of binary factors

int	nGc = 0
	number of continuous factors

bool	sharp = false
	flag to indicate whether the set is known to be sharp (i.e., convex relaxation = convex hull)

bool	zero_one_form = false
	flag to indicate whether the set is in 0-1 or -1-1 form

Detailed Description

Point class.

A point is defined entirely by the center vector c.

Constructor & Destructor Documentation

◆ Point() [1/2]

ZonoOpt::Point::Point ( )

inline

Default constructor for Point class.

◆ Point() [2/2]

ZonoOpt::Point::Point ( const Eigen::Vector< zono_float, -1 > & c )

explicit

Point constructor.

Parameters

c center

Member Function Documentation

◆ clone()

HybZono * ZonoOpt::Point::clone ( ) const

overridevirtual

Clone method for polymorphic behavior.

Reimplemented from ZonoOpt::ConZono.

◆ constraint_reduction()

std::unique_ptr< ConZono > ZonoOpt::Point::constraint_reduction ( ) const

inlineoverridevirtual

Execute constraint reduction algorithm from Scott et. al. 2016.

Returns: Over-approximated constrained zonotope

Removes one constraint and one generator from the constrained zonotope. The resulting set is an over-approximation of the original set.

Exceptions

std::runtime_error if no valid constraint can be found to remove.

Reimplemented from ZonoOpt::ConZono.

◆ convert_form()

void ZonoOpt::Point::convert_form ( )

inlineoverridevirtual

Converts the set representation between -1-1 and 0-1 forms.

This method converts the set representation between -1-1 and 0-1 forms. If the set is in -1-1 form, then xi_c in [-1,1] and xi_b in {-1,1}. If the set is in 0-1 form, then xi_c in [0,1] and xi_b in {0,1}.

Reimplemented from ZonoOpt::ConZono.

◆ do_bounding_box()

Box ZonoOpt::Point::do_bounding_box	(	const SolverSettings &	,
		std::shared_ptr< OptSolution > *	sol,
		const WarmStartParams &
	)

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ do_contains_point()

bool ZonoOpt::Point::do_contains_point	(	const Eigen::Vector< zono_float, -1 > &	x,
		const SolverSettings &	,
		std::shared_ptr< OptSolution > *	sol,
		const WarmStartParams &
	)		const

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ do_optimize_over()

Eigen::Vector< zono_float, -1 > ZonoOpt::Point::do_optimize_over	(	const Eigen::SparseMatrix< zono_float > &	,
		const Eigen::Vector< zono_float, -1 > &	,
		zono_float	,
		const SolverSettings &	,
		std::shared_ptr< OptSolution > *	sol,
		const WarmStartParams &
	)		const

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ do_project_point()

Eigen::Vector< zono_float, -1 > ZonoOpt::Point::do_project_point	(	const Eigen::Vector< zono_float, -1 > &	x,
		const SolverSettings &	,
		std::shared_ptr< OptSolution > *	sol,
		const WarmStartParams &
	)		const

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ do_support()

zono_float ZonoOpt::Point::do_support	(	const Eigen::Vector< zono_float, -1 > &	d,
		const SolverSettings &	,
		std::shared_ptr< OptSolution > *	sol,
		const WarmStartParams &
	)

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ operator*=() [1/6]

void ZonoOpt::HybZono::operator*= ( const Box & box )

in-place cartesian product with box

Parameters

box

◆ operator*=() [2/6]

void ZonoOpt::Point::operator*= ( const Box & box )

delete

Deleted: use operator* instead — result type would be Zono.

◆ operator*=() [3/6]

void ZonoOpt::HybZono::operator*= ( HybZono & other )

in-place cartesian product

Parameters

other

◆ operator*=() [4/6]

void ZonoOpt::Point::operator*= ( HybZono & other )

delete

Deleted: use operator* instead — result type would be Zono or wider.

◆ operator*=() [5/6]

void ZonoOpt::Point::operator*= ( Point & other )

In-place Cartesian product with another Point. Use operator* for Zono/ConZono/HybZono/Box arguments, which return a wider type.

◆ operator*=() [6/6]

void ZonoOpt::HybZono::operator*= ( zono_float f )

scalar multiplication in place

Parameters

f

◆ operator+=() [1/6]

void ZonoOpt::HybZono::operator+= ( const Box & box )

in-place minkowski sum with box

Parameters

box

Exceptions

std::invalid_argument if box does not have the same dimension as this set.

◆ operator+=() [2/6]

void ZonoOpt::Point::operator+= ( const Box & box )

delete

Deleted: use operator+ instead — result type would be Zono.

◆ operator+=() [3/6]

void ZonoOpt::HybZono::operator+= ( const Eigen::Vector< zono_float, -1 > & v )

in-place minkowski sum with point

Parameters

v

Exceptions

std::invalid_argument if v does not have the same dimension as this set.

◆ operator+=() [4/6]

void ZonoOpt::HybZono::operator+= ( HybZono & other )

in-place minkowski sum

Parameters

other

Exceptions

std::invalid_argument if this and other have different dimensions.

◆ operator+=() [5/6]

void ZonoOpt::Point::operator+= ( HybZono & other )

delete

Deleted: use operator+ instead — result type would be Zono or wider.

◆ operator+=() [6/6]

void ZonoOpt::Point::operator+= ( Point & other )

In-place Minkowski sum with another Point (translation). Use operator+ for Zono/ConZono/HybZono/Box arguments, which return a wider type.

◆ operator-=() [1/5]

void ZonoOpt::HybZono::operator-= ( const Box & box )

in-place pontryagin difference with box

Parameters

box

Exceptions

std::invalid_argument if box does not have the same dimension as this set.

◆ operator-=() [2/5]

void ZonoOpt::Point::operator-= ( const Box & box )

delete

Deleted: use operator- instead — Point ⊖ Box does not yield a Point.

◆ operator-=() [3/5]

void ZonoOpt::HybZono::operator-= ( const Eigen::Vector< zono_float, -1 > & v )

in-place pontryagin difference with point

Parameters

v

Exceptions

std::invalid_argument if v does not have the same dimension as this set.

◆ operator-=() [4/5]

void ZonoOpt::HybZono::operator-= ( Zono & other )

in-place pontryagin difference

Parameters

other

Exceptions

std::invalid_argument if this and other have different dimensions.

◆ operator-=() [5/5]

void ZonoOpt::Point::operator-= ( Zono & other )

delete

Deleted: use operator- instead — Point ⊖ Zono does not yield a Point.

◆ print()

std::string ZonoOpt::Point::print ( ) const

overridevirtual

Returns set information as a string.

Reimplemented from ZonoOpt::ConZono.

◆ remove_redundancy()

std::unique_ptr< HybZono > ZonoOpt::Point::remove_redundancy ( int contractor_iter ) const

inlineoverridevirtual

Removes redundant constraints and any unused generators.

Parameters

contractor_iter number of interval contractor iterations to run

Returns: set with redundancies removed

This method uses an interval contractor to detect generators that can be removed. Constrained zonotopes with separable constraints and generators in the form [g0 0 0 ...]^T * xi + c, a^T * xi = b are simplified. Additionally, any linearly dependent rows of the constraint matrix A are removed. If the linearly dependent constraints are not consistent (e.g., if A = [1, 0.1; 1, 0.1] and b = [1; 0.8]), the returned set is not equivalent to the original set. Unused factors are also removed.

Exceptions

std::runtime_error if redundancy removal fails internally (should not occur in normal use).

Reimplemented from ZonoOpt::HybZono.

◆ set()

void ZonoOpt::Point::set ( const Eigen::Vector< zono_float, -1 > & c )

Reset point object with the given parameters.

Parameters

c center

The documentation for this class was generated from the following files:

/home/joshr/Documents/Projects/ZonoOpt/include/zonoopt/Point.hpp
/home/joshr/Documents/Projects/ZonoOpt/src/Point.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Point() [1/2]

◆ Point() [2/2]

Member Function Documentation

◆ clone()

◆ constraint_reduction()

◆ convert_form()

◆ do_bounding_box()

◆ do_contains_point()

◆ do_optimize_over()

◆ do_project_point()

◆ do_support()

◆ operator*=() [1/6]

◆ operator*=() [2/6]

◆ operator*=() [3/6]

◆ operator*=() [4/6]

◆ operator*=() [5/6]

◆ operator*=() [6/6]

◆ operator+=() [1/6]

◆ operator+=() [2/6]

◆ operator+=() [3/6]

◆ operator+=() [4/6]

◆ operator+=() [5/6]

◆ operator+=() [6/6]

◆ operator-=() [1/5]

◆ operator-=() [2/5]

◆ operator-=() [3/5]

◆ operator-=() [4/5]

◆ operator-=() [5/5]

◆ print()

◆ remove_redundancy()

◆ set()