zonoopt documentation

ZonoOpt

This C++ header library provides classes and tailored optimization routines for zonotopes, constrained zonotopes, and hybrid zonotopes. To use, #include "ZonoOpt.hpp". All classes and methods are implemented using sparse linear algebra via the Eigen library. Generators may optionally have range [0,1] instead of [-1,1].

Python bindings can be installed from PyPI with pip install zonoopt. To build the bindings from source, use pip install .. Note that a C++ compiler is required to build from source, and the Eigen submodule must be checked out (can be accomplished by running python3 update_submodules.py).

More information about ZonoOpt can be found in the the following publication. Please cite this if you publish work based on ZonoOpt: Robbins, J.A., Siefert, J.A., and Pangborn, H.C., “Sparsity-Promoting Reachability Analysis and Optimization of Constrained Zonotopes,” 2025. https://arxiv.org/abs/2504.03885.

Auto-generated API documentation is available below.

C++ API

Python API

Contents:

• ZonoOpt Module
  • Box
  • ConZono
  • EmptySet
  • HybZono
  • IneqTerm
  • IneqType
  • Inequality
  • Interval
  • OptSettings
  • OptSolution
  • Point
  • Zono
  • affine_map()
  • cartesian_product()
  • constrain()
  • get_vertices()
  • halfspace_intersection()
  • intersection()
  • intersection_over_dims()
  • interval_2_zono()
  • make_regular_zono_2D()
  • minkowski_sum()
  • plot()
  • pontry_diff()
  • project_onto_dims()
  • set_diff()
  • union_of_many()
  • vrep_2_conzono()
  • vrep_2_hybzono()
  • zono_union_2_hybzono()