Box (i.e., interval vector) class. More...

#include <Box.hpp>

Inheritance diagram for ZonoOpt::Box:

Public Member Functions
	Box ()=default
	Default constructor.

	Box (const size_t size)
	Default construct with size specified.

	Box (const std::vector< Interval > &vals)
	Constructor using vector of intervals.

	Box (const Eigen::Vector< Interval, -1 > &vals)
	Constructor using Eigen vector of intervals.

	Box (const Eigen::Vector< zono_float, -1 > &x_lb, const Eigen::Vector< zono_float, -1 > &x_ub)
	Constructor from intervals of lower and upper bounds.

std::vector< Interval >	to_array () const
	Convert to vector of intervals.

virtual	~Box ()=default
	Virtual destructor.

Box &	operator= (const Box &other)
	Copy assignment.

	Box (const Box &other)
	Copy constructor.

Interval	get_element (int i) const
	Element-wise access.

void	set_element (int i, const Interval &val)
	Element-wise assignment.

size_t	size () const
	Get size of Box object.

virtual void	project (Eigen::Ref< Eigen::Vector< zono_float, -1 > > x) const
	Projects vector onto the Box.

virtual Box *	clone () const
	Clone operation.

const Eigen::Vector< zono_float, -1 > &	lower () const
	Get lower bounds.

const Eigen::Vector< zono_float, -1 > &	upper () const
	Get upper bounds.

zono_float	width () const
	Get width of box.

Box	radius () const
	Get radius of box.

Eigen::Vector< zono_float, -1 >	center () const
	Get center of box.

Box	intersect (const Box &other) const
	Box intersection.

Box	interval_hull (const Box &other) const
	Box interval hull.

bool	contains (const Eigen::Vector< zono_float, -1 > &v)
	Check vector continment.

bool	contains_set (const Box &other) const
	Check set containment.

Box	operator+ (const Box &other) const
	Elementwise addition.

void	operator+= (const Box &other)
	Elementwise addition in-place.

Box	operator+ (const Eigen::Vector< zono_float, -1 > &v) const
	Elementwise addition with vector.

void	operator+= (const Eigen::Vector< zono_float, -1 > &v)
	Elementwise addition with vector in-place.

Box	operator- (const Box &other) const
	Elementwise subtraction.

void	operator-= (const Box &other)
	Elementwise subtraction in-place.

Box	operator- (const Eigen::Vector< zono_float, -1 > &v) const
	Elementwise subtraction with vector.

void	operator-= (const Eigen::Vector< zono_float, -1 > &v)
	Elementwise subtraction with vector in-place.

Box	operator* (const Box &other) const
	Elementwise multiplication.

void	operator*= (const Box &other)
	Elementwise multiplication in-place.

Box	operator* (zono_float alpha) const
	Elementwise multiplication with scalar.

void	operator*= (zono_float alpha)
	Elementwise multiplication with scalar in-place.

Box	operator* (const Eigen::Vector< zono_float, -1 > &v) const
	Elementwise multiplication with vector.

void	operator*= (const Eigen::Vector< zono_float, -1 > &v)
	Elementwise multiplication with vector in-place.

Box	operator* (const Interval &interval) const
	Elementwise multiplication with interval.

void	operator*= (const Interval &interval)
	Elementwise multiplication with interval in-place.

Box	operator/ (const Box &other) const
	Elementwise division.

void	operator/= (const Box &other)
	Elementwise division in-place.

Box	operator/ (zono_float alpha) const
	Elementwise division with scalar.

void	operator/= (zono_float alpha)
	Elementwise division with scalar.

Box	operator/ (const Interval &interval) const
	Elementwise division with interval.

void	operator/= (const Interval &interval)
	Elementwise division with interval in-place.

Box	operator- () const
	Unary minus: returns -1 * this.

Box	operator& (const Box &other) const
	Box intersection.

Box	operator\| (const Box &other) const
	Box interval hull.

bool	operator<= (const Box &other) const
	Set containment operator.

bool	operator>= (const Box &other) const
	Set containment operator.

bool	operator== (const Box &other) const
	Set equality operator.

bool	contract (const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &A, const Eigen::Vector< zono_float, -1 > &b, int iter)
	Interval contractor.

bool	contract_subset (const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &A_rm, const Eigen::Vector< zono_float, -1 > &b, int iter, const Eigen::SparseMatrix< zono_float > &A, const std::set< int > &inds, int tree_search_depth)
	Interval contractor over a subset of the dimensions of the box.

Box	linear_map (const Eigen::Matrix< zono_float, -1, -1 > &A) const
	Linear map of box based on interval arithmetic.

Box	linear_map (const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &A) const
	Linear map of box based on interval arithmetic.

Interval	dot (const Eigen::Vector< zono_float, -1 > &x) const
	Linear map with vector.

void	permute (const Eigen::PermutationMatrix< Eigen::Dynamic, Eigen::Dynamic > &P)
	Permutes in place using permutation matrix, i.e., [x] <- P*[x].

std::string	print () const
	Print method.

Protected Attributes
Eigen::Vector< zono_float, -1 >	x_lb
	vector of lower bounds

Eigen::Vector< zono_float, -1 >	x_ub
	vector of upper bounds

Friends
class	MI_Box

Box	operator+ (const Eigen::Vector< zono_float, -1 > &v, const Box &box)
	Elementwise addition with vector.

Box	operator- (const Eigen::Vector< zono_float, -1 > &v, const Box &box)
	Elementwise subtraction with vector.

Box	operator* (zono_float alpha, const Box &box)
	Elementwise multiplication with scalar.

Box	operator* (const Eigen::Vector< zono_float, -1 > &v, const Box &box)
	Elementwise multiplication with vector.

Box	operator* (const Interval &interval, const Box &box)
	Elementwise multiplication with interval.

Box	operator* (const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &A, const Box &box)
	Linear map.

Box	operator* (const Eigen::Matrix< zono_float, -1, -1 > &A, const Box &box)
	Linear map.

Box	operator/ (zono_float alpha, const Box &box)
	Elementwise division with scalar.

Box	operator/ (const Interval &interval, const Box &box)
	Elementwise division with interval.

std::ostream &	operator<< (std::ostream &os, const Box &box)
	print to ostream

Detailed Description

Box (i.e., interval vector) class.

Constructor & Destructor Documentation

◆ Box() [1/6]

ZonoOpt::Box::Box ( )

default

Default constructor.

◆ Box() [2/6]

ZonoOpt::Box::Box ( const size_t size )

explicit

Default construct with size specified.

Parameters

size	dimension of box

◆ Box() [3/6]

ZonoOpt::Box::Box ( const std::vector< Interval > & vals )

explicit

Constructor using vector of intervals.

Parameters

vals	vector of intervals

◆ Box() [4/6]

ZonoOpt::Box::Box ( const Eigen::Vector< Interval, -1 > & vals )

explicit

Constructor using Eigen vector of intervals.

Parameters

vals	Eigen vector of intervals

◆ Box() [5/6]

ZonoOpt::Box::Box	(	const Eigen::Vector< zono_float, -1 > &	x_lb,
		const Eigen::Vector< zono_float, -1 > &	x_ub
	)

Constructor from intervals of lower and upper bounds.

Parameters

x_lb	vector of lower bounds
x_ub	vector of upper bounds

◆ ~Box()

virtual ZonoOpt::Box::~Box ( )

virtualdefault

Virtual destructor.

◆ Box() [6/6]

ZonoOpt::Box::Box ( const Box & other )

Copy constructor.

Parameters

other other Box object

Member Function Documentation

◆ center()

Eigen::Vector< zono_float, -1 > ZonoOpt::Box::center ( ) const

Get center of box.

Returns: center of box

◆ clone()

Box * ZonoOpt::Box::clone ( ) const

virtual

Clone operation.

Returns: pointer to newly created object

Reimplemented in ZonoOpt::MI_Box.

◆ contains()

bool ZonoOpt::Box::contains ( const Eigen::Vector< zono_float, -1 > & v )

Check vector continment.

Parameters

v vector

Returns: true if v is contained in box, false otherwise

◆ contains_set()

bool ZonoOpt::Box::contains_set ( const Box & other ) const

Check set containment.

Parameters

other box to check if subset

Returns: true if other is a subset of this

◆ contract()

bool ZonoOpt::Box::contract	(	const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &	A,
		const Eigen::Vector< zono_float, -1 > &	b,
		int	iter
	)

Interval contractor.

Parameters

A	constraint matrix (row-major)
b	constraint vector
iter	number of contractor iterations

Returns: flag indicating that the contractor did not detect that A*x=b and the box do not intersect

Executes a forward-backward interval contractor for the equality constraint A*x=b. For points x in the box, this shrinks the box without removing any points x that satisfy A*x=b. If the contractor detects that the box does not intersect A*x=b, then this function will return false.

◆ contract_subset()

bool ZonoOpt::Box::contract_subset	(	const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &	A_rm,
		const Eigen::Vector< zono_float, -1 > &	b,
		int	iter,
		const Eigen::SparseMatrix< zono_float > &	A,
		const std::set< int > &	inds,
		int	tree_search_depth
	)

Interval contractor over a subset of the dimensions of the box.

Parameters

A_rm	constraint matrix, row major
b	constraint vector
iter	number of contractor iterations
A	constraint matrix, column major
inds	box dimension indices
tree_search_depth	how deep to search constraint tree

Returns: flag indicating that the contractor did not detect that A*x=b and the box do not intersect

This is a forward-backward contractor over a subset of the dimensions of the box. This detects what other dimensions are affected up to a specified search depth prior to executing the contractor.

◆ dot()

Interval ZonoOpt::Box::dot ( const Eigen::Vector< zono_float, -1 > & x ) const

Linear map with vector.

Parameters

x vector

Returns: Interval

◆ get_element()

Interval ZonoOpt::Box::get_element ( int i ) const

Element-wise access.

Parameters

i index

Returns: Interval for element i in Box

◆ intersect()

Box ZonoOpt::Box::intersect ( const Box & other ) const

Box intersection.

Parameters

other other

Returns: intersection of this and other

◆ interval_hull()

Box ZonoOpt::Box::interval_hull ( const Box & other ) const

Box interval hull.

Parameters

other other box

Returns: interval hull of this and other

◆ linear_map() [1/2]

Box ZonoOpt::Box::linear_map ( const Eigen::Matrix< zono_float, -1, -1 > & A ) const

Linear map of box based on interval arithmetic.

Parameters

A	map matrix (dense)

Returns: Linear mapped box

◆ linear_map() [2/2]

Box ZonoOpt::Box::linear_map ( const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > & A ) const

Linear map of box based on interval arithmetic.

Parameters

A	map matrix (sparse row major)

Returns: Linear mapped box

◆ lower()

const Eigen::Vector< zono_float, -1 > & ZonoOpt::Box::lower ( ) const

inline

Get lower bounds.

Returns: const reference to lower bounds

◆ operator&()

Box ZonoOpt::Box::operator& ( const Box & other ) const

Box intersection.

Parameters

other other box

Returns: Intersection of this and other

◆ operator*() [1/4]

Box ZonoOpt::Box::operator* ( const Box & other ) const

Elementwise multiplication.

Parameters

other rhs box

Returns: enclosure of this * other (elementwise)

◆ operator*() [2/4]

Box ZonoOpt::Box::operator* ( const Eigen::Vector< zono_float, -1 > & v ) const

Elementwise multiplication with vector.

Parameters

v	vector to multiply

Returns: enclosure of this * v (elementwise)

◆ operator*() [3/4]

Box ZonoOpt::Box::operator* ( const Interval & interval ) const

Elementwise multiplication with interval.

Parameters

interval interval to multiply

Returns: enclosure of this * interval (elementwise)

◆ operator*() [4/4]

Box ZonoOpt::Box::operator* ( zono_float alpha ) const

Elementwise multiplication with scalar.

Parameters

alpha scalar multiplier

Returns: enclosure of alpha * this (elementwise)

◆ operator*=() [1/4]

void ZonoOpt::Box::operator*= ( const Box & other )

Elementwise multiplication in-place.

Parameters

other other box

◆ operator*=() [2/4]

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

Elementwise multiplication with vector in-place.

Parameters

v	vector to multiply

◆ operator*=() [3/4]

void ZonoOpt::Box::operator*= ( const Interval & interval )

Elementwise multiplication with interval in-place.

Parameters

interval interval to multiply

◆ operator*=() [4/4]

void ZonoOpt::Box::operator*= ( zono_float alpha )

Elementwise multiplication with scalar in-place.

Parameters

alpha scalar multiplier

◆ operator+() [1/2]

Box ZonoOpt::Box::operator+ ( const Box & other ) const

Elementwise addition.

Parameters

other rhs box

Returns: enclosure of this + other (elementwise)

◆ operator+() [2/2]

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

Elementwise addition with vector.

Parameters

v	vector to add
box	box to add

Returns: enclosure of v + box (elementwise)

◆ operator+=() [1/2]

void ZonoOpt::Box::operator+= ( const Box & other )

Elementwise addition in-place.

Parameters

other other box

◆ operator+=() [2/2]

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

Elementwise addition with vector in-place.

Parameters

v vector

◆ operator-() [1/3]

Box ZonoOpt::Box::operator- ( ) const

Unary minus: returns -1 * this.

Returns: enclosure of -this

◆ operator-() [2/3]

Box ZonoOpt::Box::operator- ( const Box & other ) const

Elementwise subtraction.

Parameters

other rhs box

Returns: enclosure of this - other (elementwise)

◆ operator-() [3/3]

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

Elementwise subtraction with vector.

Parameters

v	vector to subtract

Returns: enclosure of this - v (elementwise)

◆ operator-=() [1/2]

void ZonoOpt::Box::operator-= ( const Box & other )

Elementwise subtraction in-place.

Parameters

other other box

◆ operator-=() [2/2]

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

Elementwise subtraction with vector in-place.

Parameters

v	vector to subtract

◆ operator/() [1/3]

Box ZonoOpt::Box::operator/ ( const Box & other ) const

Elementwise division.

Parameters

other rhs box

Returns: enclosure of this / other (elementwise)

◆ operator/() [2/3]

Box ZonoOpt::Box::operator/ ( const Interval & interval ) const

Elementwise division with interval.

Parameters

interval interval to divide

Returns: enclosure of this / interval (elementwise)

◆ operator/() [3/3]

Box ZonoOpt::Box::operator/ ( zono_float alpha ) const

Elementwise division with scalar.

Parameters

alpha scalar divisor

Returns: enclosure of this / alpha (elementwise)

◆ operator/=() [1/3]

void ZonoOpt::Box::operator/= ( const Box & other )

Elementwise division in-place.

Parameters

other rhs box

◆ operator/=() [2/3]

void ZonoOpt::Box::operator/= ( const Interval & interval )

Elementwise division with interval in-place.

Parameters

interval interval to divide

◆ operator/=() [3/3]

void ZonoOpt::Box::operator/= ( zono_float alpha )

Elementwise division with scalar.

Parameters

alpha scalar divisor

◆ operator<=()

bool ZonoOpt::Box::operator<= ( const Box & other ) const

Set containment operator.

Parameters

other

Returns: true if this is subset of other

◆ operator=()

Box & ZonoOpt::Box::operator= ( const Box & other )

Copy assignment.

Parameters

other other Box object

Returns: this = other

◆ operator==()

bool ZonoOpt::Box::operator== ( const Box & other ) const

Set equality operator.

Parameters

other

Returns: true if sets are equal

◆ operator>=()

bool ZonoOpt::Box::operator>= ( const Box & other ) const

Set containment operator.

Parameters

other

Returns: true if this is superset of other

◆ operator|()

Box ZonoOpt::Box::operator| ( const Box & other ) const

Box interval hull.

Parameters

other box

Returns: Interval hull of this and other

◆ permute()

void ZonoOpt::Box::permute ( const Eigen::PermutationMatrix< Eigen::Dynamic, Eigen::Dynamic > & P )

Permutes in place using permutation matrix, i.e., [x] <- P*[x].

Parameters

P	permutation matrix

◆ print()

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

Print method.

Returns: string display of Box

◆ project()

void ZonoOpt::Box::project ( Eigen::Ref< Eigen::Vector< zono_float, -1 > > x ) const

virtual

Projects vector onto the Box.

Parameters

x	vector reference

Reimplemented in ZonoOpt::MI_Box.

◆ radius()

Box ZonoOpt::Box::radius ( ) const

Get radius of box.

Returns: radius of box

Returns box with intervals centered at zero with width equal to the width of the original box

◆ set_element()

void ZonoOpt::Box::set_element	(	int	i,
		const Interval &	val
	)

Element-wise assignment.

Parameters

i	index
val	interval to assign

◆ size()

size_t ZonoOpt::Box::size ( ) const

Get size of Box object.

Returns: size of box

◆ to_array()

std::vector< Interval > ZonoOpt::Box::to_array ( ) const

Convert to vector of intervals.

Returns: std::vector<Interval>

◆ upper()

const Eigen::Vector< zono_float, -1 > & ZonoOpt::Box::upper ( ) const

inline

Get upper bounds.

Returns: const reference to upper bounds

◆ width()

zono_float ZonoOpt::Box::width ( ) const

Get width of box.

Returns: width of box

Specifically, this returns the max width for any interval in the box

Friends And Related Symbol Documentation

◆ MI_Box

friend class MI_Box

friend

◆ operator* [1/5]

Box operator*	(	const Eigen::Matrix< zono_float, -1, -1 > &	A,
		const Box &	box
	)

friend

Linear map.

Parameters

A	matrix to multiply

Returns: enclosure of A * this

◆ operator* [2/5]

Box operator*	(	const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &	A,
		const Box &	box
	)

friend

Linear map.

Parameters

A	matrix to multiply

Returns: enclosure of A * this

◆ operator* [3/5]

Box operator*	(	const Eigen::Vector< zono_float, -1 > &	v,
		const Box &	box
	)

friend

Elementwise multiplication with vector.

Parameters

v	vector to multiply
box	box to multiply

Returns: enclosure of v * box (elementwise)

◆ operator* [4/5]

Box operator*	(	const Interval &	interval,
		const Box &	box
	)

friend

Elementwise multiplication with interval.

Parameters

interval	interval to multiply
box	box to multiply

Returns: enclosure of interval * box (elementwise)

◆ operator* [5/5]

Box operator*	(	zono_float	alpha,
		const Box &	box
	)

friend

Elementwise multiplication with scalar.

Parameters

alpha	scalar multiplier
box	box to multiply

Returns: enclosure of alpha * box (elementwise)

◆ operator+

Box operator+	(	const Eigen::Vector< zono_float, -1 > &	v,
		const Box &	box
	)

friend

Elementwise addition with vector.

Parameters

v	vector to add
box	box to add

Returns: enclosure of v + box (elementwise)

◆ operator-

Box operator-	(	const Eigen::Vector< zono_float, -1 > &	v,
		const Box &	box
	)

friend

Elementwise subtraction with vector.

Parameters

v	vector
box	box to subtract

Returns: enclosure of v - box (elementwise)

◆ operator/ [1/2]

Box operator/	(	const Interval &	interval,
		const Box &	box
	)

friend

Elementwise division with interval.

Parameters

interval	interval
box	box to divide

Returns: enclosure of interval / box (elementwise)

◆ operator/ [2/2]

Box operator/	(	zono_float	alpha,
		const Box &	box
	)

friend

Elementwise division with scalar.

Parameters

alpha	scalar divisor
box	box to divide

Returns: enclosure of alpha / box (elementwise)

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const Box &	box
	)

friend

print to ostream

Parameters

os	ostream
box	reference to box

Returns: ostream

Member Data Documentation

◆ x_lb

Eigen::Vector<zono_float, -1> ZonoOpt::Box::x_lb

protected

vector of lower bounds

◆ x_ub

Eigen::Vector<zono_float, -1> ZonoOpt::Box::x_ub

protected

vector of upper bounds

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

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Box() [1/6]

◆ Box() [2/6]

◆ Box() [3/6]

◆ Box() [4/6]

◆ Box() [5/6]

◆ ~Box()

◆ Box() [6/6]

Member Function Documentation

◆ center()

◆ clone()

◆ contains()

◆ contains_set()

◆ contract()

◆ contract_subset()

◆ dot()

◆ get_element()

◆ intersect()

◆ interval_hull()

◆ linear_map() [1/2]

◆ linear_map() [2/2]

◆ lower()

◆ operator&()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=() [1/4]

◆ operator*=() [2/4]

◆ operator*=() [3/4]

◆ operator*=() [4/4]

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-() [1/3]

◆ operator-() [2/3]

◆ operator-() [3/3]

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ operator/() [1/3]

◆ operator/() [2/3]

◆ operator/() [3/3]

◆ operator/=() [1/3]

◆ operator/=() [2/3]

◆ operator/=() [3/3]

◆ operator<=()

◆ operator=()

◆ operator==()

◆ operator>=()

◆ operator|()

◆ permute()

◆ print()

◆ project()

◆ radius()

◆ set_element()

◆ size()

◆ to_array()

◆ upper()

◆ width()

Friends And Related Symbol Documentation

◆ MI_Box

◆ operator* [1/5]

◆ operator* [2/5]

◆ operator* [3/5]

◆ operator* [4/5]

◆ operator* [5/5]

◆ operator+

◆ operator-

◆ operator/ [1/2]

◆ operator/ [2/2]

◆ operator<<

Member Data Documentation

◆ x_lb

◆ x_ub