#include <Point.hpp>

Inheritance diagram for ZonoOpt::Point:

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Collaboration diagram for ZonoOpt::Point:

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Public Member Functions
	Point ()
	Default constructor for Point class.

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

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

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

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

bool	remove_redundancy (int) override
	Removes redundant constraints and any unused generators.

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

Public Member Functions inherited from ZonoOpt::Zono
	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

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.

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

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

zono_float	get_volume ()
	Get volume of zonotope.

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

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

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

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.

	~ConZono () override=default

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 void	constraint_reduction ()
	Execute constraint reduction algorithm from Scott et. al. 2016.

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

Public Member Functions inherited from ZonoOpt::HybZono
	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	~HybZono ()=default

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.

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_nGc () const
	Returns number of continuous generators in set definition.

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

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

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

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

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

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

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

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

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

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

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

virtual std::unique_ptr< HybZono >	complement (const zono_float delta_m=100, const bool remove_redundancy=true, const OptSettings &settings=OptSettings(), 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	is_point () const
	Polymorphic type checking: true if set is a point.

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

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

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

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

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 OptSettings &settings=OptSettings(), 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 OptSettings &settings=OptSettings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const
	Returns the projection of the point x onto the set object.

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

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

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

Box	bounding_box (const OptSettings &settings=OptSettings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams())
	Computes a bounding box of the set object as a Box object.

std::vector< ConZono >	get_leaves (bool remove_redundancy=true, const OptSettings &settings=OptSettings(), 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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Protected Member Functions
Eigen::Vector< zono_float, -1 >	do_optimize_over (const Eigen::SparseMatrix< zono_float > &, const Eigen::Vector< zono_float, -1 > &, zono_float, const OptSettings &, std::shared_ptr< OptSolution > *, const WarmStartParams &) const override

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

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

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

Box	do_bounding_box (const OptSettings &, std::shared_ptr< OptSolution > *, const WarmStartParams &) override

Protected Member Functions inherited from ZonoOpt::Zono
bool	do_is_empty (const OptSettings &, std::shared_ptr< OptSolution > *, const WarmStartParams &) const override

Box	do_bounding_box (const OptSettings &, std::shared_ptr< OptSolution > *, const WarmStartParams &) override

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

Protected Member Functions inherited from ZonoOpt::ConZono
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 OptSettings &settings=OptSettings(), std::shared_ptr< OptSolution > *solution=nullptr, const WarmStartParams &warm_start_params=WarmStartParams()) const

std::unique_ptr< HybZono >	do_complement (zono_float delta_m, bool, const OptSettings &, std::shared_ptr< OptSolution > *, int, int) override

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 OptSettings &settings=OptSettings(), 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 OptSettings &settings=OptSettings(), std::shared_ptr< OptSolution > *solution=nullptr) const

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

static std::set< int >	find_unused_generators (const Eigen::SparseMatrix< zono_float > &G, const Eigen::SparseMatrix< zono_float > &A)

Protected Attributes inherited from ZonoOpt::HybZono
Eigen::SparseMatrix< zono_float >	G = Eigen::SparseMatrix<zono_float>(0, 0)
	generator matrix G = [Gc, Gb]

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

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

Eigen::SparseMatrix< zono_float >	A = Eigen::SparseMatrix<zono_float>(0, 0)
	constraint matrix A = [Ac, Ab]

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

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

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

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

int	n = 0
	set dimension

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

int	nGc = 0
	number of continuous factors

int	nGb = 0
	number of binary factors

int	nC = 0
	number of constraints

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

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

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.

◆ 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 OptSettings &	,
		std::shared_ptr< OptSolution > *	,
		const WarmStartParams &
	)

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ do_contains_point()

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

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ do_support()

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

overrideprotectedvirtual

Reimplemented from ZonoOpt::ConZono.

◆ print()

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

overridevirtual

Returns set information as a string.

Reimplemented from ZonoOpt::ConZono.

◆ remove_redundancy()

bool ZonoOpt::Point::remove_redundancy ( int contractor_iter )

inlineoverridevirtual

Removes redundant constraints and any unused generators.

Parameters

contractor_iter number of interval contractor iterations to run

Returns: true if successful, false if unable to reduce the complexity of the set representation

This method uses an interval contractor to detect generators that can be removed. 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.

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()

◆ convert_form()

◆ do_bounding_box()

◆ do_contains_point()

◆ do_optimize_over()

◆ do_project_point()

◆ do_support()

◆ print()

◆ remove_redundancy()

◆ set()