ZonoOpt Namespace Reference

Classes
class	Box
	Box (i.e., interval vector) class. More...
class	ConZono
	Constrained zonotope class. More...
class	EmptySet
	Empty Set class. More...
class	HybZono
	Hybrid zonotope class. More...
class	Interval
	Interval class. More...
class	IntervalMatrix
	Class for interval matrices (i.e., every element of the matrix is an interval) More...
class	MI_Box
	Mixed-integer box. More...
struct	OptSettings
	Settings for optimization routines in ZonoOpt library. More...
struct	OptSolution
	Solution data structure for optimization routines in ZonoOpt library. More...
class	Point
	Point class. More...
struct	WarmStartParams
	Warm start parameters for optimization routines in ZonoOpt library. More...
class	Zono
	Zonotope class. More...

Typedefs
typedef std::unique_ptr< HybZono >	ZonoPtr
	Type alias for a unique pointer to a (polymorphic) HybZono object. <>

Functions
std::unique_ptr< ConZono >	vrep_2_conzono (const Eigen::Matrix< zono_float, -1, -1 > &Vpoly)
	Builds a constrained zonotope from a vertex representation polytope.
std::unique_ptr< HybZono >	affine_map (const HybZono &Z, const Eigen::SparseMatrix< zono_float > &R, const Eigen::Vector< zono_float, -1 > &s=Eigen::Vector< zono_float, -1 >())
	Returns affine map R*Z + s of set Z.
std::unique_ptr< HybZono >	affine_inclusion (const HybZono &Z, const IntervalMatrix &R, const Eigen::Vector< zono_float, -1 > &s=Eigen::Vector< zono_float, -1 >())
	Returns inclusion of zonotopic set for uncertain affine map R*Z + s.
std::unique_ptr< HybZono >	project_onto_dims (const HybZono &Z, const std::vector< int > &dims)
	Projects set Z onto the dimensions specified in dims.
std::unique_ptr< HybZono >	minkowski_sum (const HybZono &Z1, HybZono &Z2)
	Computes Minkowski sum of two sets Z1 and Z2.
std::unique_ptr< HybZono >	pontry_diff (HybZono &Z1, Zono &Z2, bool exact=true)
	Computes the Pontryagin difference Z1 - Z2.
std::unique_ptr< HybZono >	intersection (const HybZono &Z1, HybZono &Z2, const Eigen::SparseMatrix< zono_float > &R=Eigen::SparseMatrix< zono_float >())
	Computes the generalized intersection of sets Z1 and Z2 over the matrix R.
std::unique_ptr< HybZono >	intersection_over_dims (const HybZono &Z1, HybZono &Z2, const std::vector< int > &dims)
	Computes the generalized intersection of sets Z1 and Z2 over the specified dimensions.
std::unique_ptr< HybZono >	halfspace_intersection (HybZono &Z, const Eigen::SparseMatrix< zono_float > &H, const Eigen::Vector< zono_float, -1 > &f, const Eigen::SparseMatrix< zono_float > &R=Eigen::SparseMatrix< zono_float >())
	Computes the intersection generalized intersection of set Z with halfspace H*x <= f over matrix R.
std::unique_ptr< HybZono >	union_of_many (const std::vector< std::shared_ptr< HybZono > > &Zs, bool preserve_sharpness=false, bool expose_indicators=false)
	Computes union of several sets.
std::unique_ptr< ConZono >	convex_hull (const std::vector< std::shared_ptr< HybZono > > &Zs)
	Computes convex hull of several sets.
std::unique_ptr< HybZono >	cartesian_product (const HybZono &Z1, HybZono &Z2)
	Computes the Cartesian product of two sets Z1 and Z2.
std::unique_ptr< HybZono >	constrain (HybZono &Z, const Eigen::SparseMatrix< zono_float > &H, const Eigen::Vector< zono_float, -1 > &f, char direction, const Eigen::SparseMatrix< zono_float > &R=Eigen::SparseMatrix< zono_float >())
	Computes the generalized intersection of set Z with H*x <= f, H*x >= f, or H*x = f over matrix R.
std::unique_ptr< HybZono >	set_diff (const HybZono &Z1, HybZono &Z2, zono_float delta_m=100, 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)
	Set difference Z1 \ Z2.
std::unique_ptr< HybZono >	vrep_2_hybzono (const std::vector< Eigen::Matrix< zono_float, -1, -1 > > &Vpolys, bool expose_indicators=false)
	Computes a hybrid zonotope from a union of vertex representation polytopes.
std::unique_ptr< HybZono >	zono_union_2_hybzono (std::vector< std::shared_ptr< Zono > > &Zs, bool expose_indicators=false)
	Computes a hybrid zonotope from a union of zonotopes.
std::unique_ptr< Zono >	interval_2_zono (const Box &box)
	Builds a zonotope from a Box object.
std::unique_ptr< Zono >	make_regular_zono_2D (zono_float radius, int n_sides, bool outer_approx=false, const Eigen::Vector< zono_float, 2 > &c=Eigen::Vector< zono_float, 2 >::Zero())
	Builds a 2D regular zonotope with a given radius and number of sides.
int	perturb_binaries (const MI_Box &x_box, const Eigen::Ref< const Eigen::Vector< zono_float, -1 > > xk, Eigen::Ref< Eigen::Vector< zono_float, -1 > > zk, const bool restart, std::mt19937 &rand_gen)
Box	operator+ (const Eigen::Vector< zono_float, -1 > &v, const Box &box)
Box	operator- (const Eigen::Vector< zono_float, -1 > &v, const Box &box)
Box	operator* (zono_float alpha, const Box &box)
Box	operator* (const Eigen::Vector< zono_float, -1 > &v, const Box &box)
Box	operator* (const Interval &interval, const Box &box)
Box	operator* (const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &A, const Box &box)
Box	operator* (const Eigen::Matrix< zono_float, -1, -1 > &A, const Box &box)
Box	operator/ (zono_float alpha, const Box &box)
Box	operator/ (const Interval &interval, const Box &box)
std::ostream &	operator<< (std::ostream &os, const Box &box)
std::ostream &	operator<< (std::ostream &os, const HybZono &Z)
std::unique_ptr< HybZono >	operator+ (const Eigen::Vector< zono_float, -1 > &v, HybZono &Z)
std::unique_ptr< HybZono >	operator+ (const Box &box, HybZono &Z)
std::unique_ptr< HybZono >	operator* (const Eigen::SparseMatrix< zono_float > &R, const HybZono &Z)
std::unique_ptr< HybZono >	operator* (const Eigen::Matrix< zono_float, -1, -1 > &R, const HybZono &Z)
std::unique_ptr< HybZono >	operator* (const IntervalMatrix &R, const HybZono &Z)
std::unique_ptr< HybZono >	operator* (zono_float f, const HybZono &Z)
std::unique_ptr< HybZono >	operator* (const Box &box, HybZono &Z)
Interval	operator+ (const zono_float alpha, const Interval &interval)
Interval	operator- (const zono_float alpha, const Interval &interval)
Interval	operator* (const zono_float alpha, const Interval &interval)
Interval	operator/ (const zono_float alpha, const Interval &interval)
std::ostream &	operator<< (std::ostream &os, const Interval &interval)
IntervalMatrix	operator+ (const Interval &interval, const IntervalMatrix &mat)
IntervalMatrix	operator* (const Interval &interval, const IntervalMatrix &A)
IntervalMatrix	operator* (zono_float alpha, const IntervalMatrix &A)
IntervalMatrix	operator* (const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &A, const IntervalMatrix &B)
IntervalMatrix	operator* (const Eigen::Matrix< zono_float, -1, -1 > &A, const IntervalMatrix &B)
IntervalMatrix	operator+ (zono_float alpha, const IntervalMatrix &A)
IntervalMatrix	operator- (const Interval &interval, const IntervalMatrix &mat)
IntervalMatrix	operator- (zono_float alpha, const IntervalMatrix &A)
IntervalMatrix	operator/ (zono_float alpha, const IntervalMatrix &A)
IntervalMatrix	operator/ (const Interval &interval, const IntervalMatrix &A)
std::ostream &	operator<< (std::ostream &os, const IntervalMatrix &interval_matrix)

Function Documentation

operator*() [1/15]

std::unique_ptr< HybZono > ZonoOpt::operator*	(	const Box &	box,
		HybZono &	Z
	)

Parameters

box
Z

Returns

std::unique_ptr<HybZono>

operator*() [2/15]

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

Parameters

A	matrix to multiply

Returns

enclosure of A * this

operator*() [3/15]

IntervalMatrix ZonoOpt::operator*	(	const Eigen::Matrix< zono_float, -1, -1 > &	A,
		const IntervalMatrix &	B
	)

Parameters

A	lhs matrix
B	rhs interval matrix

Returns

resulting interval matrix

operator*() [4/15]

std::unique_ptr< HybZono > ZonoOpt::operator*	(	const Eigen::Matrix< zono_float, -1, -1 > &	R,
		const HybZono &	Z
	)

Parameters

R
Z

Returns

std::unique_ptr<HybZono>

operator*() [5/15]

std::unique_ptr< HybZono > ZonoOpt::operator*	(	const Eigen::SparseMatrix< zono_float > &	R,
		const HybZono &	Z
	)

Parameters

R
Z

Returns

std::unique_ptr<HybZono>

operator*() [6/15]

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

Parameters

A	matrix to multiply

Returns

enclosure of A * this

operator*() [7/15]

IntervalMatrix ZonoOpt::operator*	(	const Eigen::SparseMatrix< zono_float, Eigen::RowMajor > &	A,
		const IntervalMatrix &	B
	)

Parameters

A	lhs matrix
B	rhs interval matrix

Returns

resulting interval matrix

operator*() [8/15]

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

Parameters

v	vector to multiply
box	box to multiply

Returns

enclosure of v * box (elementwise)

operator*() [9/15]

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

Parameters

interval	interval to multiply
box	box to multiply

Returns

enclosure of interval * box (elementwise)

operator*() [10/15]

IntervalMatrix ZonoOpt::operator*	(	const Interval &	interval,
		const IntervalMatrix &	A
	)

Parameters

interval	interval to multiply
A	interval matrix

Returns

resulting interval matrix

operator*() [11/15]

std::unique_ptr< HybZono > ZonoOpt::operator*	(	const IntervalMatrix &	R,
		const HybZono &	Z
	)

Parameters

R
Z

Returns

std::unique_ptr<HybZono>

operator*() [12/15]

Interval ZonoOpt::operator*	(	const zono_float	alpha,
		const Interval &	interval
	)

Parameters

alpha	scalar
interval	interval

Returns

enclosure of alpha * interval

operator*() [13/15]

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

Parameters

alpha	scalar multiplier
box	box to multiply

Returns

enclosure of alpha * box (elementwise)

operator*() [14/15]

IntervalMatrix ZonoOpt::operator*	(	zono_float	alpha,
		const IntervalMatrix &	A
	)

Parameters

alpha	scalar multiplier
A	interval matrix

Returns

resulting interval matrix

operator*() [15/15]

std::unique_ptr< HybZono > ZonoOpt::operator*	(	zono_float	f,
		const HybZono &	Z
	)

Parameters

f
Z

Returns

std::unique_ptr<HybZono>

operator+() [1/6]

std::unique_ptr< HybZono > ZonoOpt::operator+	(	const Box &	box,
		HybZono &	Z
	)

Parameters

box
Z

Returns

std::unique_ptr<HybZono>

operator+() [2/6]

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

Parameters

v	vector to add
box	box to add

Returns

enclosure of v + box (elementwise)

operator+() [3/6]

std::unique_ptr< HybZono > ZonoOpt::operator+	(	const Eigen::Vector< zono_float, -1 > &	v,
		HybZono &	Z
	)

Parameters

v
Z

Returns

std::unique_ptr<HybZono>

operator+() [4/6]

IntervalMatrix ZonoOpt::operator+	(	const Interval &	interval,
		const IntervalMatrix &	mat
	)

Parameters

interval	interval to add
mat	interval matrix

Returns

resulting interval matrix

operator+() [5/6]

Interval ZonoOpt::operator+	(	const zono_float	alpha,
		const Interval &	interval
	)

Parameters

alpha	scalar
interval	interval

Returns

enclosure of alpha + interval

operator+() [6/6]

IntervalMatrix ZonoOpt::operator+	(	zono_float	alpha,
		const IntervalMatrix &	A
	)

Parameters

alpha	scalar to add
A	interval matrix

Returns

resulting interval matrix

operator-() [1/4]

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

Parameters

v	vector
box	box to subtract

Returns

enclosure of v - box (elementwise)

operator-() [2/4]

IntervalMatrix ZonoOpt::operator-	(	const Interval &	interval,
		const IntervalMatrix &	mat
	)

Parameters

interval	interval
mat	interval matrix to subtract

Returns

resulting interval matrix

operator-() [3/4]

Interval ZonoOpt::operator-	(	const zono_float	alpha,
		const Interval &	interval
	)

Parameters

alpha	scalar
interval	interval

Returns

enclosure of alpha - interval

operator-() [4/4]

IntervalMatrix ZonoOpt::operator-	(	zono_float	alpha,
		const IntervalMatrix &	A
	)

Parameters

alpha	scalar
A	interval matrix to subtract

Returns

resulting interval matrix

operator/() [1/5]

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

Parameters

interval	interval
box	box to divide

Returns

enclosure of interval / box (elementwise)

operator/() [2/5]

IntervalMatrix ZonoOpt::operator/	(	const Interval &	interval,
		const IntervalMatrix &	A
	)

Parameters

interval	interval
A	matrix to divide

Returns

resulting interval matrix (interval / this)

operator/() [3/5]

Interval ZonoOpt::operator/	(	const zono_float	alpha,
		const Interval &	interval
	)

Parameters

alpha	scalar
interval	interval

Returns

enclosure of alpha / interval

operator/() [4/5]

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

Parameters

alpha	scalar divisor
box	box to divide

Returns

enclosure of alpha / box (elementwise)

operator/() [5/5]

IntervalMatrix ZonoOpt::operator/	(	zono_float	alpha,
		const IntervalMatrix &	A
	)

Parameters

alpha	scalar
A	matrix to divide

Returns

resulting interval matrix (alpha / this)

operator<<() [1/4]

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

Parameters

os	ostream
box	reference to box

Returns

ostream

operator<<() [2/4]

std::ostream & ZonoOpt::operator<<	(	std::ostream &	os,
		const HybZono &	Z
	)

Parameters

os
Z

operator<<() [3/4]

std::ostream & ZonoOpt::operator<<	(	std::ostream &	os,
		const Interval &	interval
	)

Parameters

os
interval

Returns

ostream reference

operator<<() [4/4]

std::ostream & ZonoOpt::operator<<	(	std::ostream &	os,
		const IntervalMatrix &	interval_matrix
	)

Parameters

os	ostream
interval_matrix	reference to interval matrix

Returns

ostream

perturb_binaries()

int ZonoOpt::perturb_binaries	(	const MI_Box &	x_box,
		const Eigen::Ref< const Eigen::Vector< zono_float, -1 > >	xk,
		Eigen::Ref< Eigen::Vector< zono_float, -1 > >	zk,
		const bool	restart,
		std::mt19937 &	rand_gen
	)