Setup Functions

Setup functions for ZonoOpt library. More...

Functions
std::unique_ptr< ConZono >	ZonoOpt::vrep_2_conzono (const Eigen::Matrix< zono_float, -1, -1 > &Vpoly)
	Builds a constrained zonotope from a vertex representation polytope.
std::unique_ptr< HybZono >	ZonoOpt::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 >	ZonoOpt::zono_union_2_hybzono (std::vector< Zono > &Zs, bool expose_indicators=false)
	Computes a hybrid zonotope from a union of zonotopes.
std::unique_ptr< Zono >	ZonoOpt::interval_2_zono (const Box &box)
	Builds a zonotope from a Box object.
std::unique_ptr< Zono >	ZonoOpt::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.

Detailed Description

Setup functions for ZonoOpt library.

Function Documentation

interval_2_zono()

std::unique_ptr< Zono > ZonoOpt::interval_2_zono

(

const Box &

box

)

Builds a zonotope from a Box object.

Parameters

box	Box object (vector of intervals)

Returns

zonotope

make_regular_zono_2D()

std::unique_ptr< Zono > ZonoOpt::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.

Parameters

radius	radius of the zonotope
n_sides	number of sides (must be an even number >= 4)
outer_approx	flag to do an outer approximation instead of an inner approximation
c	center vector

Returns

zonotope

vrep_2_conzono()

std::unique_ptr< ConZono > ZonoOpt::vrep_2_conzono

(

const Eigen::Matrix< zono_float, -1, -1 > &

Vpoly

)

Builds a constrained zonotope from a vertex representation polytope.

Parameters

Vpoly

vertices of V-rep polytope

Returns

constrained zonotope

Vpoly is a matrix where each row is a vertex of the polytope.

vrep_2_hybzono()

std::unique_ptr< HybZono > ZonoOpt::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.

Parameters

Vpolys	V-rep polytopes to be unioned.
expose_indicators	Flag to append indicator set to the union.

Returns

zonotopic set

Vpolys is a vector of matrices, where each matrix represents a polytope in vertex representation. Each row in each polytope matrix is a vertex of the polytope, and each column corresponds to a dimension. The function constructs a hybrid zonotope in [0,1] form that represents the union of these polytopes. This function computes union of sets {V0, V1, ..., Vn}. If expose_indicators is true, returns union({V0, ..., Vn}) x I where I is the indicator set for the union. Specifically, each dimension of I corresponds to one of the Vi in the union. So for vrep_2_hybzono({V0, V1, V2}, true) with V0, V1, V2 not intersecting, if a vector [z, i] is in union({V0, V1, V2}) x I, then i = [1, 0, 0] if z is in V0, etc.

zono_union_2_hybzono()

std::unique_ptr< HybZono > ZonoOpt::zono_union_2_hybzono	(	std::vector< Zono > &	Zs,
		bool	expose_indicators = false
	)

Computes a hybrid zonotope from a union of zonotopes.

Parameters

Zs	A vector of zonotopes to be unioned.
expose_indicators	Flag to append indicator set to the union.

Returns

zonotopic set

This function computes union of sets {Z0, Z1, ..., Zn}. This can be more efficient than union_of_many if all sets are zonotopes because generators can be reused. If expose_indicators is true, returns union({Z0, ..., Zn}) x I where I is the indicator set for the union. Specifically, each dimension of I corresponds to one of the Zi in the union. So for zono_union_2_hybzono({Z0, Z1, Z2}, true) with Z0, Z1, VZ2 not intersecting, if a vector [z, i] is in union({Z0, Z1, Z2}) x I, then i = [1, 0, 0] if z is in Z0, etc.