integrator_chains::Polytope Class Reference

Basic half-space representation of polytopes. More...

#include <polytope.hpp>

Inheritance diagram for integrator_chains::Polytope:

Public Member Functions
void	dumpJSONcore (std::ostream &out) const
	Output this polytope in JSON excluding opening { and closing }. More...
bool	is_consistent () const
	Check that defining matrices have consistent dimensions. More...
bool	is_in (Eigen::VectorXd X) const
	Is X contained in this polytope? More...
Polytope	operator& (const Polytope &P2)
	Intersect two polytopes that are defined in the same dimension space. More...
	Polytope (Eigen::MatrixXd incoming_H, Eigen::VectorXd incoming_K)
	Polytope (const Polytope &other)

Static Public Member Functions
static Polytope *	box (const Eigen::VectorXd &bounds)
	Construct Polytope that is an axis-aligned rectangle. More...
static Polytope *	randomH (int n)
	Create random Polytope in R^n using Eigen::MatrixXd::Random(). More...

Friends
std::ostream &	operator<< (std::ostream &out, const Polytope &P)
	Output this polytope in JSON to given stream. More...

Detailed Description

Basic half-space representation of polytopes.

Member Function Documentation

Polytope * integrator_chains::Polytope::box ( const Eigen::VectorXd &  bounds )

static

Construct Polytope that is an axis-aligned rectangle.

Parameters

bounds

an array of the form [x1_min, x1_max, x2_min, x2_max, ..., xn_min, xn_max], which defines a polytope in terms of intervals along each axis in R^n. The interval along the first axis is [x1_min, x1_max], the interval along the second axis is [x2_min, x2_max], etc. Thus the length of the given array is 2n.

E.g., a unit square in R^2 can be created using

Eigen::Vector4d bounds;
bounds << 0, 1,
          0, 1;
Polytope *square = Polytope::box( bounds );

void integrator_chains::Polytope::dumpJSONcore

(

std::ostream &

out

)

const

Output this polytope in JSON excluding opening { and closing }.

This method facilitates inheritance from Polytope without crowding the JSON representations of other classes.

bool integrator_chains::Polytope::is_consistent

(

)

const

Check that defining matrices have consistent dimensions.

The "defining matrices" are those involved in the inequality providing the half-space representation, i.e., H and K in {x | Hx <= K}. N.B., this check does not occur during instantiation of Polytope.

bool integrator_chains::Polytope::is_in

(

Eigen::VectorXd

X

)

const

Is X contained in this polytope?

The polytope is a closed set. No numerical tolerance is used.

Polytope integrator_chains::Polytope::operator&

(

const Polytope &

P2

)

Intersect two polytopes that are defined in the same dimension space.

Polytope * integrator_chains::Polytope::randomH ( int  n )

static

Create random Polytope in R^n using Eigen::MatrixXd::Random().

Parameters

n	dimension of the containing space.

Random matrices as provided by Eigen::MatrixXd::Random() are used to instantiate Polytope in half-space representation. The matrices have n+1 rows, corresponding to n+1 inequalities.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  out, const Polytope &  P  )

friend

Output this polytope in JSON to given stream.

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

• polytope.hpp