diff --git a/docs/src/lib/representations.md b/docs/src/lib/representations.md
index efd8490d75..456b58ab7a 100644
--- a/docs/src/lib/representations.md
+++ b/docs/src/lib/representations.md
@@ -147,6 +147,7 @@ dim(::HalfSpace)
 σ(::AbstractVector{Real}, ::HalfSpace{Real})
 ∈(::AbstractVector{Real}, ::HalfSpace{Real})
 an_element(::HalfSpace{N}) where {N<:Real}
+constrained_dimensions(::HalfSpace{N}) where {N<:Real}
 LazySets.halfspace_left(::AbstractVector{Real}, ::AbstractVector{Real})
 LazySets.halfspace_right(::AbstractVector{Real}, ::AbstractVector{Real})
 ```
@@ -163,6 +164,7 @@ dim(::Hyperplane)
 σ(::AbstractVector{Real}, ::Hyperplane{Real})
 ∈(::AbstractVector{Real}, ::Hyperplane{Real})
 an_element(::Hyperplane{N}) where {N<:Real}
+constrained_dimensions(::Hyperplane{N}) where {N<:Real}
 ```
 Inherited from [`LazySet`](@ref):
 * [`norm`](@ref norm(::LazySet, ::Real))
@@ -233,6 +235,7 @@ dim(::Line)
 σ(::AbstractVector{Real}, ::Line{Real})
 ∈(::AbstractVector{Real}, ::Line{Real})
 an_element(::Line{N}) where {N<:Real}
+constrained_dimensions(::Line{N}) where {N<:Real}
 ```
 Inherited from [`LazySet`](@ref):
 * [`norm`](@ref norm(::LazySet, ::Real))
diff --git a/docs/src/lib/utils.md b/docs/src/lib/utils.md
index 819dfa28f0..77bfb5719c 100644
--- a/docs/src/lib/utils.md
+++ b/docs/src/lib/utils.md
@@ -27,6 +27,7 @@ get_radius!
 an_element_helper
 σ_helper
 binary_search_constraints
+nonzero_indices
 ```
 
 ### Types
diff --git a/src/HalfSpace.jl b/src/HalfSpace.jl
index df2b36ee5a..3b1581aa0c 100644
--- a/src/HalfSpace.jl
+++ b/src/HalfSpace.jl
@@ -2,6 +2,7 @@ import Base.∈
 
 export HalfSpace, LinearConstraint,
        an_element,
+       constrained_dimensions,
        halfspace_left, halfspace_right
 
 """
@@ -118,6 +119,28 @@ function ∈(x::AbstractVector{N}, hs::HalfSpace{N})::Bool where {N<:Real}
     return dot(x, hs.a) <= hs.b
 end
 
+"""
+    constrained_dimensions(hs::HalfSpace{N})::Vector{Int} where N<:Real
+
+Return the indices in which a half-space is constrained.
+
+### Input
+
+- `hs` -- half-space
+
+### Output
+
+A vector of ascending indices `i` such that the half-space is constrained in
+dimension `i`.
+
+### Notes
+
+A 2D half-space with constraint ``x1 ≥ 0`` is constrained in dimension 1 only.
+"""
+function constrained_dimensions(hs::HalfSpace{N})::Vector{Int} where N<:Real
+    return nonzero_indices(hs.a)
+end
+
 """
     halfspace_left(p::AbstractVector{N},
                    q::AbstractVector{N})::HalfSpace{N} where {N<:Real}
diff --git a/src/Hyperplane.jl b/src/Hyperplane.jl
index af9a90220c..49b4696ab1 100644
--- a/src/Hyperplane.jl
+++ b/src/Hyperplane.jl
@@ -110,6 +110,28 @@ function ∈(x::AbstractVector{N}, hp::Hyperplane{N})::Bool where {N<:Real}
     return dot(x, hp.a) == hp.b
 end
 
+"""
+    constrained_dimensions(hp::Hyperplane{N})::Vector{Int} where N<:Real
+
+Return the indices in which a hyperplane is constrained.
+
+### Input
+
+- `hp` -- hyperplane
+
+### Output
+
+A vector of ascending indices `i` such that the hyperplane is constrained in
+dimension `i`.
+
+### Notes
+
+A 2D hyperplane with constraint ``x1 = 0`` is constrained in dimension 1 only.
+"""
+function constrained_dimensions(hp::Hyperplane{N})::Vector{Int} where N<:Real
+    return nonzero_indices(hp.a)
+end
+
 
 # --- Hyperplane functions ---
 
diff --git a/src/Line.jl b/src/Line.jl
index 84ba72c03b..e41e374f3a 100644
--- a/src/Line.jl
+++ b/src/Line.jl
@@ -134,3 +134,25 @@ function ∈(x::AbstractVector{N}, L::Line{N})::Bool where {N<:Real}
     @assert length(x) == dim(L)
     return dot(L.a, x) == L.b
 end
+
+"""
+    constrained_dimensions(L::Line{N})::Vector{Int} where N<:Real
+
+Return the indices in which a line is constrained.
+
+### Input
+
+- `L` -- line
+
+### Output
+
+A vector of ascending indices `i` such that the line is constrained in dimension
+`i`.
+
+### Notes
+
+A line with constraint ``x1 = 0`` is constrained in dimension 1 only.
+"""
+function constrained_dimensions(L::Line{N})::Vector{Int} where N<:Real
+    return nonzero_indices(L.a)
+end
diff --git a/src/helper_functions.jl b/src/helper_functions.jl
index 642978c7b4..3e9c366a71 100644
--- a/src/helper_functions.jl
+++ b/src/helper_functions.jl
@@ -86,6 +86,36 @@ function ispermutation(u::AbstractVector{T}, v::AbstractVector{T})::Bool where T
     return true
 end
 
+"""
+    nonzero_indices(v::AbstractVector{N})::Vector{Int} where N<:Real
+
+Return the indices in which a vector is non-zero.
+
+### Input
+
+- `v` -- vector
+
+### Output
+
+A vector of ascending indices `i` such that the vector is non-zero in dimension
+`i`.
+"""
+function nonzero_indices(v::AbstractVector{N})::Vector{Int} where N<:Real
+    n = length(v)
+    res = Vector{Int}()
+    sizehint!(res, n)
+    for i in 1:n
+        if v[i] != zero(N)
+            push!(res, i)
+        end
+    end
+    return res
+end
+
+function nonzero_indices(v::SparseVector{N})::Vector{Int} where N<:Real
+    return x.nzind
+end
+
 """
     @neutral(SET, NEUT)
 
diff --git a/test/unit_HalfSpace.jl b/test/unit_HalfSpace.jl
index 7d04aca6d1..9cfa31a3b7 100644
--- a/test/unit_HalfSpace.jl
+++ b/test/unit_HalfSpace.jl
@@ -30,6 +30,10 @@ for N in [Float64, Rational{Int}, Float32]
     # an_element function and membership function
     @test an_element(hs) ∈ hs
 
+    # constrained dimensions
+    @test constrained_dimensions(HalfSpace(N[1, 0, 1], N(1))) == [1, 3]
+    @test constrained_dimensions(HalfSpace(N[0, 1, 0], N(1))) == [2]
+
     # halfspace_left & halfspace_right
     @test N[1, 2] ∈ halfspace_left(N[1, 1], N[2, 2])
     @test N[2, 1] ∈ halfspace_right(N[1, 1], N[2, 2])
diff --git a/test/unit_Hyperplane.jl b/test/unit_Hyperplane.jl
index 8b46001f63..05de5208d2 100644
--- a/test/unit_Hyperplane.jl
+++ b/test/unit_Hyperplane.jl
@@ -6,7 +6,7 @@ for N in [Float64, Rational{Int}, Float32]
     # dimension
     @test dim(hp) == 3
 
-    # support vector and membership function
+    # support vector and membership
     function test_svec(hp)
         d1 = copy(hp.a)
         @test σ(d1, hp) ∈ hp
@@ -25,9 +25,13 @@ for N in [Float64, Rational{Int}, Float32]
     a = zeros(N, 3); a[3] = N(1)
     test_svec(Hyperplane(a, N(5)))
 
-    # an_element function and membership function
+    # an_element and membership
     @test an_element(hp) ∈ hp
 
+    # constrained dimensions
+    @test constrained_dimensions(Hyperplane(N[1, 0, 1], N(1))) == [1, 3]
+    @test constrained_dimensions(Hyperplane(N[0, 1, 0], N(1))) == [2]
+
     # intersection emptiness
     b = BallInf(zeros(N, 3), N(1))
     empty_intersection, v = is_intersection_empty(b, hp, true)
diff --git a/test/unit_Line.jl b/test/unit_Line.jl
index 4f041083bc..15c00ceb43 100644
--- a/test/unit_Line.jl
+++ b/test/unit_Line.jl
@@ -20,6 +20,10 @@ for N in [Float64, Rational{Int}, Float32]
     an_element(l3) ∈ l3
     an_element(l4) ∈ l4
 
+    # constrained dimensions
+    @test constrained_dimensions(l1) == [2]
+    @test constrained_dimensions(l4) == [1, 2]
+
     # concrete intersection
     cap11 = intersection(l1, l1_copy)
     cap12 = intersection(l1, l2)