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Generalize 1D zonotope constraints_list #2146

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merged 6 commits into from
May 1, 2020
Merged

Generalize 1D zonotope constraints_list #2146

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79bbaa8
ignore zero generators for 1D zonotope constraints_list
schillic May 1, 2020
eb615df
Update src/Interfaces/AbstractZonotope.jl
schillic May 1, 2020
0b13b6c
generalize n=1 case in constraints_list of zonotopes
schillic May 1, 2020
a2780bd
fix center
schillic May 1, 2020
c64ff9c
Update src/Interfaces/AbstractZonotope.jl
schillic May 1, 2020
20130d6
Update test/unit_Zonotope.jl
schillic May 1, 2020
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13 changes: 9 additions & 4 deletions src/Interfaces/AbstractZonotope.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -498,12 +498,17 @@ function constraints_list(Z::AbstractZonotope{N}; check_full_rank::Bool=true
# special handling of 1D case
if n == 1
if p > 1
error("1D-zonotope constraints currently only support a single " *
"generator")
Z_1g = remove_zero_generators(Z)
if ngens(Z_1g) > 1
error("1D-zonotope constraints currently only support a " *
"single generator")
end
else
Z_1g = Z
end

c = center(Z)[1]
g = G[:, 1][1]
c = center(Z_1g)[1]
g = genmat(Z_1g)[:, 1][1]
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constraints = [LinearConstraint([N(1)], c + g),
LinearConstraint([N(-1)], g - c)]
return constraints
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4 changes: 4 additions & 0 deletions test/unit_Zonotope.jl
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Expand Up @@ -189,6 +189,10 @@ for N in [Float64, Rational{Int}, Float32]
B = BallInf(zeros(N, 3), N(1)) # equivalent to Z
constraints = constraints_list(Z)
@test constraints isa Vector{<:HalfSpace{N}} && length(constraints) == 6

# 1D projection removes zero generators automatically
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B = BallInf(N[0, 0], N(1))
project(B, [1])
end

for N in [Float64]
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