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update linear map for polynomial zonotopes #3036

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Aug 10, 2022
Merged

update linear map for polynomial zonotopes #3036

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d199fc9
update linear map for polynomial zonotopes
lucaferranti Aug 8, 2022
1e9b3f6
fix docstrings
lucaferranti Aug 8, 2022
6e83131
remove operator overloading
lucaferranti Aug 10, 2022
080b371
Apply suggestions from code review
lucaferranti Aug 10, 2022
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2 changes: 1 addition & 1 deletion docs/src/lib/sets/SimpleSparsePolynomialZonotope.md
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Expand Up @@ -15,7 +15,7 @@ dim(::SimpleSparsePolynomialZonotope)
ngens(::SimpleSparsePolynomialZonotope)
nparams(::SimpleSparsePolynomialZonotope)
order(::SimpleSparsePolynomialZonotope)
linear_map(::AbstractMatrix, ::SimpleSparsePolynomialZonotope)
linear_map(::Union{Real, AbstractMatrix, LinearAlgebra.UniformScaling}, ::SimpleSparsePolynomialZonotope)
minkowski_sum(::SimpleSparsePolynomialZonotope, ::SimpleSparsePolynomialZonotope)
cartesian_product(::SimpleSparsePolynomialZonotope, ::SimpleSparsePolynomialZonotope)
linear_combination(::SimpleSparsePolynomialZonotope, ::SimpleSparsePolynomialZonotope)
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2 changes: 1 addition & 1 deletion docs/src/lib/sets/SparsePolynomialZonotope.md
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Expand Up @@ -18,6 +18,6 @@ ngens_dep(::SparsePolynomialZonotope)
ngens_indep(::SparsePolynomialZonotope)
nparams(::SparsePolynomialZonotope)
order(::SparsePolynomialZonotope)
linear_map(::AbstractMatrix, ::SparsePolynomialZonotope)
linear_map(::Union{Real, AbstractMatrix, LinearAlgebra.UniformScaling}, ::SparsePolynomialZonotope)
exact_sum(::SparsePolynomialZonotope, ::SparsePolynomialZonotope)
```
4 changes: 2 additions & 2 deletions src/Sets/SimpleSparsePolynomialZonotope.jl
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Expand Up @@ -190,7 +190,7 @@ julia> expmat(S)
expmat(P::SSPZ) = P.E

"""
linear_map(M::AbstractMatrix, P::SimpleSparsePolynomialZonotope)
linear_map(M::Union{Real, AbstractMatrix, LinearAlgebra.UniformScaling}, P::SimpleSparsePolynomialZonotope)

Apply the linear map `M` to the simple sparse polynomial zonotope `P`.

Expand All @@ -203,7 +203,7 @@ Apply the linear map `M` to the simple sparse polynomial zonotope `P`.

The set resulting from applying the linear map `M` to `P`.
"""
function linear_map(M::AbstractMatrix, P::SSPZ)
function linear_map(M::Union{Real, AbstractMatrix, LinearAlgebra.UniformScaling}, P::SSPZ)
return SimpleSparsePolynomialZonotope(M * center(P), M * genmat(P), expmat(P))
end

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5 changes: 2 additions & 3 deletions src/Sets/SparsePolynomialZonotope.jl
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Expand Up @@ -208,7 +208,7 @@ Returns a collection of n unique identifiers (intergers 1, …, n).
"""
uniqueID(n::Int) = 1:n
"""
linear_map(M::AbstractMatrix, P::SparsePolynomialZonotope)
linear_map(M::Union{Real, AbstractMatrix, LinearAlgebra.UniformScaling}, P::SparsePolynomialZonotope)

Apply the linear map `M` to the sparse polynomial zonotope `P`.

Expand All @@ -221,7 +221,7 @@ Apply the linear map `M` to the sparse polynomial zonotope `P`.

The set resulting from applying the linear map `M` to `P`.
"""
function linear_map(M::AbstractMatrix, P::SPZ)
function linear_map(M::Union{Real, AbstractMatrix, LinearAlgebra.UniformScaling}, P::SPZ)
return SparsePolynomialZonotope(M * center(P),
M * genmat_dep(P),
M * genmat_indep(P),
Expand All @@ -230,7 +230,6 @@ function linear_map(M::AbstractMatrix, P::SPZ)
)
end


"""
rand(::Type{SparsePolynomialZonotope};
[N]::Type{<:Real}=Float64, [dim]::Int=2, [nparams]::Int=2, [maxdeg]::Int=3,
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5 changes: 5 additions & 0 deletions test/Sets/SimpleSparsePolynomialZonotope.jl
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Expand Up @@ -24,6 +24,11 @@ for N in [Float64, Float32, Rational{Int}]
@test genmat(LMS) == [5.0 6.0;11.0 14.0]
@test expmat(LMS) == expmat(S)

LMS2 = linear_map(0.5, S)
@test center(LMS2) == [1.0, 0.0]
@test genmat(LMS2) == [0.5 1;1 1]
@test expmat(LMS2) == expmat(LMS2)

MSS = minkowski_sum(S, S)
@test center(MSS) == [4.0, 0.0]
@test genmat(MSS) == [1 2 1 2;2 2 2 2.]
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8 changes: 8 additions & 0 deletions test/Sets/SparsePolynomialZonotope.jl
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Expand Up @@ -21,6 +21,13 @@ for N in [Float64, Float32, Rational{Int}]
@test nparams(PZ) == 2
@test order(PZ) == 2//1


LM = linear_map(0.5, PZ)
@test center(LM) == [2, 2]
@test genmat_dep(LM) == [1 0.5 1;0 1 1]
@test genmat_indep(LM) == hcat([0.5, 0.0])
@test expmat(LM) == expmat(PZ)

M = N[-0.5 0.2;-0.1 0.6]
PZ2 = SparsePolynomialZonotope(zeros(N, 2), N[2 0 1;1 2 1], zeros(N, 2, 0), [1 0 1;0 1 3])
LMPZ = linear_map(M, PZ2)
Expand All @@ -30,6 +37,7 @@ for N in [Float64, Float32, Rational{Int}]
@test expmat(LMPZ) == [1 0 1;0 1 3]
@test indexvector(LMPZ) == indexvector(PZ)


ESPZ = PZ ⊞ PZ2
@test center(ESPZ) == [4, 4]
@test genmat_dep(ESPZ) == [2 1 2 2 0 1;0 2 2 1 2 1]
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