Revise translate and translate!

docs/src/lib/interfaces/AbstractZonotope.md

@@ -26,8 +26,6 @@ generators_fallback(::AbstractZonotope)
 σ(::AbstractVector, ::AbstractZonotope)
 ∈(::AbstractVector, ::AbstractZonotope)
 linear_map(::AbstractMatrix, ::AbstractZonotope)
-translate(::AbstractZonotope, ::AbstractVector)
-translate!(::AbstractZonotope, ::AbstractVector)
 split(::AbstractZonotope, ::Int)
 split(::AbstractZonotope, ::AbstractVector{Int}, ::AbstractVector{Int})
 constraints_list(::AbstractZonotope)

docs/src/lib/sets/Ball1.md

@@ -13,7 +13,6 @@ center(::Ball1)
 vertices_list(::Ball1)
 rand(::Type{Ball1})
 constraints_list(::Ball1)
-translate(::Ball1, ::AbstractVector)
 translate!(::Ball1, ::AbstractVector)
 reflect(::Ball1)
 ```
@@ -28,6 +27,7 @@ Inherited from [`LazySet`](@ref):
 * [`low`](@ref low(::LazySet))
 * [`high`](@ref high(::LazySet))
 * [`linear_map`](@ref linear_map(::AbstractMatrix, ::LazySet)
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))
 
 Inherited from [`AbstractPolytope`](@ref):
 * [`isbounded`](@ref isbounded(::AbstractPolytope))

docs/src/lib/sets/Ball2.md

@@ -12,7 +12,6 @@ center(::Ball2)
 ∈(::AbstractVector, ::Ball2)
 rand(::Type{Ball2})
 sample(::Ball2{N}, ::Int) where {N}
-translate(::Ball2, ::AbstractVector)
 translate!(::Ball2, ::AbstractVector)
 chebyshev_center_radius(::Ball2)
 volume(::Ball2)
@@ -25,6 +24,7 @@ Inherited from [`LazySet`](@ref):
 * [`rectify`](@ref rectify(::LazySet))
 * [`low`](@ref low(::LazySet))
 * [`high`](@ref high(::LazySet))
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))
 
 Inherited from [`AbstractCentrallySymmetric`](@ref):
 * [`dim`](@ref dim(::AbstractCentrallySymmetric))

docs/src/lib/sets/BallInf.md

@@ -14,7 +14,6 @@ isflat(::BallInf)
 rand(::Type{BallInf})
 σ(::AbstractVector, ::BallInf)
 ρ(::AbstractVector, ::BallInf)
-translate(::BallInf, ::AbstractVector)
 translate!(::BallInf, ::AbstractVector)
 ngens(::BallInf)
 volume(::BallInf)
@@ -24,6 +23,7 @@ Inherited from [`LazySet`](@ref):
 * [`diameter`](@ref diameter(::LazySet, ::Real))
 * [`singleton_list`](@ref singleton_list(::LazySet))
 * [`area`](@ref area(::LazySet))
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))
 
 Inherited from [`AbstractPolytope`](@ref):
 * [`isbounded`](@ref isbounded(::AbstractPolytope))

docs/src/lib/sets/Ballp.md

@@ -8,7 +8,6 @@ CurrentModule = LazySets
 Ballp
 center(::Ballp)
 rand(::Type{Ballp})
-translate(::Ballp, ::AbstractVector)
 translate!(::Ballp, ::AbstractVector)
 reflect(::Ballp)
 ```
@@ -19,6 +18,7 @@ Inherited from [`LazySet`](@ref):
 * [`rectify`](@ref rectify(::LazySet))
 * [`low`](@ref low(::LazySet))
 * [`high`](@ref high(::LazySet))
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))
 
 Inherited from [`AbstractCentrallySymmetric`](@ref):
 * [`dim`](@ref dim(::AbstractCentrallySymmetric))

docs/src/lib/sets/Ellipsoid.md

@@ -12,7 +12,6 @@ shape_matrix(::Ellipsoid)
 σ(::AbstractVector, ::Ellipsoid)
 ∈(::AbstractVector, ::Ellipsoid)
 rand(::Type{Ellipsoid})
-translate(::Ellipsoid, ::AbstractVector)
 translate!(::Ellipsoid, ::AbstractVector)
 linear_map(::AbstractMatrix, ::Ellipsoid)
 ```
@@ -23,6 +22,7 @@ Inherited from [`LazySet`](@ref):
 * [`rectify`](@ref rectify(::LazySet))
 * [`low`](@ref low(::LazySet))
 * [`high`](@ref high(::LazySet))
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))
 
 Inherited from [`AbstractCentrallySymmetric`](@ref):
 * [`dim`](@ref dim(::AbstractCentrallySymmetric))

docs/src/lib/sets/Line.md

@@ -17,7 +17,6 @@ isbounded(::Line)
 isuniversal(::Line; ::Bool=false)
 isempty(::Line)
 constraints_list(::Line)
-translate(::Line, ::AbstractVector)
 translate!(::Line, ::AbstractVector)
 normalize(::Line{N}, ::Real=N(2)) where{N}
 normalize!(::Line{N}, ::Real=N(2)) where{N}
@@ -33,3 +32,4 @@ Inherited from [`LazySet`](@ref):
 * [`low`](@ref low(::LazySet, ::Int))
 * [`high`](@ref high(::LazySet, ::Int))
 * [`reflect`](@ref reflect(::LazySet))
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))

docs/src/lib/sets/Singleton.md

@@ -8,7 +8,6 @@ CurrentModule = LazySets
 Singleton
 rand(::Type{Singleton})
 element(::Singleton)
-translate(::Singleton, ::AbstractVector)
 translate!(::Singleton, ::AbstractVector)
 rectify(S::Singleton)
 project(::Singleton, ::AbstractVector{Int})
@@ -18,6 +17,7 @@ linear_map(::AbstractMatrix, ::Singleton)
 ```
 Inherited from [`LazySet`](@ref):
 * [`diameter`](@ref diameter(::LazySet, ::Real))
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))
 
 Inherited from [`AbstractPolytope`](@ref):
 * [`isbounded`](@ref isbounded(::AbstractPolytope))

docs/src/lib/sets/Zonotope.md

@@ -19,6 +19,7 @@ remove_zero_generators(::Zonotope)
 linear_map!(::Zonotope, ::AbstractMatrix, ::Zonotope)
 LazySets._bound_intersect_2D(::Zonotope, ::Line2D)
 remove_redundant_generators(Z::Zonotope{N}) where {N}
+translate!(::Zonotope, ::AbstractVector)
 ```
 Inherited from [`LazySet`](@ref):
 * [`high`](@ref high(::LazySet))
@@ -27,6 +28,7 @@ Inherited from [`LazySet`](@ref):
 * [`radius`](@ref radius(::LazySet, ::Real))
 * [`diameter`](@ref diameter(::LazySet, ::Real))
 * [`singleton_list`](@ref singleton_list(::LazySet))
+* [`translate`](@ref translate(::LazySet, ::AbstractVector))
 
 Inherited from [`AbstractPolytope`](@ref):
 * [`isbounded`](@ref isbounded(::AbstractPolytope))
@@ -43,8 +45,6 @@ Inherited from [`AbstractZonotope`](@ref):
 * [`σ`](@ref σ(::AbstractVector, ::AbstractZonotope))
 * [`∈`](@ref ∈(::AbstractVector, ::AbstractZonotope))
 * [`linear_map`](@ref linear_map(::AbstractMatrix, ::AbstractZonotope))
-* [`translate`](@ref translate(::AbstractZonotope, ::AbstractVector))
-* [`translate!`](@ref translate!(::AbstractZonotope, ::AbstractVector))
 * [`split`](@ref split(::AbstractZonotope, ::Int))
 * [`split`](@ref split(::AbstractZonotope, ::AbstractVector{Int}, ::AbstractVector{Int}))
 * [`constraints_list`](@ref constraints_list(::AbstractZonotope))

src/Interfaces/AbstractZonotope.jl

@@ -333,60 +333,6 @@ function _linear_map_zonotope_nD(M::AbstractMatrix, Z::LazySet)
     return Zonotope(c, gi)
 end
 
-"""
-    translate(Z::AbstractZonotope, v::AbstractVector)
-
-Translate (i.e., shift) a zonotopic set by a given vector.
-
-### Input
-
-- `Z` -- zonotopic set
-- `v` -- translation vector
-
-### Output
-
-A translated zonotopic set.
-
-### Notes
-
-See also [`translate!(Z::AbstractZonotope, v::AbstractVector)`](@ref) for the
-in-place version.
-"""
-function translate(Z::AbstractZonotope, v::AbstractVector)
-    return translate!(copy(Z), v)
-end
-
-"""
-    translate!(Z::AbstractZonotope, v::AbstractVector)
-
-Translate (i.e., shift) a zonotopic set by a given vector in-place.
-
-### Input
-
-- `Z` -- zonotopic set
-- `v` -- translation vector
-
-### Output
-
-A translated zonotopic set.
-
-### Notes
-
-See also [`translate(Z::AbstractZonotope, v::AbstractVector)`](@ref) for the
-out-of-place version.
-
-### Algorithm
-
-We add the translation vector to the center of the zonotopic set.
-"""
-function translate!(Z::AbstractZonotope, v::AbstractVector)
-    @assert length(v) == dim(Z) "cannot translate a $(dim(Z))-dimensional " *
-                                "set by a $(length(v))-dimensional vector"
-    c = center(Z)
-    c .+= v
-    return Z
-end
-
 """
     vertices_list(Z::AbstractZonotope; [apply_convex_hull]::Bool=true)
 

src/Sets/Ball1.jl

@@ -308,28 +308,6 @@ function constraints_list(B::Ball1)
     return clist
 end
 
-"""
-    translate(B::Ball1, v::AbstractVector)
-
-Translate (i.e., shift) a ball in the 1-norm by the given vector.
-
-### Input
-
-- `B` -- ball in the 1-norm
-- `v` -- translation vector
-
-### Output
-
-The translated ball in the 1-norm.
-
-### Notes
-
-See also [`translate!(::Ball1, ::AbstractVector)`](@ref) for the in-place version.
-"""
-function translate(B::Ball1, v::AbstractVector)
-    return translate!(copy(B), v)
-end
-
 """
     translate!(B::Ball1, v::AbstractVector)
 

src/Sets/Ball2.jl

@@ -241,29 +241,6 @@ function rand(::Type{Ball2};
     return Ball2(center, radius)
 end
 
-"""
-    translate(B::Ball2, v::AbstractVector)
-
-Translate (i.e., shift) a ball in the 2-norm by the given vector.
-
-### Input
-
-- `B` -- ball in the 2-norm
-- `v` -- translation vector
-
-### Output
-
-A translated ball in the 2-norm.
-
-### Notes
-
-See also [`translate!(::Ball2, ::AbstractVector)`](@ref) for the in-place
-version.
-"""
-function translate(B::Ball2, v::AbstractVector)
-    return translate!(copy(B), v)
-end
-
 """
     translate!(B::Ball2, v::AbstractVector)
 

src/Sets/BallInf.jl

@@ -324,29 +324,6 @@ function rand(::Type{BallInf};
     return BallInf(center, radius)
 end
 
-"""
-    translate(B::BallInf, v::AbstractVector)
-
-Translate (i.e., shift) a ball in the infinity norm by a given vector.
-
-### Input
-
-- `B` -- ball in the infinity norm
-- `v` -- translation vector
-
-### Output
-
-A translated ball in the infinity norm.
-
-### Notes
-
-See also [`translate!(::BallInf, ::AbstractVector)`](@ref) for the in-place
-version.
-"""
-function translate(B::BallInf, v::AbstractVector)
-    return translate!(copy(B), v)
-end
-
 """
     translate!(B::BallInf, v::AbstractVector)
 

src/Sets/Ballp.jl

@@ -137,29 +137,6 @@ function rand(::Type{Ballp};
     return Ballp(p, center, radius)
 end
 
-"""
-    translate(B::Ballp, v::AbstractVector)
-
-Translate (i.e., shift) a ball in the p-norm by a given vector.
-
-### Input
-
-- `B` -- ball in the p-norm
-- `v` -- translation vector
-
-### Output
-
-A translated ball in the p- norm.
-
-### Notes
-
-See also [`translate!(::Ballp, ::AbstractVector)`](@ref) for the in-place
-version.
-"""
-function translate(B::Ballp, v::AbstractVector)
-    return translate!(copy(B), v)
-end
-
 """
     translate!(B::Ballp, v::AbstractVector)
 

src/Sets/Ellipsoid.jl

@@ -307,29 +307,6 @@ function rand(::Type{Ellipsoid};
     return Ellipsoid(center, shape_matrix)
 end
 
-"""
-    translate(E::Ellipsoid, v::AbstractVector)
-
-Translate (i.e., shift) an ellipsoid by a given vector.
-
-### Input
-
-- `E` -- ellipsoid
-- `v` -- translation vector
-
-### Output
-
-A translated ellipsoid.
-
-### Notes
-
-See also [`translate!(::Ellipsoid, ::AbstractVector)`](@ref) for the in-place
-version.
-"""
-function translate(E::Ellipsoid, v::AbstractVector)
-    return translate!(copy(E), v)
-end
-
 """
     translate!(E::Ellipsoid, v::AbstractVector)
 

src/Sets/EmptySet.jl

@@ -339,7 +339,7 @@ Translate (i.e., shift) an empty set by a given vector.
 The empty set.
 """
 function translate(∅::EmptySet, v::AbstractVector)
-    return translate!(∅, v)
+    return translate!(∅, v)  # no need to copy
 end
 
 function translate!(∅::EmptySet, v::AbstractVector)

src/Sets/Hyperrectangle.jl

@@ -294,3 +294,10 @@ function scale!(α::Real, H::Hyperrectangle)
     H.radius .*= abs(α)
     return H
 end
+
+function translate!(H::Hyperrectangle, v::AbstractVector)
+    @assert length(v) == dim(H) "cannot translate a $(dim(H))-dimensional " *
+                                "set by a $(length(v))-dimensional vector"
+    H.center .+= v
+    return H
+end