Move back vertices_list helper function from ZonotopeModule

src/Interfaces/AbstractZonotope.jl

@@ -505,6 +505,41 @@ function _vertices_list_zonotope_2D_order_one(c::VN, G::MN;
     return apply_convex_hull ? _four_points_2d!(vlist) : vlist
 end
 
+# TODO this function is currently not used
+function _vertices_list_2D(c::AbstractVector{N}, G::AbstractMatrix{N};
+                           apply_convex_hull::Bool) where {N}
+    if apply_convex_hull
+        return _vertices_list_zonotope_iterative(c, G; apply_convex_hull=apply_convex_hull)
+    end
+
+    angles = mapslices(_angles, G; dims=1)[1, :]
+    perm = sortperm(angles)
+    sorted_angles = angles[perm]
+    sorted_G = G[:, perm]
+    polygons = Vector{VPolygon{N}}()
+    sizehint!(polygons, 4)
+
+    @inbounds for i in zip(0:90:360, 90:90:360)
+        index = i[1] .<= sorted_angles .< i[2]
+        if sum(index) > 0
+            push!(polygons, _single_quadrant_vertices_enum(sorted_G[:, index], true))
+        end
+    end
+
+    return vertices_list(translate(reduce(minkowski_sum, polygons), c))
+end
+
+@inline function _angles(point::AbstractVector{N}) where {N}
+    return (atand(point[2], point[1]) + 360) % 360
+end
+
+function _single_quadrant_vertices_enum(G::AbstractMatrix{N}, sorted::Bool=false) where {N}
+    if !sorted
+        G = sortslices(G; dims=2, by=_angles)
+    end
+    return VPolygon(2 * cumsum(hcat(G, -G); dims=2) .- sum(G; dims=2))
+end
+
 """
     constraints_list(P::AbstractZonotope)
 

src/Sets/Zonotope/ZonotopeModule.jl

@@ -2,16 +2,15 @@ module ZonotopeModule
 
 using Reexport, Requires
 
-using ..LazySets: AbstractZonotope, generators_fallback,
-                  _vertices_list_zonotope_iterative
+using ..LazySets: AbstractZonotope, generators_fallback
 using LinearAlgebra: mul!
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Arrays: ismultiple, remove_zero_columns, to_matrix,
                                vector_type
 using ReachabilityBase.Distribution: reseed!
 using ReachabilityBase.Require: require
 
-@reexport import ..API: center, high, isoperationtype, low, rand, vertices_list,
+@reexport import ..API: center, high, isoperationtype, low, rand,
                         permute, scale!, translate!
 @reexport import ..LazySets: generators, genmat, ngens, reduce_order,
                              remove_redundant_generators, togrep
@@ -30,7 +29,6 @@ include("high.jl")
 include("isoperationtype.jl")
 include("low.jl")
 include("rand.jl")
-include("vertices_list.jl")
 include("linear_map.jl")
 include("permute.jl")
 include("scale.jl")

test/Sets/Zonotope.jl

@@ -352,9 +352,9 @@ for N in [Float64]
     @test length(vlistZ) == 6
     @test ispermutation(vlistZ, [N[-2, -2], N[0, -2], N[2, 0], N[2, 2], N[0, 2], N[-2, 0]])
     c, G = Z.center, Z.generators
-    vlist2 = LazySets.ZonotopeModule._vertices_list_2D(c, G; apply_convex_hull=true)
+    vlist2 = LazySets._vertices_list_2D(c, G; apply_convex_hull=true)
     @test ispermutation(vlistZ, vlist2)
-    vlist3 = LazySets.ZonotopeModule._vertices_list_2D(c, G; apply_convex_hull=false)
+    vlist3 = LazySets._vertices_list_2D(c, G; apply_convex_hull=false)
     @test ispermutation(vlistZ, vlist3)
 
     # test 3d zonotope vertex enumeration