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#3631 - Support VPolygon constructor from SMatrix #3632

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Aug 8, 2024
Merged

#3631 - Support VPolygon constructor from SMatrix #3632

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1 change: 1 addition & 0 deletions src/Initialization/init_StaticArraysCore.jl
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Expand Up @@ -2,3 +2,4 @@ using StaticArraysCore: SMatrix, SVector, MMatrix, MVector

eval(load_genmat_2D_static())
eval(load_reduce_order_static())
eval(load_StaticArraysCore_to_colVector())
2 changes: 1 addition & 1 deletion src/Sets/VPolygon/VPolygon.jl
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Expand Up @@ -75,7 +75,7 @@ function VPolygon(vertices_matrix::MT; apply_convex_hull::Bool=true,
@assert size(vertices_matrix, 1) == 2 "the number of rows of the matrix " *
"of vertices should be 2, but it is $(size(vertices_matrix, 1))"

vertices = [vertices_matrix[:, j] for j in axes(vertices_matrix, 2)]
vertices = _to_colVector(vertices_matrix)
return VPolygon(vertices; apply_convex_hull=apply_convex_hull,
algorithm=algorithm)
end
2 changes: 1 addition & 1 deletion src/Sets/VPolygon/VPolygonModule.jl
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Expand Up @@ -4,7 +4,7 @@ using Reexport, Requires

using ..LazySets: AbstractPolygon, LazySet, AbstractHPolygon, halfspace_left,
is_right_turn, _area_vlist, _intersection_vrep_2d,
_linear_map_vrep, _minkowski_sum_vrep_2d
_linear_map_vrep, _minkowski_sum_vrep_2d, _to_colVector
using ..HPolygonModule: HPolygon
using LinearAlgebra: dot
using Random: AbstractRNG, GLOBAL_RNG, shuffle
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9 changes: 9 additions & 0 deletions src/Utils/helper_functions.jl
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Expand Up @@ -274,3 +274,12 @@ function _intersection_line2d end
function _minkowski_sum_hrep_preprocess end
function _minkowski_sum_vrep_2d end
function _minkowski_sum_vrep_nd end

_to_colVector(M::AbstractMatrix) = convert(Vector, [M[:, j] for j in axes(M, 2)])
_to_colVector(M::Matrix) = [M[:, j] for j in axes(M, 2)]

function load_StaticArraysCore_to_colVector()
return quote
_to_colVector(M::SMatrix) = collect(eachcol(M))
end
end # load_StaticArraysCore_to_colVector()
13 changes: 13 additions & 0 deletions test/Sets/Polygon.jl
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Expand Up @@ -505,6 +505,19 @@ for N in [Float64, Float32, Rational{Int}]
@test area(P) == volume(P) == N(21)
Q = tohrep(P)
@test area(Q) == volume(Q) == N(21)

# Matrix to VPolygon
M = N[0 1 0; 0 0 1]
Vs = [N[0, 0], N[1, 0], N[0, 1]]
P = VPolygon(M)
@test P == VPolygon(Vs)
@test eltype(P.vertices) == eltype(Vs)
# StaticArraysCore.SMatrix to VPolygon
M = @SMatrix N[0 1 0; 0 0 1]
Vs = [@SVector[N(0), N(0)], @SVector[N(1), N(0)], @SVector[N(0), N(1)]]
Q = VPolygon(M)
@test Q == VPolygon(Vs) == P
@test eltype(Q.vertices) == eltype(Vs)
end

for N in [Float64, Float32]
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