added constraints_list for CartesianProduct

src/CartesianProduct.jl

@@ -151,6 +151,23 @@ function ∈(x::AbstractVector{<:Real}, cp::CartesianProduct)::Bool
            ∈(view(x, n1+1:length(x)), cp.Y)
 end
 
+"""
+    constraints_list(cp::CartesianProduct{N, <:AbstractPolytope})::Vector{LinearConstraint{N}} where N<:Real
+
+Return the list of constraints of a (polytopic) Cartesian product.
+
+### Input
+
+- `cp` -- Cartesian product
+
+### Output
+
+A list of constraints.
+"""
+function constraints_list(cp::CartesianProduct{N, <:AbstractPolytope})::Vector{LinearConstraint{N}} where N<:Real
+    return constraints_list(CartesianProductArray([cp.X, cp.Y]))
+end
+
 """
     vertices_list(cp::CartesianProduct{N})::Vector{Vector{N}} where N<:Real
 
@@ -353,6 +370,40 @@ function ∈(x::AbstractVector{N}, cpa::CartesianProductArray{N, <:LazySet{N}}
     return true
 end
 
+"""
+    constraints_list(cpa::CartesianProductArray{N, <:AbstractPolytope})::Vector{LinearConstraint{N}} where N<:Real
+
+Return the list of constraints of a (polytopic) Cartesian product.
+
+### Input
+
+- `cpa` -- Cartesian product
+
+### Output
+
+A list of constraints.
+"""
+function constraints_list(cpa::CartesianProductArray{N, <:AbstractPolytope})::Vector{LinearConstraint{N}} where N<:Real
+    c_array = array(cpa)
+    clist = Vector{LinearConstraint{N}}()
+    sizehint!(clist, sum(dim(s_low) for s_low in c_array))
+    prev_step = 1
+    # create high-dimensional constraints list
+    for c_low in c_array
+        c_low_list = constraints_list(c_low)
+        if !isempty(c_low_list)
+            indices = prev_step : (dim(c_low_list[1]) + prev_step - 1)
+        end
+        for constr in c_low_list
+            new_constr = LinearConstraint(sparsevec(indices, constr.a), constr.b)
+            push!(clist, new_constr)
+        end
+        prev_step += dim(c_low_list[1])
+    end
+
+    return clist
+end
+
 """
     vertices_list(cpa::CartesianProductArray{N})::Vector{Vector{N}} where N<:Real