#include <polytope.h>

Inheritance diagram for irafhy::Polytope:

Collaboration diagram for irafhy::Polytope:

Public Member Functions
	Polytope ()
	constructor More...

	Polytope (const Polytope &polytope)=default
	copy constructor More...

	Polytope (Polytope &&polytope) noexcept=default
	move constructor More...

	Polytope (const std::vector< Point > &points)
	constructor with given points More...

	Polytope (const std::vector< HalfSpace > &halfSpaces)
	constructor with given half spaces More...

	Polytope (const std::vector< capd::interval > &constraints)
	constructor with given interval constraints More...

	Polytope (const capd::C0Rect2Set &set)
	constructor with given state set More...

	Polytope (const Point &center, double radius)
	constructor with given center and related radius More...

	Polytope (const Eigen::VectorXd &center, double radius)
	constructor with given coordinate of the center and related radius More...

	~Polytope () override=default
	destructor More...

std::vector< Point >	pointConstraints () const
	get the extreme vertices of the polytope More...

std::vector< HalfSpace >	halfSpaceConstraints () const
	get the half space constraints of the polytope More...

Point	centroid () const
	get the centroid of the polytope More...

std::vector< capd::interval >	constraints () const
	get the variance constraints of all dimensions More...

bool	empty () const override
	check if the polytope is empty or not More...

int	dimension () const override
	get the dimension of the space which the polytope in More...

double	volume () const
	get the volume of the polytope More...

bool	intersect (const Polytope &rhs, Polytope &result) const override
	check if the current polytope intersect with the given right hand side one or not More...

Polytope	unite (const Polytope &rhs) const override
	get the union of the current polytope and the given right hand side one More...

bool	contains (const Point &point) const override
	check if the given point inside the domain which defined by the current polytope or not More...

bool	contains (const Eigen::VectorXd &coordinate) const override
	check if the given coordinate inside the domain which defined by the current polytope or not More...

Polytope &	operator= (const Polytope &rhs)=default
	assignment operator More...

Polytope &	operator= (Polytope &&rhs) noexcept=default
	assignment operator More...

Public Member Functions inherited from irafhy::Geometry< Polytope >
virtual	~Geometry ()=default
	destructor More...

Static Public Member Functions
static Polytope	Empty (std::size_t dimension=0)
	static constructor of Empty polytope More...

Private Member Functions
	Polytope (const std::vector< Point > &pointConstraints, const std::vector< HalfSpace > &halfSpaceConstraints, double volume, int dimension)
	constructor with given constraints and related information More...

void	init (const convexConstraints &constraints)
	initialize the polytope with given convex hull More...

std::vector< Point >	verticesEnumerationDualPly (const std::vector< HalfSpace > &halfSpaces)
	enumerate vertices using dual polytope method More...

std::vector< Point >	verticesEnumerationIntersect (const std::vector< HalfSpace > &halfSpaces)
	enumerate vertices using intersection computation More...

std::vector< Point >	verticesEnumeration (const std::vector< capd::interval > &constraints)
	enumerate extreme vertices with given constraints in interval form More...

std::vector< Point >	verticesEnumeration (const Eigen::VectorXd &center, double radius)
	enumerate extreme vertices with given center coordinate and related radius More...

Private Attributes
std::vector< Point >	pointConstraints_
	point constraints which define the convex hull entity More...

std::vector< HalfSpace >	halfSpaceConstraints_
	half spaces constraints which define the convex hull entity More...

double	volume_ = 0.0
	volume of the convex hull More...

int	dimension_ = 0
	dimension of the space which current convex hull in More...

Constructor & Destructor Documentation

◆ Polytope() [1/10]

irafhy::Polytope::Polytope	(	const std::vector< Point > &	pointConstraints,
		const std::vector< HalfSpace > &	halfSpaceConstraints,
		double	volume,
		int	dimension
	)

private

constructor with given constraints and related information

Parameters

pointConstraints	point constraints of the convex hull entity
halfSpaceConstraints	half spaces constraints of the convex hull entity
volume	volume of the convex hull
dimension	dimension of the space which the polytope in

References dimension(), dimension_, halfSpaceConstraints(), halfSpaceConstraints_, pointConstraints(), pointConstraints_, volume(), and volume_.

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◆ Polytope() [2/10]

irafhy::Polytope::Polytope ( )

constructor

References dimension_, halfSpaceConstraints_, pointConstraints_, and volume_.

Referenced by Empty(), intersect(), and unite().

◆ Polytope() [3/10]

irafhy::Polytope::Polytope ( const Polytope & polytope )

default

copy constructor

Parameters

polytope given polytope

◆ Polytope() [4/10]

irafhy::Polytope::Polytope ( Polytope && polytope )

defaultnoexcept

move constructor

Parameters

polytope given polytope

◆ Polytope() [5/10]

irafhy::Polytope::Polytope ( const std::vector< Point > & points )

explicit

constructor with given points

Parameters

points given points

References irafhy::ConvexHull::constraints(), dimension_, halfSpaceConstraints_, init(), pointConstraints_, and volume_.

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◆ Polytope() [6/10]

irafhy::Polytope::Polytope ( const std::vector< HalfSpace > & halfSpaces )

explicit

constructor with given half spaces

Parameters

halfSpaces given half spaces

References irafhy::ConvexHull::constraints(), dimension(), dimension_, halfSpaceConstraints_, init(), pointConstraints_, verticesEnumerationIntersect(), and volume_.

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◆ Polytope() [7/10]

irafhy::Polytope::Polytope ( const std::vector< capd::interval > & constraints )

explicit

constructor with given interval constraints

Parameters

constraints given interval constraints

References irafhy::ConvexHull::constraints(), dimension_, halfSpaceConstraints_, init(), pointConstraints_, verticesEnumeration(), and volume_.

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◆ Polytope() [8/10]

irafhy::Polytope::Polytope ( const capd::C0Rect2Set & set )

explicit

constructor with given state set

Parameters

set	given state set

References dimension(), dimension_, halfSpaceConstraints_, pointConstraints_, and volume_.

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◆ Polytope() [9/10]

irafhy::Polytope::Polytope	(	const Point &	center,
		double	radius
	)

constructor with given center and related radius

Parameters

center	center of the polytope
radius	radius which defines the variance of each dimension

References irafhy::ConvexHull::constraints(), irafhy::Point::coordinate(), init(), and verticesEnumeration().

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◆ Polytope() [10/10]

irafhy::Polytope::Polytope	(	const Eigen::VectorXd &	center,
		double	radius
	)

constructor with given coordinate of the center and related radius

Parameters

center	coordinate of the center of the polytope
radius	radius which defines the variance of each dimension

References irafhy::ConvexHull::constraints(), init(), and verticesEnumeration().

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◆ ~Polytope()

irafhy::Polytope::~Polytope ( )

overridedefault

destructor

Member Function Documentation

◆ centroid()

Point irafhy::Polytope::centroid ( ) const

get the centroid of the polytope

Returns: the centroid of the polytope in Point form

References pointConstraints_.

◆ constraints()

std::vector< capd::interval > irafhy::Polytope::constraints ( ) const

get the variance constraints of all dimensions

Returns: variance constraints in interval vector form

References dimension_, and pointConstraints_.

Referenced by irafhy::CSPSolver::branchPruneSolve().

◆ contains() [1/2]

bool irafhy::Polytope::contains ( const Point & point ) const

overridevirtual

check if the given point inside the domain which defined by the current polytope or not

Parameters

point given point

Returns: TRUE if the given point inside the domain which defined by the current polytope

Implements irafhy::Geometry< Polytope >.

References halfSpaceConstraints_.

Referenced by intersect().

◆ contains() [2/2]

bool irafhy::Polytope::contains ( const Eigen::VectorXd & coordinate ) const

overridevirtual

check if the given coordinate inside the domain which defined by the current polytope or not

Parameters

coordinate given coordinate

Returns: TRUE if the given coordinate inside the domain which defined by the current polytope

Implements irafhy::Geometry< Polytope >.

References halfSpaceConstraints_.

◆ dimension()

int irafhy::Polytope::dimension ( ) const

overridevirtual

get the dimension of the space which the polytope in

Returns: the dimension of the space which the polytope in

Implements irafhy::Geometry< Polytope >.

References dimension_.

Referenced by irafhy::CSPSolver::branchPruneSolve(), Empty(), irafhy::operator<<(), Polytope(), verticesEnumerationDualPly(), and verticesEnumerationIntersect().

◆ Empty()

Polytope irafhy::Polytope::Empty ( std::size_t dimension = 0 )

static

static constructor of Empty polytope

Parameters

dimension dimension of the space which the polytope in

Returns: resulting Empty polytope

References dimension(), irafhy::HalfSpace::Empty(), Polytope(), and irafhy::Point::zero().

Referenced by irafhy::Condition::Empty(), and intersect().

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◆ empty()

bool irafhy::Polytope::empty ( ) const

overridevirtual

check if the polytope is empty or not

Returns: TRUE if the polytope has zero volume or empty convex hull constraints

Implements irafhy::Geometry< Polytope >.

References halfSpaceConstraints_, pointConstraints_, and volume_.

Referenced by irafhy::CSPSolver::branchPruneSolve(), and intersect().

◆ halfSpaceConstraints()

std::vector< HalfSpace > irafhy::Polytope::halfSpaceConstraints ( ) const

get the half space constraints of the polytope

Returns: half space constraints of the polytope

References halfSpaceConstraints_.

Referenced by irafhy::CSPSolver::branchPruneSolve(), intersect(), irafhy::operator<<(), and Polytope().

◆ init()

void irafhy::Polytope::init ( const convexConstraints & constraints )

private

initialize the polytope with given convex hull

Parameters

constraints

References irafhy::convexConstraints::dimension(), dimension_, irafhy::convexConstraints::halfSpaceConstraints(), halfSpaceConstraints_, irafhy::convexConstraints::pointConstraints(), pointConstraints_, irafhy::convexConstraints::volume(), and volume_.

Referenced by Polytope().

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◆ intersect()

bool irafhy::Polytope::intersect	(	const Polytope &	rhs,
		Polytope &	result
	)		const

overridevirtual

check if the current polytope intersect with the given right hand side one or not

Parameters

rhs	right hand side polytope
result	intersection of two polytope if exist

Returns: TRUE if the intersection of two polytope isn't empty

Implements irafhy::Geometry< Polytope >.

References contains(), dimension_, Empty(), empty(), halfSpaceConstraints(), halfSpaceConstraints_, pointConstraints(), pointConstraints_, and Polytope().

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◆ operator=() [1/2]

Polytope& irafhy::Polytope::operator= ( const Polytope & rhs )

default

assignment operator

Parameters

rhs	right hand side polytope

Returns: resulting polytope

◆ operator=() [2/2]

Polytope& irafhy::Polytope::operator= ( Polytope && rhs )

defaultnoexcept

assignment operator

Parameters

rhs	right hand side polytope

Returns: resulting polytope

◆ pointConstraints()

std::vector< Point > irafhy::Polytope::pointConstraints ( ) const

get the extreme vertices of the polytope

Returns: extreme vertices of the polytope

References pointConstraints_.

Referenced by intersect(), irafhy::operator<<(), Polytope(), and unite().

◆ unite()

Polytope irafhy::Polytope::unite ( const Polytope & rhs ) const

overridevirtual

get the union of the current polytope and the given right hand side one

Parameters

rhs	right hand side polytope

Returns: resulting union of two polytope

Implements irafhy::Geometry< Polytope >.

References pointConstraints(), and Polytope().

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◆ verticesEnumeration() [1/2]

std::vector< Point > irafhy::Polytope::verticesEnumeration ( const std::vector< capd::interval > & constraints )

private

enumerate extreme vertices with given constraints in interval form

Parameters

constraints given space constraints

Returns: resulting extreme vertices of the target domain defined by the given constraints

Referenced by Polytope().

◆ verticesEnumeration() [2/2]

std::vector< Point > irafhy::Polytope::verticesEnumeration	(	const Eigen::VectorXd &	center,
		double	radius
	)

private

enumerate extreme vertices with given center coordinate and related radius

Parameters

center	coordinate of the target domain
radius	given radius

Returns: resulting extreme vertices of the target domain defined by the given center and related radius

◆ verticesEnumerationDualPly()

std::vector< Point > irafhy::Polytope::verticesEnumerationDualPly ( const std::vector< HalfSpace > & halfSpaces )

private

enumerate vertices using dual polytope method

Parameters

halfSpaces given half spaces

Returns: resulting extreme vertices of the target domain defined by the given half spaces

References irafhy::ConvexHull::constraints(), dimension(), and irafhy::convexConstraints::faceVerticesIdx().

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◆ verticesEnumerationIntersect()

std::vector< Point > irafhy::Polytope::verticesEnumerationIntersect ( const std::vector< HalfSpace > & halfSpaces )

private

enumerate vertices using intersection computation

Parameters

halfSpaces given half spaces

Returns: resulting extreme vertices of the target domain defined by the given half spaces

References dimension(), and matplotlibcpp::fill().

Referenced by Polytope().

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◆ volume()

double irafhy::Polytope::volume ( ) const

get the volume of the polytope

Returns: the volume of the polytope

References volume_.

Referenced by irafhy::operator<<(), and Polytope().

Member Data Documentation

◆ dimension_

int irafhy::Polytope::dimension_ = 0

private

dimension of the space which current convex hull in

Referenced by constraints(), dimension(), init(), intersect(), and Polytope().

◆ halfSpaceConstraints_

std::vector<HalfSpace> irafhy::Polytope::halfSpaceConstraints_

private

half spaces constraints which define the convex hull entity

Referenced by contains(), empty(), halfSpaceConstraints(), init(), intersect(), and Polytope().

◆ pointConstraints_

std::vector<Point> irafhy::Polytope::pointConstraints_

private

point constraints which define the convex hull entity

Referenced by centroid(), constraints(), empty(), init(), intersect(), pointConstraints(), and Polytope().

◆ volume_

double irafhy::Polytope::volume_ = 0.0

private

volume of the convex hull

Referenced by empty(), init(), Polytope(), and volume().

The documentation for this class was generated from the following files:

/home/jianqiang/CLionProjects/irafhy/include/irafhy/representation/geometric/polytope.h
/home/jianqiang/CLionProjects/irafhy/src/representation/geometric/polytope.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ Polytope() [1/10]

◆ Polytope() [2/10]

◆ Polytope() [3/10]

◆ Polytope() [4/10]

◆ Polytope() [5/10]

◆ Polytope() [6/10]

◆ Polytope() [7/10]

◆ Polytope() [8/10]

◆ Polytope() [9/10]

◆ Polytope() [10/10]

◆ ~Polytope()

Member Function Documentation

◆ centroid()

◆ constraints()

◆ contains() [1/2]

◆ contains() [2/2]

◆ dimension()

◆ Empty()

◆ empty()

◆ halfSpaceConstraints()

◆ init()

◆ intersect()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pointConstraints()

◆ unite()

◆ verticesEnumeration() [1/2]

◆ verticesEnumeration() [2/2]

◆ verticesEnumerationDualPly()

◆ verticesEnumerationIntersect()

◆ volume()

Member Data Documentation

◆ dimension_

◆ halfSpaceConstraints_

◆ pointConstraints_

◆ volume_