|
|
lucid
0.0.1
Lifting-based Uncertain Control Invariant Dynamics
|
Multidimensional sphere set. More...
#include <SphereSet.h>
Public Member Functions | |
| SphereSet (ConstVectorRef center, Scalar radius) | |
Construct a sphere set from a center and a radius. | |
| Dimension | dimension () const override |
| Get read-only access to the dimension of the set \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| Matrix | sample (Index num_samples) const override |
| Extract \( N \) elements from \( \texttip{\mathcal{X}}{Polish sample vector space} \) using some kind of random distribution. | |
| bool | operator() (ConstVectorRef x) const override |
| Check if a vector is in \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| Matrix | lattice (const VectorI &points_per_dim, bool endpoint) const override |
| Generate a lattice of points in the set. | |
| const Vector & | center () const |
| Get read-only access to the center of the sphere set. | |
| Scalar | radius () const |
| Get read-only access to the radius of the sphere set. | |
| void | change_size (ConstVectorRef delta_size) override |
| Change the size of the set. | |
| Vector | general_lower_bound () const override |
| Get read-only access to the lower bound of the smallest rectangular set including the whole set. | |
| Vector | general_upper_bound () const override |
| Get read-only access to the upper bound of the smallest rectangular set including the whole set. | |
| std::unique_ptr< Set > | to_rect_set () const override |
| Convert the set to a rectangular set. | |
| std::string | to_string () const override |
| Obtain the string representation of this object. | |
| std::unique_ptr< Set > | clone () const override |
| Clone the set. | |
| std::unique_ptr< Set > | to_anisotropic () const override |
| Create a new anisotropic set. | |
Public Member Functions inherited from lucid::Set | |
| Vector | sample () const |
| Extract an element from \( \texttip{\mathcal{X}}{Polish sample vector space} \) using some kind of random distribution. | |
| bool | contains (ConstVectorRef x) const |
| Check if a vector is in \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| bool | contains_wrapped (ConstVectorRef x, ConstVectorRef period, Dimension num_periods) const |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
| bool | contains_wrapped (ConstVectorRef x, ConstVectorRef period, const std::vector< Dimension > &num_periods) const |
| Check if a vector is in \( \texttip{\mathcal{X}}{Polish sample vector space} \), having the vector wrapped around a given period. | |
| bool | contains_wrapped (ConstVectorRef x, ConstVectorRef period, Dimension num_periods_below, Dimension num_periods_above) const |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
| bool | contains_wrapped (ConstVectorRef x, ConstVectorRef period, const std::vector< Dimension > &num_periods_below, const std::vector< Dimension > &num_periods_above) const |
| Check if a vector is in \( \texttip{\mathcal{X}}{Polish sample vector space} \), having the vector wrapped around a given period. | |
| bool | contains_wrapped (ConstVectorRef x, ConstVectorRef period) const |
| Check if a vector is in \( \texttip{\mathcal{X}}{Polish sample vector space} \), having the vector wrapped around a given period. | |
| Matrix | include (ConstMatrixRef xs) const |
Filter a set xs, returning only the row vectors that are in \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| std::vector< Index > | include_mask (ConstMatrixRef xs) const |
Filter a set xs, returning a mask containing the indices corresponding to the row vectors that are in \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| std::vector< Index > | include_mask_wrapped (ConstMatrixRef xs, ConstVectorRef period) const |
Filter a set xs, returning a mask containing the indices corresponding to the row vectors that are in \( \texttip{\mathcal{X}}{Polish sample vector space} \), accounting for wrapping around a given period. | |
| Matrix | exclude (ConstMatrixRef xs) const |
Filter xs, return only the row vectors that are NOT in \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| std::vector< Index > | exclude_mask (ConstMatrixRef xs) const |
Filter a set xs, returning a mask containing the indices corresponding to the row vectors that are NOT in \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| std::vector< Index > | exclude_mask_wrapped (ConstMatrixRef xs, ConstVectorRef period) const |
Filter a set xs, returning a mask containing the indices corresponding to the row vectors that are NOT in \( \texttip{\mathcal{X}}{Polish sample vector space} \), accounting for wrapping around a given period. | |
| std::pair< std::vector< Index >, std::vector< Index > > | include_exclude_masks (ConstMatrixRef xs) const |
Filter a set xs, returning masks containing the indices corresponding to the row vectors that are in \( \texttip{\mathcal{X}}{Polish sample vector space} \) and NOT in \( \texttip{\mathcal{X}}{Polish sample vector space} \). | |
| std::pair< std::vector< Index >, std::vector< Index > > | include_exclude_masks_wrapped (ConstMatrixRef xs, ConstVectorRef period) const |
Filter a set xs, returning masks containing the indices corresponding to the row vectors that are in \( \texttip{\mathcal{X}}{Polish sample vector space} \) and NOT in \( \texttip{\mathcal{X}}{Polish sample vector space} \), accounting for wrapping around a given period. | |
| std::pair< std::vector< Index >, std::vector< Index > > | include_exclude_masks_wrapped (ConstMatrixRef xs, const RectSet &period) const |
Filter a set xs, returning masks containing the indices corresponding to the row vectors that are in \( \texttip{\mathcal{X}}{Polish sample vector space} \) and NOT in \( \texttip{\mathcal{X}}{Polish sample vector space} \), accounting for wrapping around a given period. | |
| std::unique_ptr< Set > | scale_wrapped (double scale, const RectSet &bounds, bool relative_to_bounds=false) const |
| Scale the set by the given factor while keeping it inside the given bounds. | |
| std::unique_ptr< Set > | scale_wrapped (ConstVectorRef scale, const RectSet &bounds, bool relative_to_bounds=false) const |
| Scale the set by the given factor while keeping it inside the given bounds. | |
| template<bool Inplace = false> requires (!Inplace) | |
| std::unique_ptr< Set > | increase_size (ConstVectorRef size_increase) const |
| Increase the size of the set. | |
| template<bool Inplace = false> requires (Inplace) | |
| void | increase_size (ConstVectorRef size_increase) |
| Increase the size of the set. | |
| void | change_size (double delta_size) |
| Change the size of the set. | |
| Matrix | lattice (Index points_per_dim, bool endpoint=false) const |
| Generate a lattice of points in the set. | |
| template<class Derived> | |
| Eigen::MatrixBase< Derived > & | operator>> (Eigen::MatrixBase< Derived > &x) const |
| Extract \( N \) elements element from \( \texttip{\mathcal{X}}{Polish sample vector space} \) using some kind of random distribution, where \( N \) is the number of rows in \( \texttip{x}{Element of the vector space} \). | |
Private Member Functions | |
| void | increase_size_impl (ConstVectorRef size_increase) override |
| Increase the size of the set. | |
Private Attributes | |
| Vector | center_ |
| Center of the sphere. Determines the dimension of the sphere set. | |
| Scalar | radius_ |
| Radius of the sphere. | |
Additional Inherited Members | |
Protected Member Functions inherited from lucid::Set | |
| virtual std::unique_ptr< Set > | scale_wrapped_impl (ConstVectorRef scale, const RectSet &bounds, bool relative_to_bounds) const |
| Scale the rectangular set by the given factor while keeping it inside the given bounds. | |
Multidimensional sphere set.
A vector \( \texttip{x}{Element of the vector space} \) is in the set if \( ||x - c||_2 \le r \), where \( c \) is the center and \( r \) is the radius. The sampling is uniform over the volume of the sphere. The samples are generated using the Muller method.
| lucid::SphereSet::SphereSet | ( | ConstVectorRef | center, |
| Scalar | radius ) |
Construct a sphere set from a center and a radius.
The dimension of the space the sphere set lives in is determined by the size of the center vector.
| center | vector representing the center of the sphere |
| radius | radius of the sphere |
|
inlinenodiscard |
Get read-only access to the center of the sphere set.
|
overridevirtual |
Change the size of the set.
The size change can be different for each dimension. For example, for a rectangular set, this would change the lower and upper bounds so that the original set sits in the center of the new set, which has its size changed by the specified amounts.
delta_size must be equal to the dimension of the set. | delta_size | vector of amounts to change the size of the set for each dimension |
Reimplemented from lucid::Set.
|
nodiscardoverridevirtual |
Clone the set.
Create a new instance of the set with the same properties as the current one.
Implements lucid::Set.
|
inlinenodiscardoverridevirtual |
Get read-only access to the dimension of the set \( \texttip{\mathcal{X}}{Polish sample vector space} \).
Implements lucid::Set.
|
nodiscardoverridevirtual |
Get read-only access to the lower bound of the smallest rectangular set including the whole set.
Reimplemented from lucid::Set.
|
nodiscardoverridevirtual |
Get read-only access to the upper bound of the smallest rectangular set including the whole set.
Reimplemented from lucid::Set.
|
overrideprivatevirtual |
Increase the size of the set.
The size increase can be different for each dimension. The increase is applied symmetrically around the center of the set such that the total size after the increase is equal to the original size plus size_increase.
scale must be equal to the dimension of the set. | size_increase | amount to increase the size of the set for each dimension |
Reimplemented from lucid::Set.
|
nodiscardoverridevirtual |
Generate a lattice of points in the set.
| points_per_dim | number of points per each dimension |
| endpoint | whether to include the endpoints of the lattice |
Implements lucid::Set.
|
nodiscardoverridevirtual |
Check if a vector is in \( \texttip{\mathcal{X}}{Polish sample vector space} \).
| x | vector to test |
Implements lucid::Set.
|
inlinenodiscard |
Get read-only access to the radius of the sphere set.
|
nodiscardoverridevirtual |
Extract \( N \) elements from \( \texttip{\mathcal{X}}{Polish sample vector space} \) using some kind of random distribution.
num_samples must be greater than 0 | num_samples | number of samples to generate \( N \) |
Implements lucid::Set.
|
nodiscardoverridevirtual |
Create a new anisotropic set.
The set should remain the same, but it will allow for different scaling factors in each dimension. If the set is already anisotropic, it should return a clone of itself.
Reimplemented from lucid::Set.
|
nodiscardoverridevirtual |
Convert the set to a rectangular set.
Not all sets can be converted to rectangular sets. If the set cannot be converted, an exception is thrown.
Reimplemented from lucid::Set.
|
nodiscardoverridevirtual |
Obtain the string representation of this object.
Reimplemented from lucid::Set.