lucid  0.0.1
Lifting-based Uncertain Control Invariant Dynamics
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lucid::SphereSet Class Referencefinal

Multidimensional sphere set. More...

#include <SphereSet.h>

Inheritance diagram for lucid::SphereSet:
lucid::Set

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< Setto_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< Setclone () const override
 Clone the set.
 
std::unique_ptr< Setto_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< Setscale_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< Setscale_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< Setincrease_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< Setscale_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.
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ SphereSet()

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.

Parameters
centervector representing the center of the sphere
radiusradius of the sphere

Member Function Documentation

◆ center()

const Vector & lucid::SphereSet::center ( ) const
inlinenodiscard

Get read-only access to the center of the sphere set.

Returns
center of the sphere set

◆ change_size()

void lucid::SphereSet::change_size ( ConstVectorRef delta_size)
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.

Precondition
The set must support size changes.
The size of delta_size must be equal to the dimension of the set.
The new size must be non-negative in all dimensions.
Parameters
delta_sizevector of amounts to change the size of the set for each dimension

Reimplemented from lucid::Set.

◆ clone()

std::unique_ptr< Set > lucid::SphereSet::clone ( ) const
nodiscardoverridevirtual

Clone the set.

Create a new instance of the set with the same properties as the current one.

Returns
new instance of the set

Implements lucid::Set.

◆ dimension()

Dimension lucid::SphereSet::dimension ( ) const
inlinenodiscardoverridevirtual

Get read-only access to the dimension of the set \( \texttip{\mathcal{X}}{Polish sample vector space} \).

Returns
dimension of the set \( \texttip{\mathcal{X}}{Polish sample vector space} \)

Implements lucid::Set.

◆ general_lower_bound()

Vector lucid::SphereSet::general_lower_bound ( ) const
nodiscardoverridevirtual

Get read-only access to the lower bound of the smallest rectangular set including the whole set.

Returns
lower bound of the smallest rectangular set including the whole set

Reimplemented from lucid::Set.

◆ general_upper_bound()

Vector lucid::SphereSet::general_upper_bound ( ) const
nodiscardoverridevirtual

Get read-only access to the upper bound of the smallest rectangular set including the whole set.

Returns
upper bound of the smallest rectangular set including the whole set

Reimplemented from lucid::Set.

◆ increase_size_impl()

void lucid::SphereSet::increase_size_impl ( ConstVectorRef size_increase)
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.

Precondition
The set must support size changes.
The size of scale must be equal to the dimension of the set.
The new size must be non-negative in all dimensions.
Parameters
size_increaseamount to increase the size of the set for each dimension

Reimplemented from lucid::Set.

◆ lattice()

Matrix lucid::SphereSet::lattice ( const VectorI & points_per_dim,
bool endpoint ) const
nodiscardoverridevirtual

Generate a lattice of points in the set.

Parameters
points_per_dimnumber of points per each dimension
endpointwhether to include the endpoints of the lattice
Returns
lattice of points in the set

Implements lucid::Set.

◆ operator()()

bool lucid::SphereSet::operator() ( ConstVectorRef x) const
nodiscardoverridevirtual

Check if a vector is in \( \texttip{\mathcal{X}}{Polish sample vector space} \).

Precondition
\( \texttip{x}{Element of the vector space} \) must have the same dimension as the set
Parameters
xvector to test
Returns
true if \( \texttip{x}{Element of the vector space} \) is in the set
false if \( \texttip{x}{Element of the vector space} \) is not in the set

Implements lucid::Set.

◆ radius()

Scalar lucid::SphereSet::radius ( ) const
inlinenodiscard

Get read-only access to the radius of the sphere set.

Returns
radius of the sphere set

◆ sample()

Matrix lucid::SphereSet::sample ( Index num_samples) const
nodiscardoverridevirtual

Extract \( N \) elements from \( \texttip{\mathcal{X}}{Polish sample vector space} \) using some kind of random distribution.

Note
The seed for the random number generator can be set using random::seed.
Precondition
num_samples must be greater than 0
Parameters
num_samplesnumber of samples to generate \( N \)
Returns
\( \texttip{n}{Number of samples} \times \texttip{d}{Dimension of the vector space} \) matrix of samples, where \( \texttip{d}{Dimension of the vector space} \) is the dimension of \( \texttip{\mathcal{X}}{Polish sample vector space} \). In other words, the samples are stored as rows vectors in the matrix

Implements lucid::Set.

◆ to_anisotropic()

std::unique_ptr< Set > lucid::SphereSet::to_anisotropic ( ) const
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.

Returns
unique pointer to the new anisotropic set

Reimplemented from lucid::Set.

◆ to_rect_set()

std::unique_ptr< Set > lucid::SphereSet::to_rect_set ( ) const
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.

Returns
unique pointer to the rectangular set

Reimplemented from lucid::Set.

◆ to_string()

std::string lucid::SphereSet::to_string ( ) const
nodiscardoverridevirtual

Obtain the string representation of this object.

Returns
string representation of this object

Reimplemented from lucid::Set.


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