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add in-place splitting #215

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Jun 9, 2020
Merged

add in-place splitting #215

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30 changes: 21 additions & 9 deletions src/Flowpipes/setops.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -439,16 +439,29 @@ end
# Zonotope splitting methods
# ==================================

function _split(Z::Zonotope{N, Vector{N}, Matrix{N}}, j::Int) where {N}
function _split(Z::Zonotope, j::Int)
c, G = Z.center, Z.generators

c₁ = similar(c)
G₁ = similar(G)
Z₁ = Zonotope(c₁, G₁)

c₂ = similar(c)
G₂ = similar(G)
Z₂ = Zonotope(c₂, G₂)

_split!(Z₁, Z₂, Z, j)
end

function _split!(Z₁::Zonotope, Z₂::Zonotope, Z::Zonotope, j::Int)
c, G = Z.center, Z.generators
n, p = size(G)
@assert 1 <= j <= p "cannot split a zonotope with $p generators along index $j"

c₁ = Vector{N}(undef, n)
c₂ = Vector{N}(undef, n)

G₁ = copy(G)
G₂ = copy(G)
c₁, G₁ = Z₁.center, Z₁.generators
c₂, G₂ = Z₂.center, Z₂.generators
copyto!(G₁, G)
copyto!(G₂, G)

@inbounds for i in 1:n
α = G[i, j] / 2
Expand All @@ -457,9 +470,6 @@ function _split(Z::Zonotope{N, Vector{N}, Matrix{N}}, j::Int) where {N}
G₁[i, j] = α
G₁[i, j] = α
end

Z₁ = Zonotope(c₁, G₁)
Z₂ = Zonotope(c₂, G₂)
return Z₁, Z₂
end

Expand All @@ -486,6 +496,8 @@ function _split(Z::Zonotope{N, SVector{n, N}, <:SMatrix{n, p, N}}, j::Int) where
return Z₁, Z₂
end

# TODO in-place split for static arrays

# ==================================
# Zonotope order reduction methods
# ==================================
Expand Down