Merge pull request #3618 from JuliaReach/schillic/convert

Split `convert.jl` into smaller files

src/Convert/AffineMap.jl

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+"""
+    convert(::Type{STAR}, P::AbstractPolyhedron{N}) where {N}
+
+Convert a polyhedral set to a star set represented as a lazy affine map.
+
+### Input
+
+- `STAR` -- target type
+- `P`    -- polyhedral set
+
+### Output
+
+A star set.
+"""
+function convert(::Type{STAR}, P::AbstractPolyhedron{N}) where {N}
+    n = dim(P)
+    c = zeros(N, n)
+    V = Matrix(one(N) * I, n, n)
+    return AffineMap(V, P, c)
+end
+
+"""
+    convert(::Type{STAR}, X::Star)
+
+Convert a star set to its equivalent representation as a lazy affine map.
+
+### Input
+
+- `STAR` -- target type
+- `X`    -- star set
+
+### Output
+
+A star set.
+"""
+function Base.convert(::Type{STAR}, X::Star)
+    return AffineMap(X.V, X.P, X.c)
+end

src/Convert/CartesianProduct.jl

@@ -0,0 +1,26 @@
+"""
+    convert(::Type{CartesianProduct{N, Interval{N}, Interval{N}}},
+            H::AbstractHyperrectangle{N}) where {N}
+
+Convert a two-dimensional hyperrectangle to the Cartesian product of two
+intervals.
+
+### Input
+
+- `CartesianProduct` -- target type
+- `H`                -- hyperrectangle
+
+### Output
+
+The Cartesian product of two intervals.
+"""
+function convert(::Type{CartesianProduct{N,Interval{N},Interval{N}}},
+                 H::AbstractHyperrectangle{N}) where {N}
+    @assert dim(H) == 2 "the hyperrectangle must be two-dimensional to " *
+                        "convert it to the Cartesian product of two intervals, but it is " *
+                        "$(dim(H))-dimensional; consider converting it to a " *
+                        "`CartesianProductArray{$N, Interval{$N}}` instead"
+    I1 = Interval(low(H, 1), high(H, 1))
+    I2 = Interval(low(H, 2), high(H, 2))
+    return CartesianProduct(I1, I2)
+end

src/Convert/CartesianProductArray.jl

@@ -0,0 +1,20 @@
+"""
+    convert(::Type{CartesianProductArray{N, Interval{N}}},
+            H::AbstractHyperrectangle{N}) where {N}
+
+Convert a hyperrectangle to the Cartesian product array of intervals.
+
+### Input
+
+- `CartesianProductArray` -- target type
+- `H`                     -- hyperrectangle
+
+### Output
+
+The Cartesian product of a finite number of intervals.
+"""
+function convert(::Type{CartesianProductArray{N,Interval{N}}},
+                 H::AbstractHyperrectangle{N}) where {N}
+    Iarray = [Interval(low(H, i), high(H, i)) for i in 1:dim(H)]
+    return CartesianProductArray(Iarray)
+end

src/Convert/HPolyhedron.jl

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+# make a copy of the constraints
+Base.convert(::Type{HPolyhedron}, P::HPolytope) = HPolyhedron(copy(constraints_list(P)))

src/Convert/HPolytope.jl

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+# make a copy of the constraints
+Base.convert(::Type{HPolytope}, P::HPolyhedron) = HPolytope(copy(constraints_list(P)))

src/Convert/Hyperplane.jl

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+function Base.convert(::Type{Hyperplane}, P::HPolyhedron; skip_check::Bool=false)
+    # check that the number of constraints is fine
+    if !skip_check && !ishyperplanar(P)
+        throw(ArgumentError("the polyhedron is not hyperplanar: $P"))
+    end
+
+    # construct hyperplane from first constraint
+    c1 = @inbounds first(constraints_list(P))
+    return Hyperplane(c1.a, c1.b)
+end

src/Convert/Hyperrectangle.jl

@@ -0,0 +1,136 @@
+"""
+    convert(::Type{Hyperrectangle}, cpa::CartesianProductArray{N, HN})
+        where {N, HN<:AbstractHyperrectangle}
+
+Convert the Cartesian product of a finite number of hyperrectangular sets to
+a single hyperrectangle.
+
+### Input
+
+- `Hyperrectangle` -- target type
+- `S`              -- Cartesian product array of hyperrectangular set
+
+### Output
+
+A hyperrectangle.
+
+### Algorithm
+
+This implementation uses the `center` and `radius_hyperrectangle` methods of
+`AbstractHyperrectangle`.
+"""
+function convert(::Type{Hyperrectangle},
+                 cpa::CartesianProductArray{N,HN}) where {N,HN<:AbstractHyperrectangle}
+    n = dim(cpa)
+    c = Vector{N}(undef, n)
+    r = Vector{N}(undef, n)
+    i = 1
+    @inbounds for block_set in cpa
+        j = i + dim(block_set) - 1
+        c[i:j] = center(block_set)
+        r[i:j] = radius_hyperrectangle(block_set)
+        i = j + 1
+    end
+    return Hyperrectangle(c, r)
+end
+
+"""
+    convert(::Type{Hyperrectangle}, cp::CartesianProduct{N, HN1, HN2})
+        where {N, HN1<:AbstractHyperrectangle, HN2<:AbstractHyperrectangle}
+
+Convert the Cartesian product of two hyperrectangular sets to a single
+hyperrectangle.
+
+### Input
+
+- `Hyperrectangle` -- target type
+- `S`              -- Cartesian product of two hyperrectangular sets
+
+### Output
+
+A hyperrectangle.
+
+### Algorithm
+
+The result is obtained by concatenating the center and radius of each
+hyperrectangle. This implementation uses the `center` and
+`radius_hyperrectangle` methods.
+"""
+function convert(::Type{Hyperrectangle},
+                 cp::CartesianProduct{N,HN1,HN2}) where {N,HN1<:AbstractHyperrectangle,
+                                                         HN2<:AbstractHyperrectangle}
+    X, Y = first(cp), second(cp)
+    c = vcat(center(X), center(Y))
+    r = vcat(radius_hyperrectangle(X), radius_hyperrectangle(Y))
+    return Hyperrectangle(c, r)
+end
+
+"""
+    convert(::Type{Hyperrectangle},
+            cpa::CartesianProductArray{N, IN}) where {N, IN<:Interval}
+
+Convert the Cartesian product of a finite number of intervals to a single
+hyperrectangle.
+
+### Input
+
+- `Hyperrectangle` -- target type
+- `S`              -- Cartesian product array of intervals
+
+### Output
+
+A hyperrectangle.
+
+### Algorithm
+
+This implementation uses the `min` and `max` methods of `Interval` to reduce
+the allocations and improve performance (see LazySets#1143).
+"""
+function convert(::Type{Hyperrectangle},
+                 cpa::CartesianProductArray{N,IN}) where {N,IN<:Interval}
+    # since the sets are intervals, the dimension of cpa is its length
+    n = length(array(cpa))
+    l = Vector{N}(undef, n)
+    h = Vector{N}(undef, n)
+    @inbounds for (i, Ii) in enumerate(array(cpa))
+        l[i] = min(Ii)
+        h[i] = max(Ii)
+    end
+    return Hyperrectangle(; low=l, high=h)
+end
+
+"""
+    convert(::Type{Hyperrectangle}, r::Rectification{N, AH})
+        where {N, AH<:AbstractHyperrectangle}
+
+Convert a rectification of a hyperrectangle to a hyperrectangle.
+
+### Input
+
+- `Hyperrectangle` -- target type
+- `r`              -- rectification of a hyperrectangle
+
+### Output
+
+A `Hyperrectangle`.
+"""
+function convert(::Type{Hyperrectangle},
+                 r::Rectification{N,AH}) where {N,AH<:AbstractHyperrectangle}
+    return rectify(r.X)
+end
+
+function convert(::Type{Hyperrectangle}, Z::AbstractZonotope{N}) where {N}
+    c = center(Z)
+    n = length(c)
+    r = zeros(N, n)
+    @inbounds for cj in generators(Z)
+        i = findfirst(!=(zero(N)), cj)
+        if isnothing(i)
+            continue
+        end
+        @assert isnothing(findfirst(!=(zero(N)), @view cj[(i + 1):end])) "the zonotope " *
+                                                                         "is not hyperrectangular"
+        r[i] += cj[i]  # `+` because to allow for multiple generators in dimension i
+    end
+    return Hyperrectangle(c, r)
+end

src/Convert/Interval.jl

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+"""
+    convert(::Type{Interval}, r::Rectification{N, IN}) where {N, IN<:Interval}
+
+Convert a rectification of an interval to an interval.
+
+### Input
+
+- `Interval` -- target type
+- `r`        -- rectification of an interval
+
+### Output
+
+An `Interval`.
+"""
+function convert(::Type{Interval},
+                 r::Rectification{N,IN}) where {N,IN<:Interval}
+    return Interval(rectify([min(r.X), max(r.X)]))
+end
+
+"""
+    convert(::Type{Interval}, ms::MinkowskiSum{N, IT, IT}) where {N, IT<:Interval}
+
+Convert the Minkowski sum of two intervals to an interval.
+
+### Input
+
+- `Interval` -- target type
+- `ms`       -- Minkowski sum of two intervals
+
+### Output
+
+An interval.
+"""
+function convert(::Type{Interval}, ms::MinkowskiSum{N,IT,IT}) where {N,IT<:Interval}
+    return concretize(ms)
+end

src/Convert/MinkowskiSumArray.jl

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+"""
+    convert(::Type{MinkowskiSumArray},
+            X::MinkowskiSum{N, ST, MinkowskiSumArray{N, ST}}) where {N, ST}
+
+Convert the Minkowski sum of a Minkowski sum array to a Minkowski sum array.
+
+### Input
+
+- `MinkowskiSumArray`  -- target type
+- `X`                  -- Minkowski sum of a Minkowski sum array
+
+### Output
+
+A Minkowski sum array.
+"""
+function convert(::Type{MinkowskiSumArray},
+                 X::MinkowskiSum{N,ST,MinkowskiSumArray{N,ST}}) where {N,ST}
+    return MinkowskiSumArray(vcat(first(X), array(second(X))))
+end

src/Convert/SimpleSparsePolynomialZonotope.jl

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+"""
+    convert(::Type{SimpleSparsePolynomialZonotope}, Z::AbstractZonotope)
+
+Convert a zonotope to a simple sparse polynomial zonotope.
+
+### Input
+
+- `SimpleSparsePolynomialZonotope` -- target type
+- `Z`                              -- zonotopic set
+
+### Output
+
+A simple sparse polynomial zonotope.
+
+### Algorithm
+
+This method implements Proposition 3 in [1].
+
+[1] Kochdumper, Althoff. *Sparse polynomial zonotopes - a novel set
+representation for reachability analysis*. 2021
+"""
+function Base.convert(::Type{SimpleSparsePolynomialZonotope}, Z::AbstractZonotope)
+    c = center(Z)
+    G = genmat(Z)
+    n = ngens(Z)
+    E = Matrix(1 * I, n, n)
+    return SimpleSparsePolynomialZonotope(c, G, E)
+end
+
+"""
+    convert(::Type{SimpleSparsePolynomialZonotope}, SPZ::SparsePolynomialZonotope)
+
+Convert a sparse polynomial zonotope to simple sparse polynomial zonotope.
+
+### Input
+
+- `SimpleSparsePolynomialZonotope` -- target type
+- `SPZ`                            -- sparse polynomial zonotope
+
+### Output
+
+A simple sparse polynomial zonotope.
+
+### Algorithm
+
+The method implements Proposition 3.1.4 from [1].
+
+[1] Kochdumper, Niklas. *Extensions of polynomial zonotopes and their application to
+verification of cyber-physical systems.* PhD diss., Technische Universität München, 2022.
+"""
+function Base.convert(::Type{SimpleSparsePolynomialZonotope}, SPZ::SparsePolynomialZonotope)
+    c = center(SPZ)
+    G = hcat(genmat_dep(SPZ), genmat_indep(SPZ))
+    n = ngens_indep(SPZ)
+    E = cat(expmat(SPZ), Matrix(1 * I, n, n); dims=(1, 2))
+    return SimpleSparsePolynomialZonotope(c, G, E)
+end

src/Convert/Singleton.jl

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+function convert(::Type{Singleton},
+                 cp::CartesianProduct{N,S1,S2}) where {N,S1<:AbstractSingleton,
+                                                       S2<:AbstractSingleton}
+    return Singleton(vcat(element(first(cp)), element(second(cp))))
+end