update

@logicalZonotope/cartProd.asv

@@ -0,0 +1,78 @@
+function Z = cartProd(Z1,Z2)
+% cartProd - Returns the cartesian product of two zonotopes
+%
+% Syntax:  
+%    Z = cartProd(Z1,Z2)
+%
+% Inputs:
+%    Z1 - zonotope object
+%    Z2 - zonotope object
+%
+% Outputs:
+%    Z - zonotope object
+%
+% Example: 
+%    zono1 = zonotope.generateRandom(2);
+%    zono2 = zonotope.generateRandom(3);
+%
+%    zono = cartProd(zono1,zono2);
+%
+% Other m-files required: none
+% Subfunctions: none
+% MAT-files required: none
+%
+% See also: none
+
+% Author:       Matthias Althoff
+% Written:      18-May-2011
+% Last update:  27-Aug-2019
+%               05-May-2020 (MW, standardized error message)
+% Last revision:---
+
+%------------- BEGIN CODE --------------
+
+% first or second set is zonotope
+
+
+if(~isempty(Z1.c) & ~isempty(Z2.c))
+    newCen = [ Z1.c;Z2.c ];
+elseif (isempty(Z1.c) & isempty(Z2.c))
+    newCen =[];
+elseif isempty(Z1.c)
+    newCen = Z2.c ;
+elseif isempty(Z2.c)
+    newCen = Z1.c ;
+end
+
+if(isempty(Z1.G))
+    newGen = Z2.G;
+elseif(isempty(Z2.G))
+    newGen = Z1.G;
+elseif(isempty(Z2.G) & isempty(Z2.G))
+    newGen ={};
+elseif(~isempty(Z2.G) & ~isempty(Z2.G))
+    g1Len = length(Z1.G);
+    g2Len = length(Z2.G);
+    sizeOfCen = length(newCen);
+
+
+    for i =1:g1Len
+        newGen{i} = [Z1.G{i};
+    end
+
+
+    index =1;
+    for i=g1Len+1:g1Len+g2Len
+        newGen{i} =  Z2.G{index};
+        index = index +1;
+    end
+end
+
+Z=logicalZonotope(newCen,newGen);
+Z =unique(Z);
+
+end
+
+
+
+%------------- END OF CODE --------------

@logicalZonotope/cartProd.m

@@ -32,55 +32,47 @@
 %------------- BEGIN CODE --------------
 
 % first or second set is zonotope
-if isa(Z1,'zonotope')
 
-    % different cases for different set representations
-    if isa(Z2,'zonotope')
-
-        c = [center(Z1);center(Z2)];
-        G = blkdiag(generators(Z1),generators(Z2));
-
-        Z = zonotope([c,G]);
-
-    elseif isnumeric(Z2)
-
-        c = [center(Z1);Z2];
-        G = [generators(Z1);zeros(size(Z2,1),size(Z1.Z,2)-1)];
-
-        Z = zonotope([c,G]);
+
+if(~isempty(Z1.c) & ~isempty(Z2.c))
+    newCen = [ Z1.c;Z2.c ];
+elseif (isempty(Z1.c) & isempty(Z2.c))
+    newCen =[];
+elseif isempty(Z1.c)
+    newCen = Z2.c ;
+elseif isempty(Z2.c)
+    newCen = Z1.c ;
+end
 
-    elseif isa(Z2,'interval') 
-        Z = cartProd(Z1,zonotope(Z2));
-    elseif isa(Z2,'conZonotope')
-        Z = cartProd(conZonotope(Z1),Z2);
-    elseif isa(Z2,'zonoBundle')
-        Z = cartProd(zonoBundle(Z1),Z2);
-    elseif isa(Z2,'mptPolytope')
-        Z = cartProd(mptPolytope(Z1),Z2);
-    elseif isa(Z2,'polyZonotope')
-        Z = cartProd(polyZonotope(Z1),Z2);
-    else
-        % throw error for given arguments
-        error(noops(Z1,Z2));
+if(isempty(Z1.G))
+    newGen = Z2.G;
+elseif(isempty(Z2.G))
+    newGen = Z1.G;
+elseif(isempty(Z2.G) & isempty(Z2.G))
+    newGen ={};
+elseif(~isempty(Z2.G) & ~isempty(Z2.G))
+    g1Len = length(Z1.G);
+    g2Len = length(Z2.G);
+    sizeOfGen1 = length(Z1.G{1});
+    sizeOfGen2 = length(Z2.G{1});
+
+    for i =1:g1Len
+        newGen{i} = [Z1.G{i};zeros(sizeOfGen2,1)];
     end
 
-else
 
-    % different cases for different set representations
-    if isnumeric(Z1)
+    index =1;
+    for i=g1Len+1:g1Len+g2Len
+        newGen{i} =  [zeros(sizeOfGen1,1);Z2.G{index}];
+        index = index +1;
+    end
+end
 
-        c = [Z1;center(Z2)];
-        G = [zeros(size(Z1,1),size(Z2.Z,2)-1);generators(Z2)];
-        Z = zonotope([c,G]);
+Z=logicalZonotope(newCen,newGen);
+Z =unique(Z);
 
-    else
-        % throw error for given arguments
-        error(noops(Z1,Z2));
-    end  
-
 end
 
-
-end
+
 
 %------------- END OF CODE --------------

@logicalZonotope/containsPoint.m

@@ -1,24 +1,24 @@
 function res = containsPoint(Z,p,varargin)
 % containsPoint - determines if the point p is inside the zonotope Z1
 %
-% Syntax:  
+% Syntax:
 %    res = containsPoint(Z,p)
 %    res = containsPoint(Z,p,tolerance)
 %
 % Inputs:
 %    Z - zonotope object
 %    p - point specified as a vector
-%    tolerance - numerical tolerance up to which the point is allowed to 
+%    tolerance - numerical tolerance up to which the point is allowed to
 %                outside the zonotope
 %
 % Outputs:
 %    res - boolean whether the point is inside the zonotope or not
 %
-% Example: 
+% Example:
 %    Z = zonotope([1;0],[1 0; 0 1]);
 %    p = [1;0];
 %    res = containsPoint(Z,p);
-%    
+%
 %    plot(Z); hold on;
 %    scatter(p(1),p(2),16,'r');
 %
@@ -29,28 +29,55 @@
 % See also: ---
 
 % Author:       Niklas Kochdumper
-% Written:      30-January-2018 
+% Written:      30-January-2018
 % Last update:  ---
 % Last revision:---
 
 %------------- BEGIN CODE --------------
 
 % parse input arguments
-if nargin == 3
-	tolerance = varargin{1};
+points = [];
+if ~isempty(Z.G)
+    numOfgen = length( Z.G );
+    L=2^numOfgen;
+    %T = zeros(L,N);
+    for i=1:L
+
+        table = de2bi(i-1,numOfgen,'left-msb');
+
+        onePoint=[ table(1,1)&Z.G{1}];
+
+        for j=2:numOfgen
+            onePoint =xor( onePoint, (table(1,j)&Z.G{j}) );
+        end
+            if ~isempty(Z.c)
+                points = [ points xor(Z.c,onePoint)];
+            else
+                points = [ points onePoint];
+            end
+
+
+            if ismember(p',points','rows')
+                res = true;
+                return;
+            end
+
+
+
+
+    end
+
 else
-	tolerance = 0;
+    points = Z.c;
 end
 
-% generate halfspace representation if empty
-if isempty(Z.halfspace)
-	Z = halfspace(Z);
-end
 
-%simple test: Is point inside the zonotope?
-N = length(Z.halfspace.K);
-inequality = (Z.halfspace.H*p - Z.halfspace.K <= tolerance * ones(N,1));
+points=unique(points','rows')';
 
-res = (all(inequality));
+if ismember(p',points','rows')
+    res = true;
+else
+    res = false;
+end
 
 %------------- END OF CODE --------------