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@logicalConPolyZonotope/and.m

@@ -0,0 +1,143 @@
+function Z = and(Z1,Z2,varargin)
+% and - overloads & operator, computes the AND of two logical poly zonotopes
+%
+% Syntax:
+%    Z = and(Z1,Z2)
+%
+% Inputs:
+%    Z1 - zonotope
+%    Z2 - zonotope,
+%
+% Outputs:
+%    Z - zonotope object enclosing the and zonotope
+%
+% Example:
+%
+% Other m-files required: none
+% Subfunctions: none
+% MAT-files required: none
+%
+% See also: none
+
+% Author:        Amr Alanwar
+% Written:       7-Jan-2023
+% Last update:
+%
+% HAFEZ AND CENTER WITH GENS ANDING CONSTRAIN WITH CONSTRAIN (EDAFA)
+% Last revision: ---
+
+%------------- BEGIN CODE --------------
+
+if ~isa(Z1,'logicalConPolyZonotope')
+    Z1=logicalZonotope.enclosePoints(Z1);
+    Z1=logicalConPolyZonotope(Z1.c,Z1.G,eye(length(Z1.G)));
+end
+
+if ~isa(Z2,'logicalConPolyZonotope')
+    Z2=logicalZonotope.enclosePoints(Z2);
+    Z2=logicalConPolyZonotope(Z2.c,Z2.G,eye(length(Z2.G)));
+end
+newCen = [];
+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 = [] ;
+elseif isempty(Z2.c)
+    newCen = [] ;
+end
+
+
+
+
+h1=length(Z1.G);
+p1=size(Z1.E,1);
+
+h2=length(Z2.G);
+p2=size(Z2.E,1);
+zeroVec = logical(zeros(size(Z1.c)));
+newE =[];
+index =1;
+newGen ={};
+
+% there is no generators in Z2 to multiply with Z1
+
+
+
+%c2 * G1
+if(~isempty(Z2.c) && ~isempty(Z1.G))
+    for i=1:length(Z1.G)
+        vecAnd = Z2.c & Z1.G{i};
+        if isequal(vecAnd,zeroVec)
+            continue;
+        end
+        newGen{index} = vecAnd;
+        newE = [newE [Z1.E(:,i);zeros(p2,1)]];
+        index=index+1;
+    end
+end
+
+%c1 * G2
+if(~isempty(Z1.c) && ~isempty(Z2.G))
+    for i=1:length(Z2.G)
+        vecAnd = Z1.c & Z2.G{i};
+        if isequal(vecAnd,zeroVec)
+            continue;
+        end
+        newGen{index} = vecAnd;
+        newE = [newE [zeros(p1,1);Z2.E(:,i)]];        
+        index=index+1;
+    end
+end
+%G1 * G2
+if(~isempty(Z1.G) && ~isempty(Z2.G))
+    for i=1:length(Z1.G)
+        for k=1:length(Z2.G)
+            vecAnd = (Z1.G{i} & Z2.G{k});
+            if isequal(vecAnd,zeroVec)
+                continue;
+            end
+            newGen{index} = vecAnd;
+            newE = [newE [Z1.E(:,i);Z2.E(:,k)]]; 
+            index=index+1;
+        end
+    end
+end
+
+% to be added % ANDing bet 2 Constrains (2  XOR check CORA paper& Code)
+
+%cPZ = updateConstraints(Z1,Z1,Z2);% summation of constrains
+
+if isempty(Z1.id)
+    newId =  Z2.id;
+else
+    newId = [Z1.id;max(Z1.id) + Z2.id];
+end
+
+% newEC = [];
+% index=1;
+% if(~isempty(Z1.A) && ~isempty(Z2.A))
+%     for i=1:length(Z1.A)
+%         for k=1:length(Z2.A)
+%             vecAnd = (Z1.A(:,i) & Z2.A(:,k));
+%             %if isequal(vecAnd,zeroVec)
+%             %    continue;
+%             %end
+%             newA(:,index) = vecAnd;
+%             newEC = [newEC [Z1.EC(:,i);Z2.EC(:,k)]]; 
+%             index=index+1;
+%         end
+%     end
+% end
+
+newA = blkdiag(Z1.A,Z2.A);
+newb = [Z1.b ; Z2.b];
+newEC = blkdiag(Z1.EC,Z2.EC);
+Z = logicalConPolyZonotope(newCen,newGen,newE,newA,newb,newEC,newId);
+%Z = unique(Z);
+
+
+end
+
+%------------- END OF CODE --------------

@logicalConPolyZonotope/cartProd.m

@@ -0,0 +1,79 @@
+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: 
+%
+% Other m-files required: none
+% Subfunctions: none
+% MAT-files required: none
+%
+% See also: none
+
+% Author:       Amr Alanwar
+% Written:      16-October-2022
+% Last update:  
+%               
+% Last revision:---
+
+%------------- BEGIN CODE --------------
+
+% bring the exponent matrices to a common representation
+[idCom,E1Com,E2Com] = mergeExpMatrix(Z1.id,Z2.id,Z1.E,Z2.E);
+
+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;
+    newE = Z2.E;
+elseif(isempty(Z2.G))
+    newGen = Z1.G;
+    newE = Z1.E;
+elseif(isempty(Z1.G) && isempty(Z2.G))
+    newGen ={};
+    newE=[];
+elseif(~isempty(Z1.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
+
+    index =1;
+    for i=g1Len+1:g1Len+g2Len
+        newGen{i} =  [zeros(sizeOfGen1,1);Z2.G{index}];
+        index = index +1;
+    end
+
+    newE = blkdiag(E1Com,E2Com);
+end
+
+Z=logicalPolyZonotope(newCen,newGen,newE,idCom);
+Z =unique(Z);
+
+end
+
+
+
+%------------- END OF CODE --------------

@logicalConPolyZonotope/center.m

@@ -0,0 +1,29 @@
+function c = center(Z)
+% center - Returns the center of a zonotope
+%
+% Syntax:  
+%    c = center(Z)
+%
+% Inputs:
+%    Z - zonotope object
+%
+% Outputs:
+%    c - center of the zonotope Z
+%
+%
+% Other m-files required: none
+% Subfunctions: none
+% MAT-files required: none
+%
+% See also: none
+
+% Author:       Amr Alanwar
+% Written:      16-October-2022 
+% Last update:  16-October-2022 
+% Last revision:---
+
+%------------- BEGIN CODE --------------
+
+c = Z.c;
+
+%------------- END OF CODE --------------

@logicalConPolyZonotope/containsPoint.m

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+function res = containsPoint(Z,p)
+% containsPoint - determines if the point p is inside the logical poly zonotope Z1
+%
+% Syntax:
+%    res = containsPoint(Z,p)
+%
+% Inputs:
+%    Z - zonotope object
+%    p - point specified as a vector
+%
+% Outputs:
+%    res - boolean whether the point is inside the logical poly zonotope or not
+%
+%
+%
+% Other m-files required: none
+% Subfunctions: none
+% MAT-files required: none
+%
+% See also: ---
+
+% Author:       Amr Alanwar
+% Written:      7-Jan-2023
+% Last update:  ---
+% Last revision:---
+
+%------------- BEGIN CODE --------------
+
+% parse input arguments
+points = evaluate(Z);
+
+
+points=unique(points','rows')';
+
+if ismember(p',points','rows')
+    res = true;
+else
+    res = false;
+end
+
+%------------- END OF CODE --------------

@logicalConPolyZonotope/dim.m

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+function d = dim(Z)
+% dim - return dimension of zonotope
+%
+% Syntax:  
+%    d = dim(Z)
+%
+% Inputs:
+%    Z - zonotope object
+%
+% Outputs:
+%    d - dimension of Z
+%
+% Example: 
+%    Z = zonotope([zeros(3,1),rand(3,5)]);
+%    d = dim(Z)
+%
+% Other m-files required: center.m
+% Subfunctions: none
+% MAT-files required: none
+%
+% See also: rank.m
+%
+% Author:        Mark Wetzlinger
+% Written:       15-Sep-2019
+% Last update:   ---
+% Last revision: ---
+
+%------------- BEGIN CODE --------------
+
+d = length(center(Z));
+
+%------------- END OF CODE --------------