One dimensional tube \([x](\cdot)\), defined as an interval of scalar trajectories. More...

#include <codac_Tube.h>

Inheritance diagram for codac::Tube:

Collaboration diagram for codac::Tube:

Public Member Functions
Definition
	Tube (const Interval &tdomain, const Interval &codomain=Interval::ALL_REALS)
	Creates a scalar tube \([x](\cdot)\) made of one slice. More...

	Tube (const Interval &tdomain, double timestep, const Interval &codomain=Interval::ALL_REALS)
	Creates a scalar tube \([x](\cdot)\) with some temporal discretization. More...

	Tube (const Interval &tdomain, double timestep, const TFnc &f, int f_image_id=0)
	Creates a scalar tube \([x](\cdot)\) from a TFnc object and with some temporal discretization. More...

	Tube (const std::vector< Interval > &v_tdomains, const std::vector< Interval > &v_codomains)
	Creates a tube \([x](\cdot)\) from a list of \(k\) boxes \(\big([t_1]\times[x_1],\dots,[t_k]\times[x_k]\big)\). More...

	Tube (const Tube &x)
	Creates a copy of a scalar tube \([x](\cdot)\), with the same time discretization. More...

	Tube (const Tube &x, const TFnc &f, int f_image_id=0)
	Creates a copy of a scalar tube \([x](\cdot)\), with the same time discretization but a specific codomain defined by a TFnc object. More...

	Tube (const Trajectory &traj, double timestep)
	Creates a scalar tube \([x](\cdot)\) enclosing a trajectory \(x(\cdot)\), possibly with some temporal discretization. More...

	Tube (const Trajectory &lb, const Trajectory &ub, double timestep)
	Creates a scalar tube \([x](\cdot)\) defined as an interval of two trajectories \([lb(\cdot),ub(\cdot)]\). More...

	Tube (const std::string &binary_file_name)
	Restore a scalar tube from serialization. More...

	Tube (const std::string &binary_file_name, Trajectory *&traj)
	Restore a scalar tube from serialization, together with a Trajectory object. More...

	~Tube ()
	Tube destructor.

int	size () const
	Returns the dimension of the scalar tube (always 1) More...

const Tube	primitive (const Interval &c=Interval(0.)) const
	Returns the primitive Tube of this tube. More...

const Tube &	operator= (const Tube &x)
	Returns a copy of a Tube. More...

const Interval	tdomain () const
	Returns the temporal definition domain of this tube. More...

const Polygon	polygon_envelope () const
	Returns the polygon envelope of this tube. More...

const Trajectory	lb () const
	Returns a possible lower bound \(x^{-}(\cdot)\) of the tube. More...

const Trajectory	ub () const
	Returns a possible upper bound \(x^{+}(\cdot)\) of the tube. More...

Slices structure
int	nb_slices () const
	Returns the number of slices of this tube. More...

Slice *	slice (int slice_id)
	Returns a pointer to the ith Slice object of this tube. More...

const Slice *	slice (int slice_id) const
	Returns a constant pointer to the ith Slice object of this tube. More...

Slice *	slice (double t)
	Returns a pointer to the Slice object of this tube that is defined at \(t\). More...

const Slice *	slice (double t) const
	Returns a constant pointer to the Slice object of this tube that is defined at \(t\). More...

Slice *	first_slice ()
	Returns a pointer to the first Slice object of this tube. More...

const Slice *	first_slice () const
	Returns a constant pointer to the first Slice object of this tube. More...

Slice *	last_slice ()
	Returns a pointer to the last Slice object of this tube. More...

const Slice *	last_slice () const
	Returns a constant pointer to the last Slice object of this tube. More...

Slice *	wider_slice ()
	Returns a pointer to the Slice defined over the wider temporal domain. More...

const Slice *	wider_slice () const
	Returns a constant pointer to the Slice defined over the wider temporal domain. More...

Slice *	largest_slice ()
	Returns a pointer to the Slice object of this tube for which the interval value is the most uncertain. More...

const Slice *	largest_slice () const
	Returns a constant pointer to the Slice object of this tube for which the interval value is the most uncertain. More...

Slice *	steepest_slice ()
	Returns a pointer to the Slice object of this tube for which the difference between the mid values of the input and output gates is the largest. More...

const Slice *	steepest_slice () const
	Returns a const pointer to the Slice object of this tube for which the difference between the mid values of the input and output gates is the largest. More...

const Interval	slice_tdomain (int slice_id) const
	Returns the temporal definition domain of the ith Slice of this tube. More...

int	time_to_index (double t) const
	Returns the Slice index related to the temporal key \(t\). More...

int	index (const Slice *slice) const
	Returns the Slice index related to the Slice pointer. More...

void	sample (double t)
	Samples this tube at \(t\). More...

void	sample (double t, Slice *slice_to_be_sampled)
	Samples this tube at \(t\) from a pointer to the corresponding slice. More...

void	sample (double t, const Interval &gate)
	Samples this tube at \(t\) with a specific gate value. More...

void	sample (const Tube &x)
	Samples this tube so that it will share the same sampling of \([x](\cdot)\). More...

bool	gate_exists (double t) const
	Tests if a gate exists at time \(t\). More...

void	remove_gate (double t)
	Removes the gate at \(t\) and merges the two related slices. More...

void	merge_similar_slices (double distance_threshold)
	Merges all adjacent slices whose Hausdorff distance is less than the given threshold. More...

Accessing values
const Interval	codomain () const
	Returns the interval of feasible values. More...

double	volume () const
	Returns the volume of this tube. More...

const Interval	operator() (int slice_id) const
	Returns the value of the ith slice. More...

const Interval	operator() (double t) const
	Returns the evaluation of this tube at \(t\). More...

const Interval	operator() (const Interval &t) const
	Returns the interval evaluation of this tube over \([t]\). More...

const std::pair< Interval, Interval >	eval (const Interval &t=Interval::ALL_REALS) const
	Returns the interval evaluations of the bounds of the tube \(\underline{x^-}(\cdot)\) and \(\overline{x^+}(\cdot)\) over \([t]\). More...

const Interval	interpol (double t, const Tube &v) const
	Returns the optimal evaluation of this tube at \(t\), based on the derivative information \(\dot{x}(\cdot)\). More...

const Interval	interpol (const Interval &t, const Tube &v) const
	Returns the optimal interval evaluation of this tube over \([t]\), based on the derivative information \(\dot{x}(\cdot)\). More...

const Interval	invert (const Interval &y, const Interval &search_tdomain=Interval::ALL_REALS) const
	Returns the interval inversion \([x]^{-1}([y])\). More...

void	invert (const Interval &y, std::vector< Interval > &v_t, const Interval &search_tdomain=Interval::ALL_REALS) const
	Computes the set of continuous values of the inversion \([x]^{-1}([y])\). More...

const Interval	invert (const Interval &y, const Tube &v, const Interval &search_tdomain=Interval::ALL_REALS) const
	Returns the optimal interval inversion \([x]^{-1}([y])\). More...

void	invert (const Interval &y, std::vector< Interval > &v_t, const Tube &v, const Interval &search_tdomain=Interval::ALL_REALS) const
	Computes the set of continuous values of the optimal inversion \([x]^{-1}([y])\). More...

double	max_diam () const
	Returns the diameter of the interval value \([x](t)\) that is the more uncertain. More...

double	max_gate_diam (double &t) const
	Returns the diameter of the gate of this tube that is the more uncertain. More...

const Trajectory	diam (bool gates_thicknesses=false) const
	Returns the diameters of the tube as a trajectory. More...

const Trajectory	diam (const Tube &v) const
	Returns the diameters of the tube as a trajectory. More...

Tests
bool	operator== (const Tube &x) const
	Returns true if this tube is equal to \([x](\cdot)\). More...

bool	operator!= (const Tube &x) const
	Returns true if this tube is different from \([x](\cdot)\). More...

bool	is_subset (const Tube &x) const
	Returns true if this tube is a subset of \([x](\cdot)\). More...

bool	is_strict_subset (const Tube &x) const
	Returns true if this tube is a subset of \([x](\cdot)\), and not \([x](\cdot)\) itself. More...

bool	is_interior_subset (const Tube &x) const
	Returns true if this tube is a subset of the interior of \([x](\cdot)\). More...

bool	is_strict_interior_subset (const Tube &x) const
	Returns true if this tube is a subset of the interior of \([x](\cdot)\), and not \([x](\cdot)\) itself. More...

bool	is_superset (const Tube &x) const
	Returns true if this tube is a superset of \([x](\cdot)\). More...

bool	is_strict_superset (const Tube &x) const
	Returns true if this tube is a superset of \([x](\cdot)\), and not \([x](\cdot)\) itself. More...

bool	is_empty () const
	Returns true if this tube is empty. More...

const BoolInterval	contains (const Trajectory &x) const
	Returns true if this tube contains the trajectory \(x(\cdot)\). More...

bool	overlaps (const Tube &x, float ratio=1.) const
	Returns true if this tube overlaps the tube \([x](\cdot)\). More...

Setting values
const Tube &	set (const Interval &y)
	Sets a constant interval value for this tube: \(\forall t, [x](t)=[y]\). More...

const Tube &	set (const Interval &y, int slice_id)
	Sets the interval value of the ith slice of this tube. More...

const Tube &	set (const Interval &y, double t)
	Sets the interval value of this tube at \(t\): \([x](t)=[y]\). More...

const Tube &	set (const Interval &y, const Interval &t)
	Sets the interval value of this tube over \([t]\): \(\forall t\in[t], [x](t)=[y]\). More...

const Tube &	set_empty ()
	Sets this tube to the empty set. More...

const Tube &	inflate (double rad)
	Inflates this tube by adding \([-rad,+rad]\) to all its codomain components. More...

const Tube &	inflate (const Trajectory &rad)
	Inflates this tube by adding non-constant uncertainties defined in a trajectory. More...

Tube &	truncate_tdomain (const Interval &tdomain)
	Truncates the tdomain of \([x](\cdot)\). More...

void	shift_tdomain (double a)
	Shifts the tdomain \([t_0,t_f]\) of \([x](\cdot)\). More...

Bisection
const std::pair< Tube, Tube >	bisect (double t, float ratio=0.49) const
	Bisects this tube. More...

Assignments operators
const Tube &	operator+= (const Interval &x)
	Operates +=. More...

const Tube &	operator+= (const Trajectory &x)
	Operates +=. More...

const Tube &	operator+= (const Tube &x)
	Operates +=. More...

const Tube &	operator-= (const Interval &x)
	Operates -=. More...

const Tube &	operator-= (const Trajectory &x)
	Operates -=. More...

const Tube &	operator-= (const Tube &x)
	Operates -=. More...

const Tube &	operator*= (const Interval &x)
	Operates *=. More...

const Tube &	operator*= (const Trajectory &x)
	Operates *=. More...

const Tube &	operator*= (const Tube &x)
	Operates *=. More...

const Tube &	operator/= (const Interval &x)
	Operates /=. More...

const Tube &	operator/= (const Trajectory &x)
	Operates /=. More...

const Tube &	operator/= (const Tube &x)
	Operates /=. More...

const Tube &	operator\|= (const Interval &x)
	Operates \|=. More...

const Tube &	operator\|= (const Trajectory &x)
	Operates \|=. More...

const Tube &	operator\|= (const Tube &x)
	Operates \|=. More...

const Tube &	operator &= (const Interval &x)
	Operates &=. More...

const Tube &	operator &= (const Trajectory &x)
	Operates &=. More...

const Tube &	operator &= (const Tube &x)
	Operates &=. More...

Integration
const Interval	integral (double t) const
	Computes the interval integral \(\int_0^t[x](\tau)d\tau\). More...

const Interval	integral (const Interval &t) const
	Computes the interval integral \(\int_0^{[t]}[x](\tau)d\tau\). More...

const Interval	integral (const Interval &t1, const Interval &t2) const
	Computes the interval integral \(\int_{[t_1]}^{[t_2]}[x](\tau)d\tau\). More...

const std::pair< Interval, Interval >	partial_integral (const Interval &t) const
	Computes the partial interval integral \(\int_{0}^{[t]}[x](\tau)d\tau\). More...

const std::pair< Interval, Interval >	partial_integral (const Interval &t1, const Interval &t2) const
	Computes the partial interval integral \(\int_{[t_1]}^{[t_2]}[x](\tau)d\tau\). More...

Serialization
void	serialize (const std::string &binary_file_name="x.tube", int version_number=SERIALIZATION_VERSION) const
	Serializes this tube. More...

void	serialize (const std::string &binary_file_name, const Trajectory &traj, int version_number=SERIALIZATION_VERSION) const
	Serializes this tube together with a Trajectory object. More...

Public Member Functions inherited from codac::DynamicalItem
virtual	~DynamicalItem ()
	DynamicalItem destructor.

Static Public Member Functions
static bool	same_slicing (const Tube &x1, const Tube &x2)
	Tests whether the two Tube objects are sharing the same slicing. More...

static void	enable_syntheses (bool enable=true)
	Enables the computation of a synthesis tree for any Tube object. More...

static const Tube	hull (const std::list< Tube > &l_tubes)
	Computes the hull of several tubes. More...

Static Public Member Functions inherited from codac::DynamicalItem
static bool	valid_tdomain (const Interval &tdomain)
	Verifies that this interval is a feasible tdomain. More...

Protected Member Functions
	Tube ()
	Creates a not-defined scalar tube. More...

const IntervalVector	codomain_box () const
	Returns the box \([x]([t_0,t_f])\). More...

void	deserialize (const std::string &binary_file_name, Trajectory *&traj)
	Restores a scalar tube from serialization, together with a Trajectory object. More...

void	create_synthesis_tree () const
	Creates the synthesis tree associated to the values of this tube. More...

void	delete_synthesis_tree () const
	Deletes the synthesis tree of this tube.

void	create_polynomial_synthesis (double eps) const
	Creates the synthesis tree associated to the values of this tube. More...

void	delete_polynomial_synthesis () const
	Deletes the synthesis tree of this tube.

Protected Attributes
Slice *	m_first_slice = nullptr
	pointer to the first Slice object of this tube

TubeTreeSynthesis *	m_synthesis_tree = nullptr
	pointer to the optional synthesis tree

TubePolynomialSynthesis *	m_polynomial_synthesis = nullptr
	pointer to the optional synthesis tree

SynthesisMode	m_synthesis_mode = SynthesisMode::NONE
	enables of the use of a synthesis tree

Interval	m_tdomain
	redundant information for fast evaluations

Friends
void	deserialize_Tube (std::ifstream &bin_file, Tube *&tube)
	Creates a Tube object from a binary file. More...

void	deserialize_TubeVector (std::ifstream &bin_file, TubeVector *&tube)
	Creates a TubeVector object from a binary file. More...

String
std::ostream &	operator<< (std::ostream &str, const Tube &x)
	Displays a synthesis of this tube. More...

const std::string	class_name () const
	Returns the name of this class. More...

void	enable_synthesis (SynthesisMode mode=SynthesisMode::BINARY_TREE, double eps=1.e-3) const
	Enables the computation of a synthesis tree. More...

Detailed Description

One dimensional tube \([x](\cdot)\), defined as an interval of scalar trajectories.

Note: Use TubeVector for the multi-dimensional case

Constructor & Destructor Documentation

◆ Tube() [1/11]

codac::Tube::Tube	(	const Interval &	tdomain,
		const Interval &	codomain = `Interval::ALL_REALS`
	)

explicit

Creates a scalar tube \([x](\cdot)\) made of one slice.

Parameters

tdomain	temporal domain \([t_0,t_f]\)
codomain	Interval value of the slice (all reals \([-\infty,\infty]\) by default)

◆ Tube() [2/11]

codac::Tube::Tube	(	const Interval &	tdomain,
		double	timestep,
		const Interval &	codomain = `Interval::ALL_REALS`
	)

explicit

Creates a scalar tube \([x](\cdot)\) with some temporal discretization.

Parameters

tdomain	temporal domain \([t_0,t_f]\)
timestep	sampling value \(\delta\) for the temporal discretization (double)
codomain	Interval value of the slices (all reals \([-\infty,\infty]\) by default)

◆ Tube() [3/11]

codac::Tube::Tube	(	const Interval &	tdomain,
		double	timestep,
		const TFnc &	f,
		int	f_image_id = `0`
	)

explicit

Creates a scalar tube \([x](\cdot)\) from a TFnc object and with some temporal discretization.

Note: Due to the slicing implementation of the tube, a wrapping effect will occur to reliably enclose the TFnc object

Parameters

tdomain	temporal domain \([t_0,t_f]\)
timestep	sampling value \(\delta\) for the temporal discretization (double)
f	TFnc object that will be enclosed by the tube: \(\forall t\in[t_0,t_f], [f](t)\subseteq[x](t)\)
f_image_id	component index of the interval function \([f]\) (that is possibly multidimensional, first component by default)

◆ Tube() [4/11]

codac::Tube::Tube	(	const std::vector< Interval > &	v_tdomains,
		const std::vector< Interval > &	v_codomains
	)

explicit

Creates a tube \([x](\cdot)\) from a list of \(k\) boxes \(\big([t_1]\times[x_1],\dots,[t_k]\times[x_k]\big)\).

Note: The slicing will be based on the vector of temporal domains.; The \([t_i]\)'s must cover continuously the tdomain of \([x](\cdot)\).

Parameters

v_tdomains	vector of temporal domains \([t_i]\)
v_codomains	vector of codomains \([x_i]\) related to the \([t_i]\)'s

◆ Tube() [5/11]

codac::Tube::Tube ( const Tube & x )

Creates a copy of a scalar tube \([x](\cdot)\), with the same time discretization.

Parameters

x	Tube to be duplicated

◆ Tube() [6/11]

codac::Tube::Tube	(	const Tube &	x,
		const TFnc &	f,
		int	f_image_id = `0`
	)

explicit

Creates a copy of a scalar tube \([x](\cdot)\), with the same time discretization but a specific codomain defined by a TFnc object.

Note: Due to the slicing implementation of the tube, a wrapping effect will occur to reliably enclose the TFnc object

Parameters

x	Tube from which the sampling will be duplicated
f	TFnc object that will be enclosed by the tube: \(\forall t\in[t_0,t_f], [f](t)\subseteq[x](t)\)
f_image_id	component index of the interval function \([f]\) (that is possibly multidimensional, first component by default)

◆ Tube() [7/11]

codac::Tube::Tube	(	const Trajectory &	traj,
		double	timestep
	)

explicit

Creates a scalar tube \([x](\cdot)\) enclosing a trajectory \(x(\cdot)\), possibly with some temporal discretization.

Note: Due to the slicing implementation of the tube, a wrapping effect will occur to reliably enclose the Trajectory object

Parameters

traj	Trajectory \(x(\cdot)\) to enclose
timestep	sampling value \(\delta\) for the temporal discretization (double, no discretization by default: one slice only)

◆ Tube() [8/11]

codac::Tube::Tube	(	const Trajectory &	lb,
		const Trajectory &	ub,
		double	timestep
	)

explicit

Creates a scalar tube \([x](\cdot)\) defined as an interval of two trajectories \([lb(\cdot),ub(\cdot)]\).

Note: Due to the slicing implementation of the tube, a wrapping effect will occur to reliably enclose the Trajectory object

Parameters

lb	Trajectory defining the lower bound \(x^{-}(\cdot)\) of the tube
ub	Trajectory defining the upper bound \(x^{+}(\cdot)\) of the tube
timestep	sampling value \(\delta\) for the temporal discretization (double, no discretization by default: one slice only)

◆ Tube() [9/11]

codac::Tube::Tube ( const std::string & binary_file_name )

explicit

Restore a scalar tube from serialization.

Note: The Tube must have been serialized beforehand by the appropriate method serialize()

Parameters

binary_file_name path to the binary file

◆ Tube() [10/11]

codac::Tube::Tube	(	const std::string &	binary_file_name,
		Trajectory *&	traj
	)

explicit

Restore a scalar tube from serialization, together with a Trajectory object.

Note: The Tube and the Trajectory must have been serialized beforehand by the appropriate method serialize()

Parameters

binary_file_name	path to the binary file
traj	a pointer to the Trajectory object to be instantiated

◆ Tube() [11/11]

codac::Tube::Tube ( )

protected

Creates a not-defined scalar tube.

Note: Constructor necessary for the TubeVector class

Member Function Documentation

◆ size()

int codac::Tube::size ( ) const

virtual

Returns the dimension of the scalar tube (always 1)

Returns: 1

Implements codac::DynamicalItem.

◆ primitive()

const Tube codac::Tube::primitive ( const Interval & c = Interval(0.) ) const

Returns the primitive Tube of this tube.

Parameters

c	the constant of integration (0. by default)

Returns: a new Tube object with same slicing, enclosing the feasible primitives of this tube

◆ operator=()

const Tube& codac::Tube::operator= ( const Tube & x )

Returns a copy of a Tube.

Parameters

x	the Tube object to be copied

Returns: a new Tube object with same slicing and values

◆ tdomain()

const Interval codac::Tube::tdomain ( ) const

virtual

Returns the temporal definition domain of this tube.

Returns: an Interval object \([t_0,t_f]\)

Implements codac::DynamicalItem.

◆ polygon_envelope()

const Polygon codac::Tube::polygon_envelope ( ) const

Returns the polygon envelope of this tube.

Returns: a Polygon object enclosing the slices

◆ lb()

const Trajectory codac::Tube::lb ( ) const

Returns a possible lower bound \(x^{-}(\cdot)\) of the tube.

Note: The exact lower bound cannot be known. However, the returned trajectory \(x^{-}(\cdot)\) is guaranteed to be enclosed in the tube \([x](\cdot)\).

Returns: a candidate for \(x^{-}(\cdot)\)

◆ ub()

const Trajectory codac::Tube::ub ( ) const

Returns a possible upper bound \(x^{+}(\cdot)\) of the tube.

Note: The exact upper bound cannot be known. However, the returned trajectory \(x^{+}(\cdot)\) is guaranteed to be enclosed in the tube \([x](\cdot)\).

Returns: a candidate for \(x^{+}(\cdot)\)

◆ nb_slices()

int codac::Tube::nb_slices ( ) const

Returns the number of slices of this tube.

Returns: an integer

◆ slice() [1/4]

Slice* codac::Tube::slice ( int slice_id )

Returns a pointer to the ith Slice object of this tube.

Parameters

slice_id the index of the ith Slice

Returns: a pointer to the corresponding Slice

◆ slice() [2/4]

const Slice* codac::Tube::slice ( int slice_id ) const

Returns a constant pointer to the ith Slice object of this tube.

Parameters

slice_id the index of the ith Slice

Returns: a const pointer to the corresponding Slice

◆ slice() [3/4]

Slice* codac::Tube::slice ( double t )

Returns a pointer to the Slice object of this tube that is defined at \(t\).

Note: If two Slices are defined at \(t\) (common tdomain), then the first Slice is considered

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)

Returns: a pointer to the corresponding Slice

◆ slice() [4/4]

const Slice* codac::Tube::slice ( double t ) const

Returns a constant pointer to the Slice object of this tube that is defined at \(t\).

Note: If two Slices are defined at \(t\) (common tdomain), then the first Slice is considered

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)

Returns: a const pointer to the corresponding Slice

◆ first_slice() [1/2]

Slice* codac::Tube::first_slice ( )

Returns a pointer to the first Slice object of this tube.

Returns: a pointer to the corresponding Slice

◆ first_slice() [2/2]

const Slice* codac::Tube::first_slice ( ) const

Returns a constant pointer to the first Slice object of this tube.

Returns: a const pointer to the corresponding Slice

◆ last_slice() [1/2]

Slice* codac::Tube::last_slice ( )

Returns a pointer to the last Slice object of this tube.

Returns: a pointer to the corresponding Slice

◆ last_slice() [2/2]

const Slice* codac::Tube::last_slice ( ) const

Returns a constant pointer to the last Slice object of this tube.

Returns: a const pointer to the corresponding Slice

◆ wider_slice() [1/2]

Slice* codac::Tube::wider_slice ( )

Returns a pointer to the Slice defined over the wider temporal domain.

Note: If two Slice objects have the same tdomain width, then the first one is considered

Returns: a pointer to the corresponding Slice

◆ wider_slice() [2/2]

const Slice* codac::Tube::wider_slice ( ) const

Returns a constant pointer to the Slice defined over the wider temporal domain.

Note: If two Slice objects have the same tdomain width, then the first one is considered

Returns: a const pointer to the corresponding Slice

◆ largest_slice() [1/2]

Slice* codac::Tube::largest_slice ( )

Returns a pointer to the Slice object of this tube for which the interval value is the most uncertain.

Returns: a pointer to the corresponding Slice

◆ largest_slice() [2/2]

const Slice* codac::Tube::largest_slice ( ) const

Returns a constant pointer to the Slice object of this tube for which the interval value is the most uncertain.

Returns: a const pointer to the corresponding Slice

◆ steepest_slice() [1/2]

Slice* codac::Tube::steepest_slice ( )

Returns a pointer to the Slice object of this tube for which the difference between the mid values of the input and output gates is the largest.

Returns: a pointer to the corresponding Slice

◆ steepest_slice() [2/2]

const Slice* codac::Tube::steepest_slice ( ) const

Returns a const pointer to the Slice object of this tube for which the difference between the mid values of the input and output gates is the largest.

Returns: a const pointer to the corresponding Slice

◆ slice_tdomain()

const Interval codac::Tube::slice_tdomain ( int slice_id ) const

Returns the temporal definition domain of the ith Slice of this tube.

Parameters

slice_id the index of the ith Slice

Returns: an Interval object \([t_0^i,t_f^i]\)

◆ time_to_index()

int codac::Tube::time_to_index ( double t ) const

Returns the Slice index related to the temporal key \(t\).

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)

Returns: an integer

◆ index()

int codac::Tube::index ( const Slice * slice ) const

Returns the Slice index related to the Slice pointer.

Parameters

slice a const pointer to a Slice object of this tube

Returns: an integer

◆ sample() [1/4]

void codac::Tube::sample ( double t )

Samples this tube at \(t\).

Note: Without any effect if two Slice objects are already defined at \(t\) (if the gate \([x](t)\) already exists)

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)

◆ sample() [2/4]

void codac::Tube::sample	(	double	t,
		Slice *	slice_to_be_sampled
	)

Samples this tube at \(t\) from a pointer to the corresponding slice.

Reduces the complexity of related methods by providing a direct access to the Slice object covering the input \(t\).

Note: Without any effect if two Slice objects are already defined at \(t\) (if the gate \([x](t)\) already exists)

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)
slice_to_be_sampled	a pointer to the Slice whose tdomain contains \(t\)

◆ sample() [3/4]

void codac::Tube::sample	(	double	t,
		const Interval &	gate
	)

Samples this tube at \(t\) with a specific gate value.

Note: Without any sampling effect if two Slice objects are already defined at \(t\) (if the gate \([x](t)\) already exists)

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)
gate	the Interval value of this tube at \(t\)

◆ sample() [4/4]

void codac::Tube::sample ( const Tube & x )

Samples this tube so that it will share the same sampling of \([x](\cdot)\).

Note: The previous sampling of this tube is preserved

Parameters

x	the Tube from which the new sampling will come from

◆ gate_exists()

bool codac::Tube::gate_exists ( double t ) const

Tests if a gate exists at time \(t\).

Parameters

t	time input to test

Returns: true if a gate exists

◆ remove_gate()

void codac::Tube::remove_gate ( double t )

Removes the gate at \(t\) and merges the two related slices.

Parameters

t	time input where the gate to remove is

◆ merge_similar_slices()

void codac::Tube::merge_similar_slices ( double distance_threshold )

Merges all adjacent slices whose Hausdorff distance is less than the given threshold.

Note: Adjacent slices whose Hausdorff distance is larger (or equal) than the given threshold are not merged

Parameters

distance_threshold the threshold for the maximum Haussdorf distance between adjacent slices

◆ codomain()

const Interval codac::Tube::codomain ( ) const

Returns the interval of feasible values.

Returns: an Interval object \([x]([t_0,t_f])\)

◆ volume()

double codac::Tube::volume ( ) const

Returns the volume of this tube.

Note: returns POS_INFINITY if the codomain is unbounded; returns 0 if the tube is flat (and so without wrapping effect)

Returns: volume defined as \(w([t_0,t_f])\times w([x]([t_0,t_f]))\)

◆ operator()() [1/3]

const Interval codac::Tube::operator() ( int slice_id ) const

Returns the value of the ith slice.

Parameters

slice_id the index of the ith slice

Returns: Interval value of \([x](i)\)

◆ operator()() [2/3]

const Interval codac::Tube::operator() ( double t ) const

Returns the evaluation of this tube at \(t\).

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)

Returns: Interval value of \([x](t)\)

◆ operator()() [3/3]

const Interval codac::Tube::operator() ( const Interval & t ) const

Returns the interval evaluation of this tube over \([t]\).

Parameters

t	the subtdomain (Interval, must be a subset of the Tube's tdomain)

Returns: Interval envelope \([x]([t])\)

◆ eval()

const std::pair<Interval,Interval> codac::Tube::eval ( const Interval & t = Interval::ALL_REALS ) const

Returns the interval evaluations of the bounds of the tube \(\underline{x^-}(\cdot)\) and \(\overline{x^+}(\cdot)\) over \([t]\).

Parameters

t	the subtdomain (Interval, must be a subset of the Tube's tdomain)

Returns: the pair \(\big([\underline{x^-}]([t]),[\overline{x^+}]([t])\big)\)

◆ interpol() [1/2]

const Interval codac::Tube::interpol	(	double	t,
		const Tube &	v
	)		const

Returns the optimal evaluation of this tube at \(t\), based on the derivative information \(\dot{x}(\cdot)\).

Todo:: Change the name of this method?

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)
v	the derivative tube such that \(\dot{x}(\cdot)\in[v](\cdot)\)

Returns: Interval value of \([x](t)\)

◆ interpol() [2/2]

const Interval codac::Tube::interpol	(	const Interval &	t,
		const Tube &	v
	)		const

Returns the optimal interval evaluation of this tube over \([t]\), based on the derivative information \(\dot{x}(\cdot)\).

Todo:: Change the name of this method?

Parameters

t	the subtdomain (Interval, must be a subset of the Tube's tdomain)
v	the derivative tube such that \(\dot{x}(\cdot)\in[v](\cdot)\)

Returns: Interval value of \([x]([t])\)

◆ invert() [1/4]

const Interval codac::Tube::invert	(	const Interval &	y,
		const Interval &	search_tdomain = `Interval::ALL_REALS`
	)		const

Returns the interval inversion \([x]^{-1}([y])\).

Note: If the inversion results in several pre-images, their union is returned

Parameters

y	the interval codomain
search_tdomain	the optional temporal domain on which the inversion will be performed

Returns: the hull of \([x]^{-1}([y])\)

◆ invert() [2/4]

void codac::Tube::invert	(	const Interval &	y,
		std::vector< Interval > &	v_t,
		const Interval &	search_tdomain = `Interval::ALL_REALS`
	)		const

Computes the set of continuous values of the inversion \([x]^{-1}([y])\).

Parameters

y	the interval codomain
v_t	the vector of the sub-tdomains \([t_k]\) for which \(\forall t\in[t_k] \mid x(t)\in[y], x(\cdot)\in[x](\cdot)\)
search_tdomain	the optional temporal domain on which the inversion will be performed

◆ invert() [3/4]

const Interval codac::Tube::invert	(	const Interval &	y,
		const Tube &	v,
		const Interval &	search_tdomain = `Interval::ALL_REALS`
	)		const

Returns the optimal interval inversion \([x]^{-1}([y])\).

Note: The knowledge of the derivative tube \([v](\cdot)\) allows a finer inversion; If the inversion results in several pre-images, their union is returned

Parameters

y	the interval codomain
v	the derivative tube such that \(\dot{x}(\cdot)\in[v](\cdot)\)
search_tdomain	the optional temporal domain on which the inversion will be performed

Returns: the hull of \([x]^{-1}([y])\)

◆ invert() [4/4]

void codac::Tube::invert	(	const Interval &	y,
		std::vector< Interval > &	v_t,
		const Tube &	v,
		const Interval &	search_tdomain = `Interval::ALL_REALS`
	)		const

Computes the set of continuous values of the optimal inversion \([x]^{-1}([y])\).

Note: The knowledge of the derivative tube \([v](\cdot)\) allows finer inversions

Parameters

y	the interval codomain
v_t	the vector of the sub-tdomains \([t_k]\) for which \(\exists t\in[t_k] \mid x(t)\in[y], x(\cdot)\in[x](\cdot), \dot{x}(\cdot)\in[v](\cdot)\)
v	the derivative tube such that \(\dot{x}(\cdot)\in[v](\cdot)\)
search_tdomain	the optional temporal domain on which the inversion will be performed

◆ max_diam()

double codac::Tube::max_diam ( ) const

Returns the diameter of the interval value \([x](t)\) that is the more uncertain.

Returns: the maximal thickness of this tube

◆ max_gate_diam()

double codac::Tube::max_gate_diam ( double & t ) const

Returns the diameter of the gate of this tube that is the more uncertain.

Parameters

t	the temporal key of the corresponding uncertain gate

Returns: the maximal thickness of the gate

◆ diam() [1/2]

const Trajectory codac::Tube::diam ( bool gates_thicknesses = false ) const

Returns the diameters of the tube as a trajectory.

Note: Without derivative knowledge, and because the tube is made of boxed slices, the trajectory will be discontinuous and so the returned object will not reliably represent the diameters. It can be mainly used for display purposes.

Parameters

gates_thicknesses if true, the diameters of the gates will be evaluated too

Returns: the set of diameters associated to temporal inputs

◆ diam() [2/2]

const Trajectory codac::Tube::diam ( const Tube & v ) const

Returns the diameters of the tube as a trajectory.

Note: Because the tube is made of boxed slices, the trajectory may be discontinuous and so the returned object will not reliably represent the diameters. It can be mainly used for display purposes.

Parameters

v	the derivative tube such that \(\dot{x}(\cdot)\in[v](\cdot)\)

Returns: the set of diameters associated to temporal inputs

◆ operator==()

bool codac::Tube::operator== ( const Tube & x ) const

Returns true if this tube is equal to \([x](\cdot)\).

Note: Equality is obtained if the tubes share the same bounds, tdomain and sampling

Parameters

x	the Tube object

Returns: true in case of equality

◆ operator!=()

bool codac::Tube::operator!= ( const Tube & x ) const

Returns true if this tube is different from \([x](\cdot)\).

Note: The two tubes are different if they do not share the same bounds, tdomain or sampling

Parameters

x	the Tube object

Returns: true in case of difference

◆ is_subset()

bool codac::Tube::is_subset ( const Tube & x ) const

Returns true if this tube is a subset of \([x](\cdot)\).

Note: The two tubes may not share the same slicing, but must have the same tdomain

Parameters

x	the Tube object

Returns: true in case of subset

◆ is_strict_subset()

bool codac::Tube::is_strict_subset ( const Tube & x ) const

Returns true if this tube is a subset of \([x](\cdot)\), and not \([x](\cdot)\) itself.

Note: The two tubes may not share the same slicing, but must have the same tdomain

Parameters

x	the Tube object

Returns: true in case of strict subset

◆ is_interior_subset()

bool codac::Tube::is_interior_subset ( const Tube & x ) const

Returns true if this tube is a subset of the interior of \([x](\cdot)\).

Note: The two tubes may not share the same slicing, but must have the same tdomain

Parameters

x	the Tube object

Returns: true in case of interior subset

◆ is_strict_interior_subset()

bool codac::Tube::is_strict_interior_subset ( const Tube & x ) const

Returns true if this tube is a subset of the interior of \([x](\cdot)\), and not \([x](\cdot)\) itself.

Note: The two tubes may not share the same slicing, but must have the same tdomain

Parameters

x	the Tube object

Returns: true in case of strict interior subset

◆ is_superset()

bool codac::Tube::is_superset ( const Tube & x ) const

Returns true if this tube is a superset of \([x](\cdot)\).

Note: The two tubes may not share the same slicing, but must have the same tdomain

Parameters

x	the Tube object

Returns: true in case of superset

◆ is_strict_superset()

bool codac::Tube::is_strict_superset ( const Tube & x ) const

Returns true if this tube is a superset of \([x](\cdot)\), and not \([x](\cdot)\) itself.

Note: The two tubes may not share the same slicing, but must have the same tdomain

Parameters

x	the Tube object

Returns: true in case of strict superset

◆ is_empty()

bool codac::Tube::is_empty ( ) const

Returns true if this tube is empty.

Note: If \([x](t)=\varnothing\) for some \(t\), then the tube \([x](\cdot)\) is considered empty

Returns: true in case of emptiness

◆ contains()

const BoolInterval codac::Tube::contains ( const Trajectory & x ) const

Returns true if this tube contains the trajectory \(x(\cdot)\).

Note: Due to the reliable numerical representation of a trajectory, some wrapping effect may appear for its evaluations (either if it is defined by a map of values or an analytic function). Hence, this "contains" test may not be able to conclude, if the thin envelope of \(x(\cdot)\) overlaps a boundary of the tube.

Parameters

x	the trajectory that might be contained by this tube

Returns: BoolInterval::YES (or BoolInterval::NO) if this tube contains \(x(\cdot)\) (or does not contain) and BoolInterval::MAYBE in case of ambiguity

◆ overlaps()

bool codac::Tube::overlaps	(	const Tube &	x,
		float	ratio = `1.`
	)		const

Returns true if this tube overlaps the tube \([x](\cdot)\).

Parameters

x	the other tube
ratio	an optional overlapping ratio between 0 and 1 (1 by default). For instance, if ratio=0.3 and there is an overlapping of at least 30%, then the function returns true

Returns: true in case of overlapping with respect to the defined ratio

◆ set() [1/4]

const Tube& codac::Tube::set ( const Interval & y )

Sets a constant interval value for this tube: \(\forall t, [x](t)=[y]\).

Note: The sampling of this tube is preserved

Parameters

y	Interval value of the slices

Returns: *this

◆ set() [2/4]

const Tube& codac::Tube::set	(	const Interval &	y,
		int	slice_id
	)

Sets the interval value of the ith slice of this tube.

Parameters

y	Interval value of the ith slice
slice_id	index of the ith Slice

Returns: *this

◆ set() [3/4]

const Tube& codac::Tube::set	(	const Interval &	y,
		double	t
	)

Sets the interval value of this tube at \(t\): \([x](t)=[y]\).

Note: It may create a gate (and so one more slice) if the tube is not already sampled at \(t\). Otherwise, it will update the value of the already existing gate.

Parameters

y	Interval value of the gate
t	the temporal key (double, must belong to the Tube's tdomain)

Returns: *this

◆ set() [4/4]

const Tube& codac::Tube::set	(	const Interval &	y,
		const Interval &	t
	)

Sets the interval value of this tube over \([t]\): \(\forall t\in[t], [x](t)=[y]\).

Note: It may create two gates (and so further slices) if the tube is not already sampled at \(t^-\) and \(t^+\). This is done to ensure that \(\forall t\in[t], [x](t)=[y]\).

Parameters

y	Interval value to be set
t	the subtdomain (Interval, must be a subset of the Tube's tdomain)

Returns: *this

◆ set_empty()

const Tube& codac::Tube::set_empty ( )

Sets this tube to the empty set.

Note: By convention, all slices will be set to the empty set

Returns: *this

◆ inflate() [1/2]

const Tube& codac::Tube::inflate ( double rad )

Inflates this tube by adding \([-rad,+rad]\) to all its codomain components.

Note: All slices and gates will be inflated

Parameters

rad	half of the inflation

Returns: *this

◆ inflate() [2/2]

const Tube& codac::Tube::inflate ( const Trajectory & rad )

Inflates this tube by adding non-constant uncertainties defined in a trajectory.

Note: From the trajectory \(a(\cdot)\), the function will inflate this tube such that \(\forall t, [x](t):=[x](t)+[-a(t),+a(t)]\); All slices and gates will be inflated

Parameters

rad	the Trajectory object defining the non-constant inflation

Returns: *this

◆ truncate_tdomain()

Tube& codac::Tube::truncate_tdomain ( const Interval & tdomain )

Truncates the tdomain of \([x](\cdot)\).

Note: The new tdomain must be a subset of the old one

Parameters

tdomain new temporal domain \([t_0,t_f]\)

Returns: a reference to this tube

◆ shift_tdomain()

void codac::Tube::shift_tdomain ( double a )

Shifts the tdomain \([t_0,t_f]\) of \([x](\cdot)\).

Parameters

a	the offset value so that \([t_0,t_f]:=[t_0+a,t_f+a]\)

◆ bisect()

const std::pair<Tube,Tube> codac::Tube::bisect	(	double	t,
		float	ratio = `0.49`
	)		const

Bisects this tube.

Note: The tube is bisected along the codomain and according to a defined ratio; The bisection is performed on the interval value of the gate \([x](t)\); If the tube is not already sampled at \(t\), then a sampling is performed

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)
ratio	the bisection ratio (default value: 0.55)

Returns: a pair of two Tube objects resulting from the bisection

◆ operator+=() [1/3]

const Tube& codac::Tube::operator+= ( const Interval & x )

Operates +=.

Parameters

x Interval

Returns: (*this)+=x

◆ operator+=() [2/3]

const Tube& codac::Tube::operator+= ( const Trajectory & x )

Operates +=.

Parameters

x	Trajectory

Returns: (*this)+=x

◆ operator+=() [3/3]

const Tube& codac::Tube::operator+= ( const Tube & x )

Operates +=.

Parameters

x Tube

Returns: (*this)+=x

◆ operator-=() [1/3]

const Tube& codac::Tube::operator-= ( const Interval & x )

Operates -=.

Parameters

x Interval

Returns: (*this)-=x

◆ operator-=() [2/3]

const Tube& codac::Tube::operator-= ( const Trajectory & x )

Operates -=.

Parameters

x	Trajectory

Returns: (*this)-=x

◆ operator-=() [3/3]

const Tube& codac::Tube::operator-= ( const Tube & x )

Operates -=.

Parameters

x Tube

Returns: (*this)-=x

◆ operator*=() [1/3]

const Tube& codac::Tube::operator*= ( const Interval & x )

Operates *=.

Parameters

x Interval

Returns: (this)=x

◆ operator*=() [2/3]

const Tube& codac::Tube::operator*= ( const Trajectory & x )

Operates *=.

Parameters

x	Trajectory

Returns: (this)=x

◆ operator*=() [3/3]

const Tube& codac::Tube::operator*= ( const Tube & x )

Operates *=.

Parameters

x Tube

Returns: (this)=x

◆ operator/=() [1/3]

const Tube& codac::Tube::operator/= ( const Interval & x )

Operates /=.

Parameters

x Interval

Returns: (*this)/=x

◆ operator/=() [2/3]

const Tube& codac::Tube::operator/= ( const Trajectory & x )

Operates /=.

Parameters

x	Trajectory

Returns: (*this)/=x

◆ operator/=() [3/3]

const Tube& codac::Tube::operator/= ( const Tube & x )

Operates /=.

Parameters

x Tube

Returns: (*this)/=x

◆ operator|=() [1/3]

const Tube& codac::Tube::operator|= ( const Interval & x )

Operates |=.

Parameters

x Interval

Returns: (*this)|=x

◆ operator|=() [2/3]

const Tube& codac::Tube::operator|= ( const Trajectory & x )

Operates |=.

Parameters

x	Trajectory

Returns: (*this)|=x

◆ operator|=() [3/3]

const Tube& codac::Tube::operator|= ( const Tube & x )

Operates |=.

Parameters

x Tube

Returns: (*this)|=x

◆ operator &=() [1/3]

const Tube& codac::Tube::operator&= ( const Interval & x )

Operates &=.

Parameters

x Interval

Returns: (*this)&=x

◆ operator &=() [2/3]

const Tube& codac::Tube::operator&= ( const Trajectory & x )

Operates &=.

Parameters

x	Trajectory

Returns: (*this)&=x

◆ operator &=() [3/3]

const Tube& codac::Tube::operator&= ( const Tube & x )

Operates &=.

Parameters

x Tube

Returns: (*this)&=x

◆ class_name()

const std::string codac::Tube::class_name ( ) const

inlinevirtual

Returns the name of this class.

Note: Only used for some generic display method

Returns: the predefined name

Implements codac::DynamicalItem.

1016 { return "Tube"; };

◆ enable_synthesis()

void codac::Tube::enable_synthesis	(	SynthesisMode	mode = `SynthesisMode::BINARY_TREE`,
		double	eps = `1.e-3`
	)		const

Enables the computation of a synthesis tree.

Note: The synthesis tree speeds up computations such as integrals or evaluations

Parameters

mode	mode of synthesis
eps	precision of the polynomial approximation, if selected

◆ integral() [1/3]

const Interval codac::Tube::integral ( double t ) const

Computes the interval integral \(\int_0^t[x](\tau)d\tau\).

Note: From the monotonicity of the integral operator, \(\int_0^t[x](\tau)d\tau=[\int_0^t x^-(\tau)d\tau,\int_0^t x^+(\tau)d\tau]\)

Parameters

t	the temporal key (double, must belong to the Tube's tdomain)

Returns: the set of feasible integral values

◆ integral() [2/3]

const Interval codac::Tube::integral ( const Interval & t ) const

Computes the interval integral \(\int_0^{[t]}[x](\tau)d\tau\).

Note: From the monotonicity of the integral operator, \(\int_0^{[t]}[x](\tau)d\tau=[\int_0^{[t]}x^-(\tau)d\tau,\int_0^{[t]}x^+(\tau)d\tau]\)

Parameters

t	the subtdomain (Interval, must be a subset of the Tube's tdomain)

Returns: the set of feasible integral values

◆ integral() [3/3]

const Interval codac::Tube::integral	(	const Interval &	t1,
		const Interval &	t2
	)		const

Computes the interval integral \(\int_{[t_1]}^{[t_2]}[x](\tau)d\tau\).

Note: From the monotonicity of the integral operator, \(\int_{[t_1]}^{[t_2]}[x](\tau)d\tau=[\int_{[t_1]}^{[t_2]}x^-(\tau)d\tau,\int_{[t_1]}^{[t_2]}x^+(\tau)d\tau]\)

Parameters

t1	lower bound, subset of the Tube's tdomain
t2	upper bound, subset of the Tube's tdomain

Returns: the set of feasible integral values

◆ partial_integral() [1/2]

const std::pair<Interval,Interval> codac::Tube::partial_integral ( const Interval & t ) const

Computes the partial interval integral \(\int_{0}^{[t]}[x](\tau)d\tau\).

Note: From the monotonicity of the integral operator, \(\int_{0}^{[t]}[x](\tau)d\tau=[\int_{0}^{[t]}x^-(\tau)d\tau,\int_{0}^{[t]}x^+(\tau)d\tau]\)

Parameters

t	interval upper bound, subset of the Tube's tdomain

Returns: the pair \(\big([i^-],[i^+]\big)\), where \([i^-]=\int_{0}^{[t]}x^-(\tau)d\tau\) and \([i^+]=\int_{0}^{[t]}x^+(\tau)d\tau\)

◆ partial_integral() [2/2]

const std::pair<Interval,Interval> codac::Tube::partial_integral	(	const Interval &	t1,
		const Interval &	t2
	)		const

Computes the partial interval integral \(\int_{[t_1]}^{[t_2]}[x](\tau)d\tau\).

Note: From the monotonicity of the integral operator, \(\int_{[t_1]}^{[t_2]}[x](\tau)d\tau=[\int_{[t_1]}^{[t_2]}x^-(\tau)d\tau,\int_{[t_1]}^{[t_2]}x^+(\tau)d\tau]\)

Parameters

t1	interval lower bound, subset of the Tube's tdomain
t2	interval upper bound, subset of the Tube's tdomain

Returns: the pair \(\big([i^-],[i^+]\big)\), where \([i^-]=\int_{[t_1]}^{[t_2]}x^-(\tau)d\tau\) and \([i^+]=\int_{[t_1]}^{[t_2]}x^+(\tau)d\tau\)

◆ serialize() [1/2]

void codac::Tube::serialize	(	const std::string &	binary_file_name = `"x.tube"`,
		int	version_number = `SERIALIZATION_VERSION`
	)		const

Serializes this tube.

Note: The values and sampling (slices and gates) are serialized

Parameters

binary_file_name	name of the output file (default value: "x.tube")
version_number	serialization version (used for tests purposes, default value: last version)

◆ serialize() [2/2]

void codac::Tube::serialize	(	const std::string &	binary_file_name,
		const Trajectory &	traj,
		int	version_number = `SERIALIZATION_VERSION`
	)		const

Serializes this tube together with a Trajectory object.

Note: The values and sampling (slices and gates) are serialized; The serialization of a Trajectory defined from a TFunction object is not supported; The output file will appear in the executable current directory

Parameters

binary_file_name	name of the output file (default value: "x.tube")
traj	the Trajectory object to serialize (for instance, actual but unknown values)
version_number	serialization version (used for tests purposes, default value: last version)

◆ same_slicing()

static bool codac::Tube::same_slicing	(	const Tube &	x1,
		const Tube &	x2
	)

static

Tests whether the two Tube objects are sharing the same slicing.

Note: If true, it means the two tubes are defined with the same amount of slices and identical sampling

Parameters

x1	the first Tube
x2	the second Tube

Returns: true in case of same slicing

◆ enable_syntheses()

static void codac::Tube::enable_syntheses ( bool enable = true )

static

Enables the computation of a synthesis tree for any Tube object.

Note: A synthesis tree speeds up computations such as integrals or evaluations

Parameters

enable boolean

Returns: void

◆ hull()

static const Tube codac::Tube::hull ( const std::list< Tube > & l_tubes )

static

Computes the hull of several tubes.

Parameters

l_tubes list of tubes

Returns: the tube enveloping the other ones

◆ codomain_box()

const IntervalVector codac::Tube::codomain_box ( ) const

protectedvirtual

Returns the box \([x]([t_0,t_f])\).

Note: Used for genericity purposes

Returns: the envelope of codomain values

Implements codac::DynamicalItem.

◆ deserialize()

void codac::Tube::deserialize	(	const std::string &	binary_file_name,
		Trajectory *&	traj
	)

protected

Restores a scalar tube from serialization, together with a Trajectory object.

Note: The Tube and the Trajectory must have been serialized beforehand by the appropriate method serialize()

Parameters

binary_file_name	path to the binary file
traj	a pointer to the Trajectory object to be instantiated

◆ create_synthesis_tree()

void codac::Tube::create_synthesis_tree ( ) const

protected

Creates the synthesis tree associated to the values of this tube.

Note: The synthesis tree speeds up computations such as integrals or evaluations

◆ create_polynomial_synthesis()

void codac::Tube::create_polynomial_synthesis ( double eps ) const

protected

Creates the synthesis tree associated to the values of this tube.

Note: The synthesis tree speeds up computations such as integrals or evaluations

Parameters

eps	precision of the polynomial approximation

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	str,
		const Tube &	x
	)

friend

Displays a synthesis of this tube.

Parameters

str	ostream
x	tube to be displayed

Returns: ostream

◆ deserialize_Tube

void deserialize_Tube	(	std::ifstream &	bin_file,
		Tube *&	tube
	)

friend

Creates a Tube object from a binary file.

The binary file has to be written by the serialize_Tube() function.

Parameters

bin_file	binary file (ifstream object)
tube	Tube object to be deserialized

◆ deserialize_TubeVector

void deserialize_TubeVector	(	std::ifstream &	bin_file,
		TubeVector *&	tube
	)

friend

Creates a TubeVector object from a binary file.

The binary file has to be written by the serialize_TubeVector() function.

Parameters

bin_file	binary file (ifstream object)
tube	TubeVector object to be deserialized

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

/home/simon/codac/src/core/domains/tube/codac_Tube.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

String

Detailed Description

Constructor & Destructor Documentation

◆ Tube() [1/11]

◆ Tube() [2/11]

◆ Tube() [3/11]

◆ Tube() [4/11]

◆ Tube() [5/11]

◆ Tube() [6/11]

◆ Tube() [7/11]

◆ Tube() [8/11]

◆ Tube() [9/11]

◆ Tube() [10/11]

◆ Tube() [11/11]

Member Function Documentation

◆ size()

◆ primitive()

◆ operator=()

◆ tdomain()

◆ polygon_envelope()

◆ lb()

◆ ub()

◆ nb_slices()

◆ slice() [1/4]

◆ slice() [2/4]

◆ slice() [3/4]

◆ slice() [4/4]

◆ first_slice() [1/2]

◆ first_slice() [2/2]

◆ last_slice() [1/2]

◆ last_slice() [2/2]

◆ wider_slice() [1/2]

◆ wider_slice() [2/2]

◆ largest_slice() [1/2]

◆ largest_slice() [2/2]

◆ steepest_slice() [1/2]

◆ steepest_slice() [2/2]

◆ slice_tdomain()

◆ time_to_index()

◆ index()

◆ sample() [1/4]

◆ sample() [2/4]

◆ sample() [3/4]

◆ sample() [4/4]

◆ gate_exists()

◆ remove_gate()

◆ merge_similar_slices()

◆ codomain()

◆ volume()

◆ operator()() [1/3]

◆ operator()() [2/3]

◆ operator()() [3/3]

◆ eval()

◆ interpol() [1/2]

◆ interpol() [2/2]

◆ invert() [1/4]

◆ invert() [2/4]

◆ invert() [3/4]

◆ invert() [4/4]

◆ max_diam()

◆ max_gate_diam()

◆ diam() [1/2]

◆ diam() [2/2]

◆ operator==()

◆ operator!=()

◆ is_subset()

◆ is_strict_subset()

◆ is_interior_subset()

◆ is_strict_interior_subset()

◆ is_superset()

◆ is_strict_superset()

◆ is_empty()

◆ contains()

◆ overlaps()

◆ set() [1/4]