codac 2.0.0
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codac2_SlicedTube_operations.h
Go to the documentation of this file.
1
9
10#pragma once
11
12#include <type_traits>
13
14#include "codac2_SlicedTube.h"
15#include "codac2_math.h"
16
17namespace codac2
18{
19 #define macro_unary_tube(f) \
20 { \
21 auto y = x1; \
22 for(auto it = y.tdomain()->begin() ; it != y.tdomain()->end() ; it++) \
23 { \
24 auto sy = y.slice(it); \
25 sy->codomain() = f(sy->codomain()); \
26 } \
27 return y; \
28 } \
29
30 #define macro_binary_tube_tube(f,output_type) \
31 { \
32 assert_release(x1.tdomain() == x2.tdomain()); \
33 auto y = output_type; \
34 for(auto it = y.tdomain()->begin() ; it != y.tdomain()->end() ; it++) \
35 { \
36 auto sy = y.slice(it); \
37 sy->codomain() = f(x1.slice(it)->codomain(), x2.slice(it)->codomain()); \
38 } \
39 return y; \
40 } \
41
42 #define macro_binary_real_tube(f) \
43 { \
44 auto y = x2; \
45 for(auto it = y.tdomain()->begin() ; it != y.tdomain()->end() ; it++) \
46 { \
47 auto sy = y.slice(it); \
48 sy->codomain() = f(x1, sy->codomain()); \
49 } \
50 return y; \
51 } \
52
53 #define macro_binary_tube_real(f) \
54 { \
55 auto y = x1; \
56 for(auto it = y.tdomain()->begin() ; it != y.tdomain()->end() ; it++) \
57 { \
58 auto sy = y.slice(it); \
59 sy->codomain() = f(sy->codomain(), x2); \
60 } \
61 return y; \
62 } \
63
64 #define macro_member_binary_tube_tube(f) \
65 { \
66 assert_release(x1.tdomain() == x2.tdomain()); \
67 for(auto it = x1.tdomain()->begin() ; it != x1.tdomain()->end() ; it++) \
68 { \
69 auto sx1 = x1.slice(it); \
70 sx1->codomain() = f(sx1->codomain(), x2.slice(it)->codomain()); \
71 } \
72 return x1; \
73 } \
74
75 #define macro_member_binary_tube_real(f) \
76 { \
77 for(auto it = x1.tdomain()->begin() ; it != x1.tdomain()->end() ; it++) \
78 { \
79 auto sx1 = x1.slice(it); \
80 sx1->codomain() = f(sx1->codomain(), x2); \
81 } \
82 return x1; \
83 } \
84
85 template<typename U>
86 struct is_slicedtube : std::false_type {};
87
88 template<typename U>
89 struct is_slicedtube<SlicedTube<U>> : std::true_type {};
90
91 template<typename U>
92 inline constexpr bool is_slicedtube_v = is_slicedtube<std::remove_cvref_t<U>>::value;
93
94 template<typename Q>
95 concept NonSlicedTube = !is_slicedtube_v<Q>;
96
97 template<typename T>
98 concept NonScalarTubeCodomain =
99 !std::is_same_v<std::remove_cvref_t<T>, double> &&
100 !std::is_same_v<std::remove_cvref_t<T>, Interval>;
101
102 template<typename T>
103 inline T operator_tube_union(const T& x1, const T& x2) { return x1 | x2; }
104
105 template<typename T>
106 inline T operator_tube_intersection(const T& x1, const T& x2) { return x1 & x2; }
107
108 template<typename T, typename X1, typename X2>
109 inline T operator_tube_add(const X1& x1, const X2& x2) { return x1 + x2; }
110
111 template<typename T, typename X1, typename X2>
112 inline T operator_tube_sub(const X1& x1, const X2& x2) { return x1 - x2; }
113
114 template<typename T, typename X1, typename X2>
115 inline T operator_tube_mul(const X1& x1, const X2& x2) { return x1 * x2; }
116
117 template<typename T>
118 inline T operator_tube_scal_mul(const Interval& x1, const T& x2) { return x1 * x2; }
119
120 template<typename T>
121 inline T operator_tube_mul_scal(const T& x1, const Interval& x2) { return x1 * x2; }
122
123 inline IntervalVector operator_tube_mul_vec(const IntervalMatrix& x1, const IntervalVector& x2) { return x1 * x2; }
124
125 template<typename T, typename X1, typename X2>
126 inline T operator_tube_div(const X1& x1, const X2& x2) { return x1 / x2; }
127
128 template<typename T, typename X1>
129 inline T operator_tube_div_scal(const X1& x1, const Interval& x2) { return x1 / x2; }
130
143 template<typename T>
144 inline SlicedTube<T>& operator|=(SlicedTube<T>& x1, const SlicedTube<T>& x2)
145 macro_member_binary_tube_tube(operator_tube_union<T>);
146
159 template<typename T>
160 inline SlicedTube<T> operator|(const SlicedTube<T>& x1, const SlicedTube<T>& x2)
161 macro_binary_tube_tube(operator_tube_union<T>,x1);
162
175 template<typename T>
176 inline SlicedTube<T>& operator&=(SlicedTube<T>& x1, const SlicedTube<T>& x2)
177 macro_member_binary_tube_tube(operator_tube_intersection<T>);
178
191 template<typename T>
192 inline SlicedTube<T> operator&(const SlicedTube<T>& x1, const SlicedTube<T>& x2)
193 macro_binary_tube_tube(operator_tube_intersection<T>,x1);
194
204 template<typename T>
205 inline const SlicedTube<T>& operator+(const SlicedTube<T>& x1)
206 {
207 return x1;
208 }
209
222 template<typename T>
223 inline SlicedTube<T> operator+(const SlicedTube<T>& x1, const SlicedTube<T>& x2)
224 macro_binary_tube_tube(operator_tube_add<T>,x1);
225
238 template<typename T, typename Q>
239 requires NonSlicedTube<Q>
240 inline SlicedTube<T> operator+(const SlicedTube<T>& x1, const Q& x2)
241 macro_binary_tube_real(operator_tube_add<T>);
242
255 template<typename T, typename Q>
256 requires NonSlicedTube<Q>
257 inline SlicedTube<T> operator+(const Q& x1, const SlicedTube<T>& x2)
258 macro_binary_real_tube(operator_tube_add<T>);
259
267 template<typename T, typename Q>
268 requires NonSlicedTube<Q>
269 inline SlicedTube<T>& operator+=(SlicedTube<T>& x1, const Q& x2)
270 macro_member_binary_tube_real(operator_tube_add<T>);
271
279 template<typename T>
280 inline SlicedTube<T>& operator+=(SlicedTube<T>& x1, const SlicedTube<T>& x2)
281 macro_member_binary_tube_tube(operator_tube_add<T>);
282
292 template<typename T>
293 inline SlicedTube<T> operator-(const SlicedTube<T>& x1)
294 {
295 return -1. * x1;
296 }
297
310 template<typename T>
311 inline SlicedTube<T> operator-(const SlicedTube<T>& x1, const SlicedTube<T>& x2)
312 macro_binary_tube_tube(operator_tube_sub<T>,x1);
313
326 template<typename T, typename Q>
327 requires NonSlicedTube<Q>
328 inline SlicedTube<T> operator-(const SlicedTube<T>& x1, const Q& x2)
329 macro_binary_tube_real(operator_tube_sub<T>);
330
343 template<typename T, typename Q>
344 requires NonSlicedTube<Q>
345 inline SlicedTube<T> operator-(const Q& x1, const SlicedTube<T>& x2)
346 macro_binary_real_tube(operator_tube_sub<T>);
347
355 template<typename T, typename Q>
356 requires NonSlicedTube<Q>
357 inline SlicedTube<T>& operator-=(SlicedTube<T>& x1, const Q& x2)
358 macro_member_binary_tube_real(operator_tube_sub<T>);
359
367 template<typename T>
368 inline SlicedTube<T>& operator-=(SlicedTube<T>& x1, const SlicedTube<T>& x2)
369 macro_member_binary_tube_tube(operator_tube_sub<T>);
370
383 template<typename T>
384 requires (!std::is_same_v<T, double>)
385 inline SlicedTube<T> operator*(const Interval& x1, const SlicedTube<T>& x2)
386 macro_binary_real_tube(operator_tube_scal_mul<T>);
387
400 template<typename T>
401 requires (!std::is_same_v<T, double>)
402 inline SlicedTube<T> operator*(const SlicedTube<T>& x1, const Interval& x2)
403 macro_binary_tube_real(operator_tube_mul_scal<T>);
404
414 inline SlicedTube<Interval> operator*(const SlicedTube<Interval>& x1, const SlicedTube<Interval>& x2)
415 macro_binary_tube_tube(operator_tube_mul<Interval>,x1);
416
426 inline SlicedTube<IntervalVector> operator*(const SlicedTube<IntervalVector>& x1, const SlicedTube<IntervalVector>& x2)
427 macro_binary_tube_tube(operator_tube_mul<IntervalVector>,x1);
428
438 inline SlicedTube<IntervalMatrix> operator*(const SlicedTube<IntervalMatrix>& x1, const SlicedTube<IntervalMatrix>& x2)
439 macro_binary_tube_tube(operator_tube_mul<IntervalMatrix>,x1);
440
452 template<typename T>
453 requires NonScalarTubeCodomain<T>
454 inline SlicedTube<T> operator*(const SlicedTube<Interval>& x1, const SlicedTube<T>& x2)
455 macro_binary_tube_tube(operator_tube_mul<T>,x2);
456
468 template<typename T>
469 requires NonScalarTubeCodomain<T>
470 inline SlicedTube<T> operator*(const SlicedTube<T>& x1, const SlicedTube<Interval>& x2)
471 macro_binary_tube_tube(operator_tube_mul<T>,x1);
472
485 template<typename T, typename Q>
486 requires NonSlicedTube<Q>
487 inline SlicedTube<T> operator*(const SlicedTube<T>& x1, const Q& x2)
488 macro_binary_tube_real(operator_tube_mul<T>);
489
502 template<typename T, typename Q>
503 requires NonSlicedTube<Q>
504 inline SlicedTube<T> operator*(const Q& x1, const SlicedTube<T>& x2)
505 macro_binary_real_tube(operator_tube_mul<T>);
506
516 inline SlicedTube<IntervalVector> operator*(const SlicedTube<IntervalMatrix>& x1, const SlicedTube<IntervalVector>& x2)
517 macro_binary_tube_tube(operator_tube_mul_vec,x2);
518
526 template<typename T, typename Q>
527 requires NonSlicedTube<Q>
528 inline SlicedTube<T>& operator*=(SlicedTube<T>& x1, const Q& x2)
529 macro_member_binary_tube_real(operator_tube_mul<T>);
530
538 template<typename T>
539 inline SlicedTube<T>& operator*=(SlicedTube<T>& x1, const SlicedTube<T>& x2)
540 macro_member_binary_tube_tube(operator_tube_mul<T>);
541
553 template<typename T>
554 requires NonScalarTubeCodomain<T>
555 inline SlicedTube<T>& operator*=(SlicedTube<T>& x1, const SlicedTube<Interval>& x2)
556 macro_member_binary_tube_tube(operator_tube_mul<T>);
557
570 template<typename T>
571 requires (!std::is_same_v<T, double>)
572 inline SlicedTube<T> operator/(const SlicedTube<T>& x1, const Interval& x2)
573 macro_binary_tube_real(operator_tube_div_scal<T>);
574
584 inline SlicedTube<Interval> operator/(const SlicedTube<Interval>& x1, const SlicedTube<Interval>& x2)
585 macro_binary_tube_tube(operator_tube_div<Interval>,x1);
586
598 template<typename T>
599 requires NonScalarTubeCodomain<T>
600 inline SlicedTube<T> operator/(const SlicedTube<T>& x1, const SlicedTube<Interval>& x2)
601 macro_binary_tube_tube(operator_tube_div<T>,x1);
602
615 template<typename T, typename Q>
616 requires NonSlicedTube<Q>
617 inline SlicedTube<T> operator/(const SlicedTube<T>& x1, const Q& x2)
618 macro_binary_tube_real(operator_tube_div<T>);
619
632 template<typename T, typename Q>
633 requires NonSlicedTube<Q>
634 inline SlicedTube<T> operator/(const Q& x1, const SlicedTube<T>& x2)
635 macro_binary_real_tube(operator_tube_div<T>);
636
644 template<typename T, typename Q>
645 requires NonSlicedTube<Q>
646 inline SlicedTube<T>& operator/=(SlicedTube<T>& x1, const Q& x2)
647 macro_member_binary_tube_real(operator_tube_div<T>);
648
656 template<typename T>
657 inline SlicedTube<T>& operator/=(SlicedTube<T>& x1, const SlicedTube<T>& x2)
658 macro_member_binary_tube_tube(operator_tube_div<T>);
659
671 template<typename T>
672 requires NonScalarTubeCodomain<T>
673 inline SlicedTube<T>& operator/=(SlicedTube<T>& x1, const SlicedTube<Interval>& x2)
674 macro_member_binary_tube_tube(operator_tube_div<T>);
675
684 SlicedTube<Interval> sqr(const SlicedTube<Interval>& x1);
685
694 SlicedTube<Interval> sqrt(const SlicedTube<Interval>& x1);
695
705 SlicedTube<Interval> pow(const SlicedTube<Interval>& x1, int x2);
706
716 SlicedTube<Interval> pow(const SlicedTube<Interval>& x1, const Interval& x2);
717
726 SlicedTube<Interval> exp(const SlicedTube<Interval>& x1);
727
736 SlicedTube<Interval> log(const SlicedTube<Interval>& x1);
737
746 SlicedTube<Interval> cos(const SlicedTube<Interval>& x1);
747
756 SlicedTube<Interval> sin(const SlicedTube<Interval>& x1);
757
766 SlicedTube<Interval> tan(const SlicedTube<Interval>& x1);
767
776 SlicedTube<Interval> acos(const SlicedTube<Interval>& x1);
777
786 SlicedTube<Interval> asin(const SlicedTube<Interval>& x1);
787
796 SlicedTube<Interval> atan(const SlicedTube<Interval>& x1);
797
807 SlicedTube<Interval> atan2(const SlicedTube<Interval>& x1, const SlicedTube<Interval>& x2);
808
818 SlicedTube<Interval> atan2(const SlicedTube<Interval>& x1, const Interval& x2);
819
829 SlicedTube<Interval> atan2(const Interval& x1, const SlicedTube<Interval>& x2);
830
839 SlicedTube<Interval> cosh(const SlicedTube<Interval>& x1);
840
849 SlicedTube<Interval> sinh(const SlicedTube<Interval>& x1);
850
859 SlicedTube<Interval> tanh(const SlicedTube<Interval>& x1);
860
869 SlicedTube<Interval> acosh(const SlicedTube<Interval>& x1);
870
879 SlicedTube<Interval> asinh(const SlicedTube<Interval>& x1);
880
889 SlicedTube<Interval> atanh(const SlicedTube<Interval>& x1);
890
899 SlicedTube<Interval> abs(const SlicedTube<Interval>& x1);
900
910 SlicedTube<Interval> min(const SlicedTube<Interval>& x1, const SlicedTube<Interval>& x2);
911
921 SlicedTube<Interval> min(const SlicedTube<Interval>& x1, const Interval& x2);
922
932 SlicedTube<Interval> min(const Interval& x1, const SlicedTube<Interval>& x2);
933
943 SlicedTube<Interval> max(const SlicedTube<Interval>& x1, const SlicedTube<Interval>& x2);
944
954 SlicedTube<Interval> max(const SlicedTube<Interval>& x1, const Interval& x2);
955
965 SlicedTube<Interval> max(const Interval& x1, const SlicedTube<Interval>& x2);
966
975 SlicedTube<Interval> sign(const SlicedTube<Interval>& x1);
976
985 SlicedTube<Interval> integer(const SlicedTube<Interval>& x1);
986
995 SlicedTube<Interval> floor(const SlicedTube<Interval>& x1);
996
1005 SlicedTube<Interval> ceil(const SlicedTube<Interval>& x1);
1006}
codac2::Interval
Interval class, for representing closed and connected subsets of .
Definition codac2_Interval.h:49
codac2::SlicedTube
Tube represented over a sliced temporal domain.
Definition codac2_SlicedTube.h:38
codac2_SlicedTube.h
codac2_math.h
codac2
Definition codac2_OctaSym.h:21
codac2::ceil
Interval ceil(const Interval &x)
Returns ceil of .
Definition codac2_Interval_operations_impl.h:294
codac2::atan
Interval atan(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:133
codac2::operator&=
SlicedTube< T > & operator&=(SlicedTube< T > &x1, const SlicedTube< T > &x2) macro_member_binary_tube_tube(operator_tube_intersection< T >)
Pointwise intersection assignment of two tubes with the same codomain type.
codac2::max
Interval max(const Interval &x, const Interval &y)
Returns .
Definition codac2_Interval_operations_impl.h:274
codac2::operator*
Interval operator*(const Interval &x, double y)
Returns with .
Definition codac2_Interval_impl.h:445
codac2::asinh
Interval asinh(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:237
codac2::atanh
Interval atanh(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:257
codac2::pow
Interval pow(const Interval &x, int n)
Returns , .
Definition codac2_Interval_operations_impl.h:33
codac2::operator+=
SlicedTube< T > & operator+=(SlicedTube< T > &x1, const Q &x2) macro_member_binary_tube_real(operator_tube_add< T >)
Pointwise addition assignment with a constant object of matching codomain type.
codac2::sqrt
Interval sqrt(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:26
codac2::operator/
Interval operator/(const Interval &x, double y)
Returns with .
Definition codac2_Interval_impl.h:468
codac2::cosh
Interval cosh(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:205
codac2::floor
Interval floor(const Interval &x)
Returns floor of .
Definition codac2_Interval_operations_impl.h:289
codac2::sinh
Interval sinh(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:216
codac2::acos
Interval acos(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:119
codac2::IntervalVector
Eigen::Matrix< Interval,-1, 1 > IntervalVector
Alias for a dynamic-size column vector of intervals.
Definition codac2_IntervalVector.h:25
codac2::operator+
Ellipsoid operator+(const Ellipsoid &e1, const Ellipsoid &e2)
Compute the Minkowski sum of two ellipsoids.
codac2::atan2
Interval atan2(const Interval &y, const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:140
codac2::log
Interval log(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:85
codac2::operator/=
SlicedTube< T > & operator/=(SlicedTube< T > &x1, const Q &x2) macro_member_binary_tube_real(operator_tube_div< T >)
Pointwise division assignment with a constant object of matching codomain type.
codac2::operator&
CtcInterType< typenameC1::ContractedTypes >::Ctc operator&(const C1 &c1, const C2 &c2)
Builds an intersection contractor from two contractors.
Definition codac2_CtcInter.h:216
codac2::operator-
Interval operator-(const Interval &x, double y)
Returns with .
Definition codac2_Interval_impl.h:422
codac2::cos
Interval cos(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:98
codac2::exp
Interval exp(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:78
codac2::tanh
Interval tanh(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:223
codac2::sqr
Interval sqr(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:21
codac2::operator|=
SlicedTube< T > & operator|=(SlicedTube< T > &x1, const SlicedTube< T > &x2) macro_member_binary_tube_tube(operator_tube_union< T >)
Pointwise hull-union assignment of two tubes with the same codomain type.
codac2::operator-=
SlicedTube< T > & operator-=(SlicedTube< T > &x1, const Q &x2) macro_member_binary_tube_real(operator_tube_sub< T >)
Pointwise subtraction assignment with a constant object of matching codomain type.
codac2::abs
Interval abs(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:264
codac2::asin
Interval asin(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:126
codac2::operator*=
SlicedTube< T > & operator*=(SlicedTube< T > &x1, const Q &x2) macro_member_binary_tube_real(operator_tube_mul< T >)
Pointwise multiplication assignment with a constant object of matching codomain type.
codac2::integer
Interval integer(const Interval &x)
Returns the largest integer interval included in .
Definition codac2_Interval_operations_impl.h:284
codac2::min
Interval min(const Interval &x, const Interval &y)
Returns .
Definition codac2_Interval_operations_impl.h:269
codac2::IntervalMatrix
Eigen::Matrix< Interval,-1,-1 > IntervalMatrix
Alias for a dynamic-size matrix of intervals.
Definition codac2_IntervalMatrix.h:25
codac2::acosh
Interval acosh(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:230
codac2::sign
Interval sign(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:279
codac2::sin
Interval sin(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:105
codac2::tan
Interval tan(const Interval &x)
Returns .
Definition codac2_Interval_operations_impl.h:112
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