Struct MinkowskiSumComputer 

pub struct MinkowskiSumComputer {
    pub dim: usize,
}

Computer for Minkowski sums of polytopes with additional features.

The Minkowski sum A + B = {a + b : a ∈ A, b ∈ B}. For polytopes in V-representation, this is the convex hull of all pairwise sums.

Fields

dim: usize

Ambient dimension.

Implementations

impl MinkowskiSumComputer

pub fn new(dim: usize) -> Self

Create a Minkowski sum computer for the given dimension.

pub fn compute(&self, a: &[Vec<f64>], b: &[Vec<f64>]) -> Vec<Vec<f64>>

Compute the Minkowski sum of two polytopes (V-representations). Returns the list of candidate extreme points (not yet hull-reduced).

pub fn dilate(&self, vertices: &[Vec<f64>], t: f64) -> Vec<Vec<f64>>

Compute the dilation tK = {tx : x ∈ K} for scalar t > 0.

pub fn translate(&self, vertices: &[Vec<f64>], v: &[f64]) -> Vec<Vec<f64>>

Compute the translation K + v = {x + v : x ∈ K}.

pub fn estimate_sum_volume( &self, a: &[Vec<f64>], b: &[Vec<f64>], n_samples: usize, ) -> f64

Estimate the volume of the Minkowski sum using Monte Carlo sampling (bounding box sampling).

pub fn support_function_sum( &self, a: &[Vec<f64>], b: &[Vec<f64>], y: &[f64], ) -> f64

Support function of the Minkowski sum: h_{A+B}(y) = h_A(y) + h_B(y).

Trait Implementations

impl Clone for MinkowskiSumComputer

fn clone(&self) -> MinkowskiSumComputer

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MinkowskiSumComputer

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.