diff --git a/docs/C++/html/BnbDataStructures_8hpp_source.html b/docs/C++/html/BnbDataStructures_8hpp_source.html index 8b46cd70..673c0a30 100644 --- a/docs/C++/html/BnbDataStructures_8hpp_source.html +++ b/docs/C++/html/BnbDataStructures_8hpp_source.html @@ -355,70 +355,61 @@
270 return x_box;
271 }
272
-
273 bool is_priority() const
-
274 {
-
275 return priority;
-
276 }
+
273 private:
+
274 // members
+
275 Box x_box;
+
276 };
277
-
278 void set_priority(bool priority)
-
279 {
-
280 this->priority = priority;
-
281 }
-
282
-
283 private:
-
284 // members
-
285 Box x_box;
-
286 bool priority = false;
-
287 };
-
288
-
289 template <typename T, typename Compare=std::less<T>>
-
290 class PriorityQueuePrunable final : public std::priority_queue<T, std::vector<T>, Compare>
-
291 {
-
292 public:
-
293 // constructor
-
294 explicit PriorityQueuePrunable(const Compare& comp = Compare()) : std::priority_queue<
-
295 T, std::vector<T>, Compare>(comp)
-
296 {
-
297 }
-
298
-
299 // prune queue
-
300 void prune(const T& t)
-
301 {
-
302 auto it_prune = std::find_if(this->c.begin(), this->c.end(), [&](const T& item)
-
303 {
-
304 return this->comp(item, t);
-
305 });
-
306 if (it_prune != this->c.end())
-
307 {
-
308 this->c.erase(it_prune, this->c.end());
-
309 }
-
310 }
-
311
-
312 // bottom
-
313 const T& bottom() const
-
314 {
-
315 return this->c.back();
-
316 }
-
317
-
318 // pop top
-
319 T pop_top()
-
320 {
-
321 T top = std::move(this->c.front());
-
322 this->pop();
-
323 return top;
-
324 }
+
278 template <typename T, typename Compare=std::less<T>>
+
279 class PriorityQueuePrunable final : public std::priority_queue<T, std::vector<T>, Compare>
+
280 {
+
281 public:
+
282 // constructor
+
283 explicit PriorityQueuePrunable(const Compare& comp = Compare()) : std::priority_queue<
+
284 T, std::vector<T>, Compare>(comp)
+
285 {
+
286 }
+
287
+
288 // prune queue
+
289 void prune(const T& t)
+
290 {
+
291 auto it_prune = std::remove_if(this->c.begin(), this->c.end(), [&](const T& item)
+
292 {
+
293 return this->comp(item, t);
+
294 });
+
295 if (it_prune != this->c.end())
+
296 {
+
297 this->c.erase(it_prune, this->c.end());
+
298 std::make_heap(this->c.begin(), this->c.end(), this->comp);
+
299 }
+
300 }
+
301
+
302 // bottom
+
303 const T& bottom() const
+
304 {
+
305 return this->c.back();
+
306 }
+
307
+
308 // pop top
+
309 T pop_top()
+
310 {
+
311 T top = std::move(this->c.front());
+
312 this->pop();
+
313 return top;
+
314 }
+
315
+
316 // clear
+
317 void clear()
+
318 {
+
319 while (!this->empty())
+
320 this->pop();
+
321 }
+
322
+
323 };
+
324} // namespace ZonoOpt::detail
325
-
326 // clear
-
327 void clear()
-
328 {
-
329 while (!this->empty())
-
330 this->pop();
-
331 }
-
332 };
-
333} // namespace ZonoOpt::detail
-
334
-
335
-
336#endif
+
326
+
327#endif
ADMM.hpp
Convex and mixed-integer ADMM implementations used within ZonoOpt.
SolverDataStructures.hpp
Optimization settings and solution data structures for ZonoOpt library.
zono_float
#define zono_float
Defines the floating-point type used in ZonoOpt.
Definition ZonoOpt.hpp:45
diff --git a/docs/C++/html/BranchAndBound_8hpp_source.html b/docs/C++/html/BranchAndBound_8hpp_source.html index be7b5895..dc12a59f 100644 --- a/docs/C++/html/BranchAndBound_8hpp_source.html +++ b/docs/C++/html/BranchAndBound_8hpp_source.html @@ -156,128 +156,130 @@
71 bool operator()(const std::unique_ptr<Node, NodeDeleter>& n1,
72 const std::unique_ptr<Node, NodeDeleter>& n2) const
73 {
-
74 if (n2->is_priority() && !n1->is_priority())
-
75 return true;
-
76 else if (!n2->is_priority() && n1->is_priority())
-
77 return false;
-
78 else
-
79 return n1->solution.J > n2->solution.J;
-
80 }
-
81 };
-
82
-
83 struct JThreadCompare
-
84 {
-
85 bool operator()(const std::pair<int, zono_float>& v1,
-
86 const std::pair<int, zono_float>& v2) const
-
87 {
-
88 if (v1.second != v2.second) return v1.second < v2.second;
-
89 return v1.first < v2.first;
-
90 }
-
91 };
-
92
-
93 template <typename T, typename Comp=std::less<T>>
-
94 struct ThreadGuard
-
95 {
-
96 ThreadSafeSet<T, Comp>& thread_tags;
-
97 T tag;
-
98 bool specified = false;
-
99
-
100 explicit ThreadGuard(ThreadSafeSet<T, Comp>& thread_tags): thread_tags(thread_tags)
-
101 {
-
102 }
-
103
-
104 void specify_tag(const T& tag)
-
105 {
-
106 if (!specified)
-
107 {
-
108 this->tag = tag;
-
109 this->specified = true;
-
110 this->thread_tags.add(tag);
-
111 }
-
112 }
-
113
-
114 ~ThreadGuard()
-
115 {
-
116 if (specified)
-
117 this->thread_tags.remove(tag);
-
118 }
-
119 };
-
120
-
121 const MI_data data;
-
122 std::pmr::synchronized_pool_resource pool;
-
123 NodeCompare comp;
-
124
-
125 PriorityQueuePrunable<std::unique_ptr<Node, NodeDeleter>, NodeCompare> node_queue; // priority queue for nodes
-
126 mutable std::mutex pq_mtx;
-
127 mutable std::mutex incumbent_mtx; // guards atomic check-and-update of incumbent (J_max, z, x, u, etc.)
-
128 std::condition_variable pq_cv_bnb, pq_cv_admm_fp;
-
129 // condition variables for branch-and-bound and ADMM-FP threads
-
130
-
131 bool multi_sol = false;
-
132 std::shared_ptr<ADMM_data> bnb_data, admm_fp_data; // data for branch-and-bound threads / ADMM-FP threads
-
133
-
134 std::atomic<bool> converged = false;
-
135 std::atomic<bool> done = false;
-
136 std::atomic<bool> feasible = false; // feasible solution found
-
137 std::atomic<bool> admm_fp_incumbent = false; // incumbent is from ADMM FP
-
138 std::atomic<long int> qp_iter = 0; // number of QP iterations
-
139 std::atomic<int> iter = 0; // number of iterations
-
140 std::atomic<int> iter_admm_fp = 0; // number of feasibility pump iterations
-
141 std::atomic<zono_float> J_max = std::numeric_limits<zono_float>::infinity(); // upper bound
-
142 ThreadSafeAccess<Eigen::Vector<zono_float, -1>> z, x, u; // solution vector
-
143 std::atomic<zono_float> primal_residual = std::numeric_limits<zono_float>::infinity();
-
144 std::atomic<zono_float> dual_residual = std::numeric_limits<zono_float>::infinity();
-
145 ThreadSafeIncrementable<double> total_startup_time{0.0};
-
146 ThreadSafeIncrementable<double> total_run_time{0.0};
-
147 ThreadSafeSet<std::pair<int, zono_float>, JThreadCompare> J_threads; // threads for J values
-
148 ThreadSafeVector<OptSolution> solutions; // solutions found
-
149 std::uniform_int_distribution<int> uniform_dist{0, std::numeric_limits<int>::max()};
-
150 std::mt19937 rng{0};
-
151
-
152 // warmstart variables
-
153 Eigen::Vector<zono_float, -1> xi_ws, u_ws;
-
154
-
155 // allocate nodes
-
156 std::unique_ptr<Node, NodeDeleter> make_node(const std::shared_ptr<ADMM_data>& admm_data);
-
157
-
158 std::unique_ptr<Node, NodeDeleter> clone_node(const std::unique_ptr<Node, NodeDeleter>& other);
+
74 return n1->solution.J > n2->solution.J; // min-heap on J
+
75 }
+
76 };
+
77
+
78 struct JThreadCompare
+
79 {
+
80 bool operator()(const std::pair<int, zono_float>& v1,
+
81 const std::pair<int, zono_float>& v2) const
+
82 {
+
83 if (v1.second != v2.second) return v1.second < v2.second;
+
84 return v1.first < v2.first;
+
85 }
+
86 };
+
87
+
88 template <typename T, typename Comp=std::less<T>>
+
89 struct ThreadGuard
+
90 {
+
91 ThreadSafeSet<T, Comp>& thread_tags;
+
92 T tag;
+
93 bool specified = false;
+
94
+
95 explicit ThreadGuard(ThreadSafeSet<T, Comp>& thread_tags): thread_tags(thread_tags)
+
96 {
+
97 }
+
98
+
99 void specify_tag(const T& tag)
+
100 {
+
101 if (!specified)
+
102 {
+
103 this->tag = tag;
+
104 this->specified = true;
+
105 this->thread_tags.add(tag);
+
106 }
+
107 }
+
108
+
109 ~ThreadGuard()
+
110 {
+
111 if (specified)
+
112 this->thread_tags.remove(tag);
+
113 }
+
114 };
+
115
+
116 const MI_data data;
+
117 std::pmr::synchronized_pool_resource pool;
+
118 NodeCompare comp;
+
119
+
120 PriorityQueuePrunable<std::unique_ptr<Node, NodeDeleter>, NodeCompare> node_queue; // priority queue for nodes
+
121 PriorityQueuePrunable<std::unique_ptr<Node, NodeDeleter>, NodeCompare> dive_queue; // dive queue for search mode 1
+
122 mutable std::mutex pq_mtx;
+
123 mutable std::mutex incumbent_mtx; // guards atomic check-and-update of incumbent (J_max, z, x, u, etc.)
+
124 std::condition_variable pq_cv_bnb, pq_cv_admm_fp;
+
125 // condition variables for branch-and-bound and ADMM-FP threads
+
126
+
127 bool multi_sol = false;
+
128 std::shared_ptr<ADMM_data> bnb_data, admm_fp_data; // data for branch-and-bound threads / ADMM-FP threads
+
129
+
130 std::atomic<bool> converged = false;
+
131 std::atomic<bool> done = false;
+
132 std::atomic<bool> feasible = false; // feasible solution found
+
133 std::atomic<bool> admm_fp_incumbent = false; // incumbent is from ADMM FP
+
134 std::atomic<long int> qp_iter = 0; // number of QP iterations
+
135 std::atomic<int> iter = 0; // number of iterations
+
136 std::atomic<int> iter_admm_fp = 0; // number of feasibility pump iterations
+
137 std::atomic<zono_float> J_max = std::numeric_limits<zono_float>::infinity(); // upper bound
+
138 ThreadSafeAccess<Eigen::Vector<zono_float, -1>> z, x, u; // solution vector
+
139 std::atomic<zono_float> primal_residual = std::numeric_limits<zono_float>::infinity();
+
140 std::atomic<zono_float> dual_residual = std::numeric_limits<zono_float>::infinity();
+
141 ThreadSafeIncrementable<double> total_startup_time{0.0};
+
142 ThreadSafeIncrementable<double> total_run_time{0.0};
+
143 ThreadSafeSet<std::pair<int, zono_float>, JThreadCompare> J_threads; // threads for J values
+
144 ThreadSafeVector<OptSolution> solutions; // solutions found
+
145 std::uniform_int_distribution<int> uniform_dist{0, std::numeric_limits<int>::max()};
+
146 std::mt19937 rng{0};
+
147
+
148 // warmstart variables
+
149 Eigen::Vector<zono_float, -1> xi_ws, u_ws;
+
150
+
151 // allocate nodes
+
152 std::unique_ptr<Node, NodeDeleter> make_node(const std::shared_ptr<ADMM_data>& admm_data);
+
153
+
154 std::unique_ptr<Node, NodeDeleter> clone_node(const std::unique_ptr<Node, NodeDeleter>& other);
+
155
+
156 // solver core
+
157 std::variant<OptSolution, std::pair<std::vector<OptSolution>, OptSolution>> solver_core(
+
158 int max_sols = std::numeric_limits<int>::max());
159
-
160 // solver core
-
161 std::variant<OptSolution, std::pair<std::vector<OptSolution>, OptSolution>> solver_core(
-
162 int max_sols = std::numeric_limits<int>::max());
-
163
-
164 // solve node and branch
-
165 void solve_and_branch(const std::unique_ptr<Node, NodeDeleter>& node);
-
166
-
167 void admm_fp_solve(const std::unique_ptr<ADMM_FP_solver>& node);
-
168
-
169 // check if integer feasible, xb is vector of relaxed binary variables
-
170 bool is_integer_feasible(const Eigen::Ref<const Eigen::Vector<zono_float, -1>> xb) const;
-
171
-
172 // most fractional branching
-
173 void branch_most_frac(const std::unique_ptr<Node, NodeDeleter>& node);
-
174
-
175 // loop for multithreading
-
176 void worker_loop();
-
177
-
178 void admm_fp_loop(std::unique_ptr<ADMM_FP_solver>&& node);
-
179
-
180 // push node to queue
-
181 void push_node(std::unique_ptr<Node, NodeDeleter>&& node);
-
182
-
183 // prune
-
184 void prune(zono_float J_prune);
-
185
-
186 // check if 2 solutions correspond to the same binaries
-
187 bool check_bin_equal(const OptSolution& sol1, const OptSolution& sol2) const;
-
188
-
189 // check whether integer variables are fully specified
-
190 bool is_box_integer(const Box& box) const;
-
191 };
-
192} // namespace ZonoOpt::detail
-
193
-
194
-
195#endif
+
160 // solve node and branch
+
161 void solve_and_branch(const std::unique_ptr<Node, NodeDeleter>& node);
+
162
+
163 void admm_fp_solve(const std::unique_ptr<ADMM_FP_solver>& node);
+
164
+
165 // check if integer feasible, xb is vector of relaxed binary variables
+
166 bool is_integer_feasible(const Eigen::Ref<const Eigen::Vector<zono_float, -1>> xb) const;
+
167
+
168 // most fractional branching
+
169 void branch_most_frac(const std::unique_ptr<Node, NodeDeleter>& node);
+
170
+
171 // loop for multithreading
+
172 void worker_loop();
+
173
+
174 void admm_fp_loop(std::unique_ptr<ADMM_FP_solver>&& node);
+
175
+
176 // push node to queue
+
177 void push_node(std::unique_ptr<Node, NodeDeleter>&& node);
+
178
+
179 // push node to dive queue (search mode 1)
+
180 void push_dive_node(std::unique_ptr<Node, NodeDeleter>&& node);
+
181
+
182 // prune
+
183 void prune(zono_float J_prune);
+
184
+
185 // check if 2 solutions correspond to the same binaries
+
186 bool check_bin_equal(const OptSolution& sol1, const OptSolution& sol2) const;
+
187
+
188 // check whether integer variables are fully specified
+
189 bool is_box_integer(const Box& box) const;
+
190
+
191 // get lower bound
+
192 zono_float get_lower_bound();
+
193 };
+
194} // namespace ZonoOpt::detail
+
195
+
196
+
197#endif
ADMM.hpp
Convex and mixed-integer ADMM implementations used within ZonoOpt.
BnbDataStructures.hpp
Data structures for mixed-integer optimization in ZonoOpt library.
SolverDataStructures.hpp
Optimization settings and solution data structures for ZonoOpt library.
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documentation","ZonoOpt Module"],"titleterms":{"A":0,"also":0,"build":0,"constrain":0,"content":0,"document":0,"exampl":0,"featur":0,"hybrid":0,"instal":0,"modul":1,"note":0,"number":0,"refer":0,"see":0,"version":0,"zonoopt":[0,1],"zonotop":0}}) \ No newline at end of file diff --git a/docs/python/build/html/zonoopt.html b/docs/python/build/html/zonoopt.html index b6e64ef1..d7cb6828 100644 --- a/docs/python/build/html/zonoopt.html +++ b/docs/python/build/html/zonoopt.html @@ -1633,7 +1633,7 @@
-bounding_box(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x7d93ad3b0170>) → zonoopt._core.Box
+bounding_box(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x76d83b7c0bf0>) → zonoopt._core.Box

Computes a bounding box of the set object as a Box object.

Parameters:
@@ -1684,7 +1684,7 @@
-contains_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x7d93ad3a3f70>) → bool
+contains_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x76d83b7bb5b0>) → bool

Checks whether the point x is contained in the set object.

Parameters:
@@ -1989,7 +1989,7 @@
-is_empty(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x7d93ad3abaf0>) → bool
+is_empty(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x76d83b7c32b0>) → bool

Returns true if the set is provably empty, false otherwise.

Parameters:
@@ -2080,7 +2080,7 @@
-optimize_over(self: zonoopt._core.HybZono, P: scipy.sparse.csc_matrix[numpy.float64], q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], c: typing.SupportsFloat | typing.SupportsIndex = 0, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x7d93ad3a37f0>) → Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]']
+optimize_over(self: zonoopt._core.HybZono, P: scipy.sparse.csc_matrix[numpy.float64], q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], c: typing.SupportsFloat | typing.SupportsIndex = 0, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x76d83b7badb0>) → Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]']

Solves optimization problem with quadratic objective over the current set

Parameters:
@@ -2105,7 +2105,7 @@
-project_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x7d93ad3a3830>) → Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]']
+project_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x76d83b7c3030>) → Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]']

Returns the projection of the point x onto the set object.

Parameters:
@@ -2170,7 +2170,7 @@
-support(self: zonoopt._core.HybZono, d: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x7d93ad3a3c30>) → float
+support(self: zonoopt._core.HybZono, d: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = <zonoopt._core.WarmStartParams object at 0x76d83b7bb470>) → float

Computes support function of the set in the direction d.

Parameters:
@@ -4525,7 +4525,7 @@
-zonoopt.plot(Z, ax=None, settings=OptSettings structure:    verbose: false   verbosity_interval: 100   t_max: 1.79769e+308   k_max_admm: 5000   rho: 10   eps_dual: 0.01   eps_prim: 0.001   k_inf_check: 10   inf_norm_conv: true   use_interval_contractor: true   contractor_iter: 1   search_mode: 0   polish: 1   eps_dual_search: 0.1   eps_prim_search: 0.01   eps_r: 0.01   eps_a: 0.1   k_max_bnb: 100000   n_threads_bnb: 4   n_threads_admm_fp: 3   single_threaded_admm_fp: false   max_nodes: 100000   contractor_tree_search_depth: 10   enable_perturb_admm_fp: true   k_max_admm_fp_ph1: 10000   k_max_admm_fp_ph2: 90000   cycle_detection_buffer_size: 20   eps_perturb: 0.001   k_restart: 5000   enable_rng_seed: false   rng_seed: 0   enable_restart_admm_fp: true, t_max=60.0, **kwargs)
+zonoopt.plot(Z, ax=None, settings=OptSettings structure:    verbose: false   verbosity_interval: 100   t_max: 1.79769e+308   k_max_admm: 5000   rho: 10   eps_dual: 0.01   eps_prim: 0.001   k_inf_check: 10   inf_norm_conv: true   use_interval_contractor: true   contractor_iter: 1   search_mode: 0   polish: 1   eps_dual_search: 0.1   eps_prim_search: 0.01   eps_r: 0.01   eps_a: 0.1   k_max_bnb: 100000   n_threads_bnb: 4   n_threads_admm_fp: 3   single_threaded_admm_fp: false   max_nodes: 100000   contractor_tree_search_depth: 10   enable_perturb_admm_fp: true   k_max_admm_fp_ph1: 10000   k_max_admm_fp_ph2: 90000   cycle_detection_buffer_size: 20   eps_perturb: 0.001   k_restart: 5000   enable_rng_seed: false   rng_seed: 0   enable_restart_admm_fp: true, t_max=60.0, enable_progress_bar=True, **kwargs)

Plots zonotopic set using matplotlib.

Parameters:
@@ -4534,6 +4534,7 @@

  • ax (matplotlib.axes.Axes, optional) – Axes to plot on. If None, current axes are used.

  • settings (OptSettings, optional) – Settings for the optimization. Defaults to OptSettings().

  • t_max (float, optional) – Maximum time to spend on finding vertices. Defaults to 60.0 seconds.

    • +

  • enable_progress_bar (bool, optional) – If True, will display a progress bar when plotting hybrid zonotopes.

  • **kwargs – Additional keyword arguments passed to the plotting function (e.g., color, alpha).

    • diff --git a/python/zonoopt/_core.pyi b/python/zonoopt/_core.pyi index f56c9324..d0155a7e 100644 --- a/python/zonoopt/_core.pyi +++ b/python/zonoopt/_core.pyi @@ -1518,7 +1518,7 @@ class HybZono: ''' def bounding_box(self, settings: OptSettings = ..., solution: OptSolution = ..., warm_start_params: WarmStartParams = ...) -> Box: - """bounding_box(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> zonoopt._core.Box + """bounding_box(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> zonoopt._core.Box Computes a bounding box of the set object as a Box object. @@ -1559,7 +1559,7 @@ class HybZono: ''' def contains_point(self, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, '[m, 1]'], settings: OptSettings = ..., solution: OptSolution = ..., warm_start_params: WarmStartParams = ...) -> bool: - '''contains_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> bool + '''contains_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> bool Checks whether the point x is contained in the set object. @@ -1786,7 +1786,7 @@ class HybZono: """ def is_empty(self, settings: OptSettings = ..., solution: OptSolution = ..., warm_start_params: WarmStartParams = ...) -> bool: - """is_empty(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> bool + """is_empty(self: zonoopt._core.HybZono, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> bool Returns true if the set is provably empty, false otherwise. @@ -1851,7 +1851,7 @@ class HybZono: """ def optimize_over(self, P: scipy.sparse.csc_matrix[numpy.float64], q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, '[m, 1]'], c: typing.SupportsFloat | typing.SupportsIndex = ..., settings: OptSettings = ..., solution: OptSolution = ..., warm_start_params: WarmStartParams = ...) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]']: - '''optimize_over(self: zonoopt._core.HybZono, P: scipy.sparse.csc_matrix[numpy.float64], q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], c: typing.SupportsFloat | typing.SupportsIndex = 0, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"] + '''optimize_over(self: zonoopt._core.HybZono, P: scipy.sparse.csc_matrix[numpy.float64], q: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], c: typing.SupportsFloat | typing.SupportsIndex = 0, settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"] Solves optimization problem with quadratic objective over the current set @@ -1871,7 +1871,7 @@ class HybZono: ''' def project_point(self, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, '[m, 1]'], settings: OptSettings = ..., solution: OptSolution = ..., warm_start_params: WarmStartParams = ...) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]']: - '''project_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"] + '''project_point(self: zonoopt._core.HybZono, x: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"] Returns the projection of the point x onto the set object. @@ -1924,7 +1924,7 @@ class HybZono: ''' def support(self, d: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, '[m, 1]'], settings: OptSettings = ..., solution: OptSolution = ..., warm_start_params: WarmStartParams = ...) -> float: - '''support(self: zonoopt._core.HybZono, d: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> float + '''support(self: zonoopt._core.HybZono, d: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, "[m, 1]"], settings: zonoopt._core.OptSettings = OptSettings structure: verbose: false verbosity_interval: 100 t_max: 1.79769e+308 k_max_admm: 5000 rho: 10 eps_dual: 0.01 eps_prim: 0.001 k_inf_check: 10 inf_norm_conv: true use_interval_contractor: true contractor_iter: 1 search_mode: 0 polish: 1 eps_dual_search: 0.1 eps_prim_search: 0.01 eps_r: 0.01 eps_a: 0.1 k_max_bnb: 100000 n_threads_bnb: 4 n_threads_admm_fp: 3 single_threaded_admm_fp: false max_nodes: 100000 contractor_tree_search_depth: 10 enable_perturb_admm_fp: true k_max_admm_fp_ph1: 10000 k_max_admm_fp_ph2: 90000 cycle_detection_buffer_size: 20 eps_perturb: 0.001 k_restart: 5000 enable_rng_seed: false rng_seed: 0 enable_restart_admm_fp: true, solution: zonoopt._core.OptSolution = None, warm_start_params: zonoopt._core.WarmStartParams = ) -> float Computes support function of the set in the direction d. diff --git a/python/zonoopt/zono_plot.py b/python/zonoopt/zono_plot.py index 4698d26d..b8efcf63 100644 --- a/python/zonoopt/zono_plot.py +++ b/python/zonoopt/zono_plot.py @@ -181,7 +181,7 @@ def _get_conzono_vertices(Z, t_max=60.0): else: raise ValueError('get_vertices unsupported data type') -def plot(Z, ax=None, settings=OptSettings(), t_max=60.0, **kwargs): +def plot(Z, ax=None, settings=OptSettings(), t_max=60.0, enable_progress_bar=True, **kwargs): """ Plots zonotopic set using matplotlib. @@ -190,6 +190,7 @@ def plot(Z, ax=None, settings=OptSettings(), t_max=60.0, **kwargs): ax (matplotlib.axes.Axes, optional): Axes to plot on. If None, current axes are used. settings (OptSettings, optional): Settings for the optimization. Defaults to OptSettings(). t_max (float, optional): Maximum time to spend on finding vertices. Defaults to 60.0 seconds. + enable_progress_bar (bool, optional): If True, will display a progress bar when plotting hybrid zonotopes. **kwargs: Additional keyword arguments passed to the plotting function (e.g., color, alpha). Returns: @@ -220,9 +221,13 @@ def plot(Z, ax=None, settings=OptSettings(), t_max=60.0, **kwargs): return [] objs = [] - pbar = tqdm(leaves) + if enable_progress_bar: + pbar = tqdm(leaves) + else: + pbar = leaves for leaf in pbar: - pbar.set_description('Plotting HybZono leaves') + if enable_progress_bar: + pbar.set_description('Plotting HybZono leaves') t = time.time() - t0 if t > t_max: warnings.warn('Plotting time limit reached, terminating early.')