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Josh Robbins (jrobbins11) merged 1 commit into from
Apr 16, 2026
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Optional progress bar during hybrid zonotope plotting #60

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115 changes: 53 additions & 62 deletions docs/C++/html/BnbDataStructures_8hpp_source.html
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244 changes: 123 additions & 121 deletions docs/C++/html/BranchAndBound_8hpp_source.html
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2 changes: 1 addition & 1 deletion docs/python/build/html/searchindex.js
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15 changes: 8 additions & 7 deletions docs/python/build/html/zonoopt.html
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12 changes: 6 additions & 6 deletions python/zonoopt/_core.pyi
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Original file line number Diff line number Diff line change
Expand Up @@ -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.WarmStartParams object at 0x77b578aba370>) -> 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 0x72f4f5ee3630>) -> zonoopt._core.Box


Computes a bounding box of the set object as a Box object.
Expand Down Expand Up @@ -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 = <zonoopt._core.WarmStartParams object at 0x77b578592930>) -> 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 0x72f4f6378bb0>) -> bool


Checks whether the point x is contained in the set object.
Expand Down Expand Up @@ -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 = <zonoopt._core.WarmStartParams object at 0x77b5785905b0>) -> 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 0x72f4f5edb470>) -> bool


Returns true if the set is provably empty, false otherwise.
Expand Down Expand Up @@ -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 = <zonoopt._core.WarmStartParams object at 0x77b5785907f0>) -> 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 = <zonoopt._core.WarmStartParams object at 0x72f4f6bb8770>) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"]


Solves optimization problem with quadratic objective over the current set
Expand All @@ -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 = <zonoopt._core.WarmStartParams object at 0x77b5789832b0>) -> 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 = <zonoopt._core.WarmStartParams object at 0x72f4f5ee8630>) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"]


Returns the projection of the point x onto the set object.
Expand Down Expand Up @@ -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 = <zonoopt._core.WarmStartParams object at 0x77b5785a0c30>) -> 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 0x72f4f5edbf70>) -> float


Computes support function of the set in the direction d.
Expand Down
11 changes: 8 additions & 3 deletions python/zonoopt/zono_plot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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.

Expand All @@ -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:
Expand Down Expand Up @@ -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.')
Expand Down
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