def mul(lh_sign, lh_size, rh_sign, rh_size):
neg_mat = BoolMat.mul(lh_sign.neg_mat, lh_size,
rh_sign.pos_mat, rh_size) | \
BoolMat.mul(lh_sign.pos_mat, lh_size,
rh_sign.neg_mat, rh_size)
pos_mat = BoolMat.mul(lh_sign.neg_mat, lh_size,
rh_sign.neg_mat, rh_size) | \
BoolMat.mul(lh_sign.pos_mat, lh_size,
rh_sign.pos_mat, rh_size)
return Sign(neg_mat, pos_mat)
def sign_mul(sign, lh_size, curv, rh_size):
cvx_mat = BoolMat.mul(sign.pos_mat, lh_size,
curv.cvx_mat, rh_size) | \
BoolMat.mul(sign.neg_mat, lh_size,
curv.conc_mat, rh_size)
conc_mat = BoolMat.mul(sign.pos_mat, lh_size,
curv.conc_mat, rh_size) | \
BoolMat.mul(sign.neg_mat, lh_size,
curv.cvx_mat, rh_size)
return Curvature(cvx_mat, conc_mat, curv.constant)