def __init__(self, *inargs):
if len(inargs) == 1:
self.vert = inargs[0]
self.A, self.s, self.b = vert2con(self.vert)
self.closed = True
elif len(inargs) == 3:
if all(sign(inargs[1]) == -1): # ensure an all -1 sign vector
self.A, self.s, self.b = inargs
else:
self.A, self.s, self.b = mat2ab(c_[inargs])
self.vert, self.closed = con2vert(self.A, self.b)
else:
exit(1) # TODO: Raise exception
self.nd = self.A.shape[1]
self.cscent = sum(self.vert, axis=0)/len(self.vert)
def outconlin(self, model, iss, oss):
"""
Convert constraints to another space using a linear model
e.g. calc AOS (from G and AIS).
iss [vector] - nominal steady state of current space ("from")
oss [vector] - nominal steady state of transformed space ("to")
"""
outverttemp = empty([1, self.vert.shape[1]])
# handle shifting
ishift = self.cscent - iss #input space dev
oshift = model*ishift.T #output space dev
fshift = oshift.T + oss #output space offset
# center 'input'-space around [0]
inverttemp = self.vert - self.cscent
for v in inverttemp:
x = model*v.transpose()
outverttemp = vstack((outverttemp, x.transpose()))
# remove first line of junk data from outverttemp and shift
outverttemp = outverttemp + fshift
return vert2con(outverttemp[1:, :])
