def check_contained(self, poly1, poly2):
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', self.output_flag)
input1 = Experiment.generate_input_region(gurobi_model, self.analysis_template, poly1, self.env_input_size)
Experiment.generate_region_constraints(gurobi_model, self.analysis_template, input1, poly2, self.env_input_size, eps=1e-5) # use epsilon to prevent single points
x_results = self.optimise(self.analysis_template, gurobi_model, input1)
if x_results is None:
# not contained
return False
else:
return True
def check_unsafe(self, template, bnds):
for A, b in self.unsafe_zone:
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', False)
input = gurobi_model.addMVar(shape=(self.env_input_size,), lb=float("-inf"), name="input")
Experiment.generate_region_constraints(gurobi_model, template, input, bnds, self.env_input_size)
Experiment.generate_region_constraints(gurobi_model, A, input, b, self.env_input_size)
gurobi_model.update()
gurobi_model.optimize()
if gurobi_model.status == 2:
return True
return False
