def compute_dual_hrep(self):
"""Compute halfspaces of the dual cones."""
for (stance_id, cone_vertices) in enumerate(self.dual_vrep):
B, c = compute_polytope_halfspaces(cone_vertices)
self.dual_hrep.append((B, c))
def compute_primal_hrep(self):
"""Compute halfspaces of the primal tube."""
try:
self.full_hrep = (compute_polytope_halfspaces(self.full_vrep))
except RuntimeError as e:
raise Exception("Could not compute primal hrep: %s" % str(e))