GeoPES documentation
GeoPES is a Python library that implements polytopes, ellipsoids, and subspaces and defines mathematical operations on them. The package is designed to work well with control applications in mind. The coding itself is made to feel as pythonic as possible.
Numeric type emulation
The package is easy to use and makes extensive use of the operators +, *, in, @, etc.:
import geopes as geo
impost numpy as np
# Create a polytope from a H-representation
F, g = np.array([[-1, 2], [0, 1], [3, 2], [2, 4]]), np.array([1, 2, 5, -7])
W = geo.Polytope(F, g)
# Perform some operation
Z = -W # 'Invertion', i.e. Z = {-w | w ∈ W}
Y = W + Z # Minkowski sum W ⊕ Z = {w + z | w ∈ W, z ∈ Z}
Y = W - Z # Pontryagin difference W ⊖ Z
Y = g + Y # Addition with vectors is also supported
Y = 1.1 * Y # Scaling
Y = A @ Y # Linear transformation
Y = W & Z # Intersection W ∩ Z
D, alpha = Z.copy(), 0.9
for _ in range(3):
D = Z & (alpha * (A @ D)) # Z ∩ (α * A D)
Check out the Usage section for further information, including how to Installation the project.
Note
This project is a work-in-progress.