Change default implementation of scale

docs/src/lib/sets/DensePolynomialZonotope.md

@@ -24,6 +24,7 @@ Undocumented implementations:
 * [`center`](@ref center(::LazySet))
 * [`isoperationtype`](@ref isoperationtype(::Type{LazySet}))
 * [`linear_map`](@ref linear_map(::AbstractMatrix, ::LazySet))
+* [`scale`](@ref scale(::Real, ::LazySet))
 * [`scale!`](@ref scale!(::Real, ::LazySet))
 
 ```@meta
@@ -68,7 +69,6 @@ Inherited from [`LazySet`](@ref):
 * [`is_interior_point`](@ref is_interior_point(::AbstractVector, ::LazySet))
 * [`project`](@ref project(::LazySet, ::AbstractVector{Int}))
 * [`sample`](@ref sample(::LazySet, ::Int=1))
-* [`scale`](@ref scale(::Real, ::LazySet))
 * [`ρ`](@ref ρ(::AbstractVector, ::LazySet))
 * [`translate`](@ref translate(::LazySet, ::AbstractVector))
 * [`cartesian_product`](@ref cartesian_product(::LazySet, ::LazySet))

docs/src/lib/sets/Hyperrectangle.md

@@ -63,6 +63,7 @@ CurrentModule = LazySets.API
 ```
 * [`isoperationtype`](@ref isoperationtype(::Type{LazySet}))
 * [`permute`](@ref permute(::LazySet, ::AbstractVector{Int}))
+* [`scale`](@ref scale(::Real, ::LazySet))
 * [`scale!`](@ref scale!(::Real, ::LazySet))
 * [`ρ`](@ref ρ(::AbstractVector, ::LazySet))
 * [`σ`](@ref σ(::AbstractVector, ::LazySet))
@@ -94,7 +95,6 @@ Inherited from [`LazySet`](@ref):
 * [`exponential_map`](@ref exponential_map(::AbstractMatrix, ::LazySet))
 * [`is_interior_point`](@ref is_interior_point(::AbstractVector, ::LazySet))
 * [`sample`](@ref sample(::LazySet, ::Int=1))
-* [`scale`](@ref scale(::Real, ::LazySet))
 * [`convex_hull`](@ref convex_hull(::LazySet, ::LazySet))
 * [`exact_sum`](@ref exact_sum(::LazySet, ::LazySet))
 * [`≈`](@ref ≈(::LazySet, ::LazySet))

docs/src/lib/sets/LineSegment.md

@@ -107,6 +107,8 @@ Undocumented implementations:
 * [`dim`](@ref dim(::LazySet))
 * [`isoperationtype`](@ref isoperationtype(::Type{LazySet}))
 * [`vertices_list`](@ref vertices_list(::LazySet))
+* [`scale`](@ref scale(::Real, ::LazySet))
+* [`scale!`](@ref scale!(::Real, ::LazySet))
 * [`ρ`](@ref ρ(::AbstractVector, ::LazySet))
 
 ```@meta
@@ -138,7 +140,6 @@ Inherited from [`LazySet`](@ref):
 * [`exponential_map`](@ref exponential_map(::AbstractMatrix, ::LazySet))
 * [`is_interior_point`](@ref is_interior_point(::AbstractVector, ::LazySet))
 * [`sample`](@ref sample(::LazySet, ::Int))
-* [`scale`](@ref scale(::Real, ::LazySet))
 * [`≈`](@ref ≈(::LazySet, ::LazySet))
 * [`==`](@ref ==(::LazySet, ::LazySet))
 * [`isequivalent`](@ref isequivalent(::LazySet, ::LazySet))

docs/src/lib/sets/Singleton.md

@@ -61,6 +61,7 @@ Undocumented implementations:
 * [`linear_map`](@ref linear_map(::AbstractMatrix, ::LazySet))
 * [`permute`](@ref permute(::LazySet, ::AbstractVector{Int}))
 * [`project`](@ref project(::LazySet, ::AbstractVector{Int}))
+* [`scale`](@ref scale(::Real, ::LazySet))
 * [`scale!`](@ref scale!(::Real, ::LazySet))
 
 ```@meta
@@ -86,7 +87,6 @@ Inherited from [`LazySet`](@ref):
 * [`exponential_map`](@ref exponential_map(::AbstractMatrix, ::LazySet))
 * [`is_interior_point`](@ref is_interior_point(::AbstractVector, ::LazySet))
 * [`sample`](@ref sample(::LazySet))
-* [`scale`](@ref scale(::Real, ::LazySet))
 * [`translate`](@ref translate(::LazySet, ::AbstractVector))
 * [`≈`](@ref ≈(::LazySet, ::LazySet))
 * [`==`](@ref ==(::LazySet, ::LazySet))

docs/src/lib/sets/VPolytope.md

@@ -143,6 +143,7 @@ Undocumented implementations:
 * [`permute`](@ref permute(::LazySet, ::AbstractVector{Int}))
 * [`project`](@ref project(::LazySet, ::AbstractVector{Int}))
 * [`reflect`](@ref reflect(::LazySet))
+* [`scale`](@ref scale(::Real, ::LazySet))
 * [`scale!`](@ref scale!(::Real, ::LazySet))
 * [`ρ`](@ref ρ(::AbstractVector, ::LazySet))
 * [`translate`](@ref translate(::LazySet, ::AbstractVector))
@@ -178,7 +179,6 @@ Inherited from [`LazySet`](@ref):
 * [`exponential_map`](@ref exponential_map(::AbstractMatrix, ::LazySet))
 * [`is_interior_point`](@ref is_interior_point(::AbstractVector, ::LazySet))
 * [`sample`](@ref sample(::LazySet, ::Int=1))
-* [`scale`](@ref scale(::Real, ::LazySet))
 * [`exact_sum`](@ref exact_sum(::LazySet, ::LazySet))
 * [`≈`](@ref ≈(::LazySet, ::LazySet))
 * [`==`](@ref ==(::LazySet, ::LazySet))

docs/src/lib/sets/Zonotope.md

@@ -88,6 +88,13 @@ CurrentModule = LazySets.API
 CurrentModule = LazySets
 ```
 * [`reduce_order`](@ref reduce_order(::AbstractZonotope, ::Real, ::AbstractReductionMethod=GIR05()))
+```@meta
+CurrentModule = LazySets.API
+```
+* [`scale`](@ref scale(::Real, ::LazySet))
+```@meta
+CurrentModule = LazySets
+```
 * [`split`](@ref split(::AbstractZonotope, ::Int))
 * [`split`](@ref split(::AbstractZonotope, ::AbstractVector{Int}, ::AbstractVector{Int}))
 ```@meta
@@ -125,7 +132,6 @@ Inherited from [`LazySet`](@ref):
 * [`exponential_map`](@ref exponential_map(::AbstractMatrix, ::LazySet))
 * [`is_interior_point`](@ref is_interior_point(::AbstractVector, ::LazySet))
 * [`sample`](@ref sample(::LazySet, ::Int=1))
-* [`scale`](@ref scale(::Real, ::LazySet))
 * [`translate`](@ref translate(::LazySet, ::AbstractVector))
 * [`convex_hull`](@ref convex_hull(::LazySet, ::LazySet))
 * [`exact_sum`](@ref exact_sum(::LazySet, ::LazySet))

src/Interfaces/LazySet.jl

@@ -1545,16 +1545,25 @@ function linear_map(M::AbstractMatrix, P::LazySet; kwargs...)
     end
 end
 
+function linear_map(αI::UniformScaling, X::LazySet)
+    M = Diagonal(fill(αI.λ, dim(X)))
+    return linear_map(M, X)
+end
+
 """
 # Extended help
 
     scale(α::Real, X::LazySet)
 
 ### Algorithm
 
-The default implementation calls `scale!` on a copy of `X`.
+The default implementation computes `linear_map` with the diagonal matrix ``α*I``.
 """
 function scale(α::Real, X::LazySet)
+    return linear_map(α*I, X)
+end
+
+function _scale_copy_inplace(α::Real, X::LazySet)
     Y = copy(X)
     scale!(α, Y)
     return Y

src/Sets/DensePolynomialZonotope/DensePolynomialZonotopeModule.jl

@@ -2,9 +2,9 @@ module DensePolynomialZonotopeModule
 
 using Reexport
 
-using ..LazySets: AbstractPolynomialZonotope
+using ..LazySets: AbstractPolynomialZonotope, _scale_copy_inplace
 
-@reexport import ..API: center, isoperationtype, linear_map, scale!
+@reexport import ..API: center, isoperationtype, linear_map, scale, scale!
 @reexport import ..LazySets: ngens_dep, ngens_indep, polynomial_order
 @reexport using ..API
 

src/Sets/DensePolynomialZonotope/scale.jl

@@ -1,3 +1,7 @@
+function scale(α::Real, P::DensePolynomialZonotope)
+    return _scale_copy_inplace(α, P)
+end
+
 function scale!(α::Real, P::DensePolynomialZonotope)
     P.c .*= α
     P.E .*= α

src/Sets/Hyperrectangle/HyperrectangleModule.jl

@@ -2,16 +2,16 @@ module HyperrectangleModule
 
 using Reexport, Requires
 
-using ..LazySets: AbstractHyperrectangle, _ρ_sev_hyperrectangle,
-                  _σ_sev_hyperrectangle
+using ..LazySets: AbstractHyperrectangle, _scale_copy_inplace,
+                  _ρ_sev_hyperrectangle, _σ_sev_hyperrectangle
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Arrays: SingleEntryVector
 using ReachabilityBase.Comparison: isapproxzero
 using ReachabilityBase.Distribution: reseed!
 using SparseArrays: SparseVector, findnz, sparse
 
-@reexport import ..API: center, isoperationtype, rand, permute, scale!, ρ, σ,
-                        translate, translate!
+@reexport import ..API: center, isoperationtype, rand, permute, scale, scale!,
+                        ρ, σ, translate, translate!
 @reexport import ..LazySets: genmat, radius_hyperrectangle, □
 import ..LazySets: _genmat_static
 import Base: convert

src/Sets/Hyperrectangle/scale.jl

@@ -1,3 +1,7 @@
+function scale(α::Real, H::Hyperrectangle)
+    return _scale_copy_inplace(α, H)
+end
+
 function scale!(α::Real, H::Hyperrectangle)
     H.center .*= α
     H.radius .*= abs(α)

src/Sets/LineSegment/LineSegmentModule.jl

@@ -2,7 +2,8 @@ module LineSegmentModule
 
 using Reexport, Requires
 
-using ..LazySets: AbstractZonotope, right_turn, _witness_result_empty
+using ..LazySets: AbstractZonotope, right_turn, _scale_copy_inplace,
+                  _witness_result_empty
 using LinearAlgebra: dot
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Comparison: _isapprox, isapproxzero, _leq
@@ -11,8 +12,8 @@ using ReachabilityBase.Iteration: EmptyIterator, SingletonIterator
 using ReachabilityBase.Require: require
 
 @reexport import ..API: an_element, center, constraints_list, dim,
-                        isoperationtype, rand, vertices_list, ∈, scale!, ρ, σ,
-                        translate, intersection, isdisjoint
+                        isoperationtype, rand, vertices_list, ∈, scale, scale!,
+                        ρ, σ, translate, intersection, isdisjoint
 @reexport import ..LazySets: generators, genmat, ngens, halfspace_left,
                              halfspace_right
 @reexport using ..API

src/Sets/LineSegment/scale.jl

@@ -1,3 +1,7 @@
+function scale(α::Real, L::LineSegment)
+    return _scale_copy_inplace(α, L)
+end
+
 function scale!(α::Real, L::LineSegment)
     L.p .*= α
     L.q .*= α

src/Sets/Singleton/SingletonModule.jl

@@ -2,12 +2,12 @@ module SingletonModule
 
 using Reexport
 
-using ..LazySets: AbstractSingleton
+using ..LazySets: AbstractSingleton, _scale_copy_inplace
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Distribution: reseed!
 
 @reexport import ..API: isoperationtype, rand, rectify, linear_map, permute,
-                        project, scale!, translate!
+                        project, scale, scale!, translate!
 @reexport import ..LazySets: element, singleton_list
 @reexport using ..API
 

src/Sets/Singleton/scale.jl

@@ -1,3 +1,7 @@
+function scale(α::Real, S::Singleton)
+    return _scale_copy_inplace(α, S)
+end
+
 function scale!(α::Real, S::Singleton)
     S.element .*= α
     return S

src/Sets/VPolytope/VPolytopeModule.jl

@@ -6,7 +6,7 @@ using ..LazySets: AbstractPolytope, LazySet, LinearMapVRep, default_lp_solver,
                   default_lp_solver_polyhedra, default_polyhedra_backend,
                   is_lp_infeasible, is_lp_optimal, linprog, _extrema_vlist,
                   _high_vlist, _low_vlist, _minkowski_sum_vrep_nd,
-                  _removevredundancy!
+                  _removevredundancy!, _scale_copy_inplace
 using LinearAlgebra: dot
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Arrays: projection_matrix
@@ -16,8 +16,9 @@ using ReachabilityBase.Require: require
 
 @reexport import ..API: constraints_list, dim, extrema, high, isoperationtype,
                         low, rand, reflect, vertices_list, ∈, linear_map,
-                        permute, project, scale!, ρ, σ, translate, translate!,
-                        cartesian_product, convex_hull, minkowski_sum
+                        permute, project, scale, scale!, ρ, σ, translate,
+                        translate!, cartesian_product, convex_hull,
+                        minkowski_sum
 @reexport import ..LazySets: remove_redundant_vertices, tohrep, tovrep
 import ..LazySets: _linear_map_vrep
 import Base: convert

src/Sets/VPolytope/scale.jl

@@ -1,3 +1,7 @@
+function scale(α::Real, P::VPolytope)
+    return _scale_copy_inplace(α, P)
+end
+
 function scale!(α::Real, P::VPolytope)
     P.vertices .*= α
     return P

src/Sets/Zonotope/ZonotopeModule.jl

@@ -2,7 +2,7 @@ module ZonotopeModule
 
 using Reexport, Requires
 
-using ..LazySets: AbstractZonotope, generators_fallback
+using ..LazySets: AbstractZonotope, generators_fallback, _scale_copy_inplace
 using LinearAlgebra: mul!
 using Random: AbstractRNG, GLOBAL_RNG
 using ReachabilityBase.Arrays: ismultiple, remove_zero_columns, to_matrix,
@@ -11,7 +11,7 @@ using ReachabilityBase.Distribution: reseed!
 using ReachabilityBase.Require: require
 
 @reexport import ..API: center, high, isoperationtype, low, rand,
-                        permute, scale!, translate!
+                        permute, scale, scale!, translate!
 @reexport import ..LazySets: generators, genmat, ngens, reduce_order,
                              remove_redundant_generators, togrep
 import Base: convert

src/Sets/Zonotope/scale.jl

@@ -1,3 +1,7 @@
+function scale(α::Real, Z::Zonotope)
+    return _scale_copy_inplace(α, Z)
+end
+
 """
 # Extended help