Union

Purpose

Represents a general union of convex sets in MPT

Syntax

U = Union(Set)

Description

The Union object represent collection of various convex sets. The only restriction for the sets is to be convex, i.e. they have to be derived from the ConvexSet class. You can associate functions to any of the set via addFunction method of the ConvexSet class. Function handles and all properties of the sets can be accessed via Union.Set property based on the index. For a list of available methods type "methods('Union')".

Input Arguments

Set

Any object derived from the ConvexSet class.

Class: ConvexSet

Output Arguments

U

Object of the Union class.

Class: Union

Example(s)

Example 1

Construct union of two YSet objects. Define the objects in YALMIP
 x = sdpvar(2,1); 

 F1 = [0<= x <=1]; 

 F2 = [ norm(x-[1;1]) <= 1]; 

 Y(1) = YSet(x,F1); 

 Y(2) = YSet(x,F2); 
 Create the union 
 U=Union(Y) 
Union of 2 convex sets.
Functions : none
Plot the union
 U.plot 

../../../../../../fig/mpt/modules/geometry/unions/@Union/union_img_1.png

Example 2

Construt the union of two polyhedra in 1D. Define the polyhedra
 P(1) = Polyhedron('lb',-5,'ub',1); 

 P(2) = Polyhedron('lb',0); 
 Create the union 
 U = Union(P) 
Union of 2 convex sets.
Functions : none
Plot the polyhedra
 U.plot('linewidth',3) 

../../../../../../fig/mpt/modules/geometry/unions/@Union/union_img_2.png

See Also

yset, polyhedron, polyunion


© 2010-2013 Martin Herceg: ETH Zurich, herceg@control.ee.ethz.ch