source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/opt/yalmip/modules/robust/robustify_lp_conic.m @ 37

function F = robustify_lp_conic(F_xw,Zmodel,x,w)

% Creates robustified version of the uncertain set of linear inequalities
% s.t A(w)*x <= b(w) for all F(w) >= 0 where F(w) is a conic set, here
% given in SeDuMi (and YALMIP internal) numerical format.
%
% Based on Robust Optimization - Methodology and Applications. A. Ben-Tal
% and A. Nemerovskii. Mathematical Programming (Series B), 92:453-480, 2002
%
% Note, there are some sign errors in the paper.

if length(F_xw) == 0
    F = [];
    return
end

X = sdpvar(F_xw);
b = [];
A = [];
% Some pre-calc
xw = [x;w];
xind = find(ismembc(getvariables(xw),getvariables(x)));
wind = find(ismembc(getvariables(xw),getvariables(w)));
[Qs,cs,fs,dummy,nonquadratic] = vecquaddecomp(X,xw);
for i = 1:length(X)
    %[Q,c,f,dummy,nonquadratic] = quaddecomp(X(i),xw);
    Q = Qs{i};
    c = cs{i};
    f = fs{i};
    if nonquadratic
        error('Constraints can be at most quadratic, with the linear term uncertain');
    end
    Q_ww = Q(wind,wind);
    Q_xw = Q(xind,wind);
    Q_xx = Q(xind,xind);
    c_x = c(xind);
    c_w = c(wind);

    b = [b;f + c_w'*w];
    A = [A;-(c_x + 2*Q_xw*w)'];
end

% Try to find variables that only have simple bound constraints. These
% variables can explicitly be optimized and thus speed up the construction,
% and allow a model with fewer variables.
[Zmodel2,lower,upper] = find_simple_variable_bounds(Zmodel);

% Partition the uncertain variables
simple_w  = find( ~isinf(lower) & ~isinf(upper));
general_w = find( isinf(lower) |  isinf(upper));
simple_w = recover(simple_w);
general_w = recover(general_w);


% Linear uncertain constraint is (Bbetai*x + cdi) >= 0 for all w, or
% (bi' + (Bi*w)')*x + (ci'*w + di).
cd    = b;
Bbeta = -A;

F = set([]);
top = 1;

% To speed up the construction, compute the ci vectors for all constraints
% in one call ci_basis = [c1 c2 ...]
ci_basis = basis(cd',w);

for i = 1:length(b)
    cdi = cd(i);
    Bbetai = Bbeta(i,:);
   
    if (nnz(ci_basis(:,i))==0) & isa(Bbetai,'double')
        % This constraint row is constant
        F = F + set(Bbetai*x + cdi >= 0);
    else

        if isempty(general_w)
         
            ci = ci_basis(:,i);

            di = basis(cdi,0);
            if isa(Bbetai,'double')
                Bi = zeros(1,length(w));
            else
                Bi = basis(Bbetai,w)';
            end
            bi = basis(Bbeta(i,:),0)';
            % Scale to -1,1 uncertainty
            T = diag((upper-lower))/2;
            e = (upper+lower)/2;
            if nnz(Bi) == 0
                F = F + set(bi'*x + (di-e'*T*ci) - norm(T*ci,1) > 0);
            else
                non_zeroBirow = find(sum(abs(Bi'),2));
                zeroBirow = find(sum(abs(Bi'),2) == 0);
                t = sdpvar(length(non_zeroBirow),1);
                F = F + set((bi'-e'*T*Bi')*x + (di-e'*T*ci) - norm(T(zeroBirow,:)*ci,1) - sum(t) >= 0) + set(-t < T(non_zeroBirow,:)*(ci+Bi'*x) < t);
            end

        else

            lhs1 = 0;
            lhs2 = 0;
            top = 1;

            if Zmodel.K.f > 0
                zeta = sdpvar(Zmodel.K.f,1);
                F = F + set(zeta >= 0);
                lhs1 = lhs1 + Zmodel.F_struc(top:top + Zmodel.K.f-1,2:end)'*zeta;
                lhs2 = lhs2 - Zmodel.F_struc(top:top + Zmodel.K.f-1,1)'*zeta;
                top = top + Zmodel.K.f;
            end

            if Zmodel.K.l > 0
                zeta = sdpvar(Zmodel.K.l,1);
                F = F + set(zeta >= 0);
                lhs1 = lhs1 + Zmodel.F_struc(top:top + Zmodel.K.l-1,2:end)'*zeta;
                lhs2 = lhs2 - Zmodel.F_struc(top:top + Zmodel.K.l-1,1)'*zeta;
                top = top + Zmodel.K.l;
            end

            if Zmodel.K.q(1) > 0
                for j = 1:length(Zmodel.K.q)
                    zeta = sdpvar(Zmodel.K.q(j),1);
                    F = F + set(cone(zeta));
                    lhs1 = lhs1 + Zmodel.F_struc(top:top + Zmodel.K.q(j)-1,2:end)'*zeta(:);
                    lhs2 = lhs2 - Zmodel.F_struc(top:top + Zmodel.K.q(j)-1,1)'*zeta(:);
                    top = top + Zmodel.K.q(j);
                end
            end

            if Zmodel.K.s(1) > 0
                for j = 1:length(Zmodel.K.s)
                    zeta = sdpvar(Zmodel.K.s(j));
                    F = F + set(zeta >= 0);
                    lhs1 = lhs1 + Zmodel.F_struc(top:top + Zmodel.K.s(j)^2-1,2:end)'*zeta(:);
                    lhs2 = lhs2 - Zmodel.F_struc(top:top + Zmodel.K.s(j)^2-1,1)'*zeta(:);
                    top = top + Zmodel.K.s(j)^2;
                end
            end

            %  if isempty(simple_w)
            ci = basis(cd(i),w);
            di = basis(cd(i),0);
            Bi = basis(Bbeta(i,:),w)';
            bi = basis(Bbeta(i,:),0)';
            F = F + set(lhs1 == Bi'*x + ci);
            F = F + set(lhs2 >= - (bi'*x + di));          
        end
    end
end


function b = basis(p,w)

if isequal(w,0)
    b = getbasematrix(p,0);
else
    n = length(w);
    if  isequal(getbase(w),[zeros(n,1) eye(n)])
        b = [];
        lmi_variables = getvariables(w);
        for i = 1:length(w)
            b = [b ; getbasematrix(p,lmi_variables(i))];
        end
    else
        b = [];
        for i = 1:length(w)
            b = [b ; getbasematrix(p,getvariables(w(i)))];
        end
    end
end
b = full(b);


function [p,lower,upper] = find_simple_variable_bounds(p);

if any(p.K.q > 0) | any(p.K.s > 0)
    lower = -inf(length(p.c),1);
    upper = inf(length(p.c),1);
else
    [lower,upper,used_rows] = findulb(p.F_struc,p.K);
    used_rows = used_rows(~any(full(p.F_struc(used_rows,1+find(p.variabletype~=0))),2));
    if ~isempty(used_rows)
        p_temp = p;
        p_temp.F_struc(p.K.f+used_rows,:)=[];
        p_temp.K.l = p.K.l - length(used_rows);

        if size(p.F_struc,1) > 0
            % These variables are still used in some other constraints
            still_used = find(sum(abs(p_temp.F_struc(:,2:end)),1) > 0);
            if ~isempty(still_used)
                % we have to keep these variables
                lower(still_used) = -inf;
                upper(still_used) = inf;
                % They are used here
                keep_rows = find(sum(abs(p.F_struc(:,1+still_used)),2) > 0);
                if any(keep_rows>(p.K.l + p.K.f))
                    %  error('Tell johan to fix the SDP case in find_simple_variable_bounds!')
                end
                used_rows = used_rows + p.K.f;
                used_rows = setdiff(used_rows,keep_rows);
                p.F_struc(used_rows,:)=[];
                p.K.l = p.K.l - nnz(used_rows>p.K.f);
                p.K.f = p.K.f - nnz(used_rows<=p.K.f);
            else
                p = p_temp;
            end
        else
            p = p_temp;
        end
    end
end