From ae526a196037d727a950de9544dfb88751be82b5 Mon Sep 17 00:00:00 2001
From: schillic <git@christianschilling.net>
Date: Mon, 26 Feb 2024 22:43:24 +0100
Subject: [PATCH] remove calls to uniqueID (done in constructor)

---
 src/convert.jl | 43 +++++++++++++++++++++++--------------------
 1 file changed, 23 insertions(+), 20 deletions(-)

diff --git a/src/convert.jl b/src/convert.jl
index c230c4a8d7..97a45893cb 100644
--- a/src/convert.jl
+++ b/src/convert.jl
@@ -1064,13 +1064,11 @@ function convert(::Type{SimpleSparsePolynomialZonotope}, Z::AbstractZonotope)
     G = genmat(Z)
     n = ngens(Z)
     E = Matrix(1 * I, n, n)
-
     return SimpleSparsePolynomialZonotope(c, G, E)
 end
 
 """
-    convert(::Type{SimpleSparsePolynomialZonotope},
-            SPZ::SparsePolynomialZonotope)
+    convert(::Type{SimpleSparsePolynomialZonotope}, SPZ::SparsePolynomialZonotope)
 
 Convert a sparse polynomial zonotope to simple sparse polynomial zonotope.
 
@@ -1082,14 +1080,19 @@ Convert a sparse polynomial zonotope to simple sparse polynomial zonotope.
 ### Output
 
 A simple sparse polynomial zonotope.
+
+### Algorithm
+
+The method implements Proposition 3.1.4 from [1].
+
+[1] Kochdumper, Niklas. *Extensions of polynomial zonotopes and their application to
+verification of cyber-physical systems.* PhD diss., Technische Universität München, 2022.
 """
-function convert(::Type{SimpleSparsePolynomialZonotope},
-                 SPZ::SparsePolynomialZonotope)
+function convert(::Type{SimpleSparsePolynomialZonotope}, SPZ::SparsePolynomialZonotope)
     c = center(SPZ)
     G = hcat(genmat_dep(SPZ), genmat_indep(SPZ))
     n = ngens_indep(SPZ)
     E = cat(expmat(SPZ), Matrix(1 * I, n, n); dims=(1, 2))
-
     return SimpleSparsePolynomialZonotope(c, G, E)
 end
 
@@ -1106,22 +1109,25 @@ Convert a zonotope to sparse polynomial zonotope.
 ### Output
 
 A sparse polynomial zonotope.
+
+### Algorithm
+
+The method implements Proposition 3.1.9 from [1].
+
+[1] Kochdumper, Niklas. *Extensions of polynomial zonotopes and their application to
+verification of cyber-physical systems.* PhD diss., Technische Universität München, 2022.
 """
-function convert(::Type{SparsePolynomialZonotope},
-                 Z::AbstractZonotope{N}) where {N}
+function convert(::Type{SparsePolynomialZonotope}, Z::AbstractZonotope{N}) where {N}
     c = center(Z)
     G = genmat(Z)
-    n = ngens(Z)
-    E = Matrix(1 * I, n, n)
-    idx = uniqueID(n)
+    p = ngens(Z)
+    E = Matrix(1 * I, p, p)
     GI = zeros(N, dim(Z), 0)
-
-    return SparsePolynomialZonotope(c, G, GI, E, idx)
+    return SparsePolynomialZonotope(c, G, GI, E)
 end
 
 """
-    convert(::Type{SparsePolynomialZonotope},
-            SSPZ::SimpleSparsePolynomialZonotope)
+    convert(::Type{SparsePolynomialZonotope}, SSPZ::SimpleSparsePolynomialZonotope)
 
 Convert a simple sparse polynomial zonotope to a sparse polynomial zonotope.
 
@@ -1139,11 +1145,8 @@ function convert(::Type{SparsePolynomialZonotope},
     c = center(SSPZ)
     G = genmat(SSPZ)
     E = expmat(SSPZ)
-    n = ngens(SSPZ)
-    idx = uniqueID(n)
-    GI = zeros(N, dim(SSPZ), 0)
-
-    return SparsePolynomialZonotope(c, G, GI, E, idx)
+    GI = Matrix{N}(undef, dim(SSPZ), 0)
+    return SparsePolynomialZonotope(c, G, GI, E)
 end
 
 function convert(::Type{VPolytope}, T::Tetrahedron)