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Merge pull request #365 from SimonRohou/codac2_dev
[py] simplification: replacing wrapper objects with factory constructors
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‎.github/workflows/tests.yml‎

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sudo apt-get -y install doxygen graphviz
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# Doxygen might need to be upgraded
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git clone --depth 1 -b Release_1_13_0 https://github.com/doxygen/doxygen.git ; cd doxygen ; mkdir build ; cd build ; cmake .. ; sudo cmake --build . -j 4 --config Release --target install ; cd ../..
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git clone --depth 1 -b Release_1_16_1 https://github.com/doxygen/doxygen.git ; cd doxygen ; mkdir build ; cd build ; cmake .. ; sudo cmake --build . -j 4 --config Release --target install ; cd ../..
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# For Python wrapping
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#pip install wheel

‎doc/manual/development/info_dev.rst‎

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@@ -49,7 +49,7 @@ If you simply want to use the latest Codac release in Python, you can download t
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cd $HOME
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git clone https://github.com/doxygen/doxygen
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cd doxygen
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git checkout Release_1_13_0 # 1.13.0, or any newer release
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git checkout Release_1_16_1 # 1.16.1, or any newer release
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mkdir build ; cd build
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cmake -DCMAKE_INSTALL_PREFIX=$HOME/doxygen/build_install ..
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make ; make install

‎doc/manual/manual/contractors/analytic/ctcinverse.rst‎

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@@ -297,15 +297,17 @@ Note that since Codac's design is based on C++ template programming, the most ge
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| +-------------------------+---------------------------+-------------------------------------+
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| | :math:`\mathbb{R}` |ms| | :math:`\mathbb{R}^n` |ms| | :math:`\mathbb{R}^{r\times c}` |ms| |
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+--------------------+--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| Input(s) :math:`X` | :math:`\mathbb{R}` | |noa| | |noa| | |noa| |
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| Input(s) :math:`X` | :math:`\mathbb{R}` | |okk| | |okk| | |noa| |
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| +--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| | :math:`\mathbb{R}^n` | |okk| | |okk| | |noa| |
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| +--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| | :math:`\mathbb{R}^{r\times c}` | |noa| | |noa| | |noa| |
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| | :math:`\mathbb{R}^{r\times c}` | |okk| | |okk| | |noa| |
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| +--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| | any mixed types | |noa| | |noa| | |noa| |
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| | any mixed types | |okk| | |okk| | |noa| |
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+--------------------+--------------------------------+-------------------------+---------------------------+-------------------------------------+
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NB: *any mixed types* does not include matrix types yet.
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.. group-tab:: C++
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.. table:: Possible usages of ``CtcInverse``
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| +-------------------------+---------------------------+-------------------------------------+
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| | :math:`\mathbb{R}` |ms| | :math:`\mathbb{R}^n` |ms| | :math:`\mathbb{R}^{r\times c}` |ms| |
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+--------------------+--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| Input(s) :math:`X` | :math:`\mathbb{R}` | |noa| | |noa| | |noa| |
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| Input(s) :math:`X` | :math:`\mathbb{R}` | |okk| | |okk| | |noa| |
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| +--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| | :math:`\mathbb{R}^n` | |okk| | |okk| | |noa| |
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| +--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| | :math:`\mathbb{R}^{r\times c}` | |noa| | |noa| | |noa| |
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| | :math:`\mathbb{R}^{r\times c}` | |okk| | |okk| | |noa| |
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| +--------------------------------+-------------------------+---------------------------+-------------------------------------+
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| | any mixed types | |noa| | |noa| | |noa| |
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| | any mixed types | |okk| | |okk| | |noa| |
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+--------------------+--------------------------------+-------------------------+---------------------------+-------------------------------------+
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NB: *any mixed types* does not include matrix types yet.
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Not-in constraints: ``CtcInverseNotIn``
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---------------------------------------

‎doc/manual/manual/contractors/analytic/src.m‎

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c = CtcInverseNotIn(f, Interval(0,1));
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y = IntervalVector({{0.5,3},{-1,1}});
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c.contract(y); % [[1,3],[-1,1]]
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y = c.contract(y); % [[1,3],[-1,1]]
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% Only the first component is constrained by the not-in condition
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% [ctcinv-6-end]
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‎doc/manual/manual/contractors/analytic/src.py‎

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c = CtcInverseNotIn(f, [0,1])
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y = IntervalVector([[0.5,3],[-1,1]])
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c.contract(y) # [[1,3],[-1,1]]
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y = c.contract(y) # [[1,3],[-1,1]]
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# Only the first component is constrained by the not-in condition
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# [ctcinv-6-end]
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‎doc/manual/manual/contractors/dynamic/ctclohner.rst‎

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var = VectorVar(n) # n is the dimension of the system
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ctc_lohner = CtcLohner(AnalyticFunction([var], [expr1, expr2, ..., exprn]))
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ctc_lohner.contract(x)
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x = ctc_lohner.contract(x)
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.. code-tab:: c++
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ctc_lohner = CtcLohner(f)
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# Contracting the tubes
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ctc_lohner.contract(a)
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ctc_lohner.contract(b)
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a = ctc_lohner.contract(a)
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b = ctc_lohner.contract(b)
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# Graphics
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fig1 = Figure2D("Lohner_1",GraphicOutput.VIBES|GraphicOutput.IPE)

‎doc/manual/manual/contractors/set/src.py‎

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# [ctcinter-2-beg]
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x = IntervalVector([[-oo,oo],[-oo,oo]])
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c3.contract(x)
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x = c3.contract(x)
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# x = [ [-10, 2] ; [0, 2] ]
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# [ctcinter-2-end]
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‎doc/manual/tuto/cp_robotics/lesson_c_dynamic_localization.rst‎

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:dedent: 0
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**C.8.** **Fixpoint resolution.** Finally, the propagation loops need to be updated to incorporate the dynamic constraints.
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Note that the contractors :math:`\mathcal{C}_\mathbf{f}` and :math:`\mathcal{C}_{\mathrm{deriv}}` apply to the whole tubes :math:`[\mathbf{x}](\cdot)` and :math:`[\mathbf{v}](\cdot)`. Furthermore, the class ``CtcInverse`` can contract tubes using the ``.contract_tube(..)`` method, exactly as we would do for boxes. Finally, a *restriction* on a tube (*i.e.* setting a value to a slice) can be done using the ``.set(y,t)`` method, for setting the interval vector value ``y`` at time ``t``.
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Note that the contractors :math:`\mathcal{C}_\mathbf{f}` and :math:`\mathcal{C}_{\mathrm{deriv}}` apply to the whole tubes :math:`[\mathbf{x}](\cdot)` and :math:`[\mathbf{v}](\cdot)`. Furthermore, the class ``CtcInverse`` can contract tubes using the ``.contract(..)`` method, exactly as we would do for boxes. Finally, a *restriction* on a tube (*i.e.* setting a value to a slice) can be done using the ``.set(y,t)`` method, for setting the interval vector value ``y`` at time ``t``.
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.. container:: toggle, toggle-hidden
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‎doc/manual/tuto/cp_robotics/src/lesson_C.cpp‎

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x.set(xi,yi[0]); // restriction on the tube x at time ti=yi[0]
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}
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ctc_f.contract_tube(x,v);
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ctc_f.contract(x,v);
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ctc_deriv.contract(x,v);
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}, x);

‎doc/manual/tuto/cp_robotics/src/lesson_C.m‎

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x.set(xi,yi(1));
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end
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res_ctc_f = ctc_f.contract_tube(x,v);
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res_ctc_f = ctc_f.contract(x,v);
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x = res_ctc_f{1};
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v = res_ctc_f{2};
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ctc_deriv.contract(x,v);
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res_ctc_deriv = ctc_deriv.contract(x,v);
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x = res_ctc_deriv{1};
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v = res_ctc_deriv{2};
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end
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