From 5b970f94146b26df4f54d00a3d6076b7b832bd6c Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 24 May 2022 15:38:06 +0200 Subject: [PATCH 001/256] [codac2] towards new implementation of tubes --- src/core/2/domain/tube/codac2_SliceVector.cpp | 113 +++++++++++++ src/core/2/domain/tube/codac2_SliceVector.h | 77 +++++++++ src/core/2/domain/tube/codac2_TDomain.cpp | 63 +++++++ src/core/2/domain/tube/codac2_TDomain.h | 47 ++++++ src/core/2/domain/tube/codac2_TSlice.cpp | 46 +++++ src/core/2/domain/tube/codac2_TSlice.h | 46 +++++ .../domain/tube/codac2_TubeAbstract_const.cpp | 31 ++++ .../2/domain/tube/codac2_TubeAbstract_const.h | 77 +++++++++ src/core/2/domain/tube/codac2_TubeVector.cpp | 126 ++++++++++++++ src/core/2/domain/tube/codac2_TubeVector.h | 158 ++++++++++++++++++ .../tube/codac2_TubeVectorComponent.cpp | 43 +++++ .../domain/tube/codac2_TubeVectorComponent.h | 46 +++++ src/core/CMakeLists.txt | 14 ++ 13 files changed, 887 insertions(+) create mode 100644 src/core/2/domain/tube/codac2_SliceVector.cpp create mode 100644 src/core/2/domain/tube/codac2_SliceVector.h create mode 100644 src/core/2/domain/tube/codac2_TDomain.cpp create mode 100644 src/core/2/domain/tube/codac2_TDomain.h create mode 100644 src/core/2/domain/tube/codac2_TSlice.cpp create mode 100644 src/core/2/domain/tube/codac2_TSlice.h create mode 100644 src/core/2/domain/tube/codac2_TubeAbstract_const.cpp create mode 100644 src/core/2/domain/tube/codac2_TubeAbstract_const.h create mode 100644 src/core/2/domain/tube/codac2_TubeVector.cpp create mode 100644 src/core/2/domain/tube/codac2_TubeVector.h create mode 100644 src/core/2/domain/tube/codac2_TubeVectorComponent.cpp create mode 100644 src/core/2/domain/tube/codac2_TubeVectorComponent.h diff --git a/src/core/2/domain/tube/codac2_SliceVector.cpp b/src/core/2/domain/tube/codac2_SliceVector.cpp new file mode 100644 index 000000000..30912bbc2 --- /dev/null +++ b/src/core/2/domain/tube/codac2_SliceVector.cpp @@ -0,0 +1,113 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_TubeVector.h" +#include "codac2_SliceVector.h" + +using namespace std; + +namespace codac2 +{ + SliceVector::SliceVector(size_t n, const TubeVector& tube_vector, list>::iterator it_tslice) : + _tube_vector(tube_vector), _it_tslice(it_tslice), + _codomain(IntervalVector(n)) + { + + } + + SliceVector::~SliceVector() + { + + } + + const TubeVector& SliceVector::tube_vector() const + { + return _tube_vector; + } + + size_t SliceVector::size() const + { + return _codomain.size(); + } + + bool SliceVector::contains(const TrajectoryVector& value) const + { + return true; + } + + const Interval& SliceVector::tdomain() const + { + return _it_tslice->get()->tdomain(); + } + + shared_ptr SliceVector::prev_slice() const + { + if(_tube_vector.first_slice().get() == this) + return shared_ptr(nullptr); + return prev(_it_tslice)->get()->slices().at(&_tube_vector); + } + + shared_ptr SliceVector::prev_slice() + { + if(_tube_vector.first_slice().get() == this) + return shared_ptr(nullptr); + return prev(_it_tslice)->get()->slices().at(&_tube_vector); + } + + shared_ptr SliceVector::next_slice() const + { + if(_tube_vector.last_slice().get() == this) + return shared_ptr(nullptr); + return next(_it_tslice)->get()->slices().at(&_tube_vector); + } + + shared_ptr SliceVector::next_slice() + { + if(_tube_vector.last_slice().get() == this) + return shared_ptr(nullptr); + return next(_it_tslice)->get()->slices().at(&_tube_vector); + } + + const IntervalVector& SliceVector::codomain() const + { + return _codomain; + } + + const IntervalVector SliceVector::input_gate() const + { + IntervalVector gate = codomain(); + if(prev_slice()) + gate &= prev_slice().get()->codomain(); + return gate; + } + + const IntervalVector SliceVector::output_gate() const + { + IntervalVector gate = codomain(); + if(next_slice()) + gate &= next_slice().get()->codomain(); + return gate; + } + + void SliceVector::set(const IntervalVector& codomain) + { + assert((size_t)codomain.size() == size()); + _codomain = codomain; + } + + ostream& operator<<(ostream& os, const SliceVector& x) + { + os << x.tdomain() + << "↦" << x.codomain() + << flush; + return os; + } +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_SliceVector.h b/src/core/2/domain/tube/codac2_SliceVector.h new file mode 100644 index 000000000..842875661 --- /dev/null +++ b/src/core/2/domain/tube/codac2_SliceVector.h @@ -0,0 +1,77 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_SLICEVECTOR_H__ +#define __CODAC2_SLICEVECTOR_H__ + +#include +#include "codac_Interval.h" +#include "codac_IntervalVector.h" +#include "codac_TrajectoryVector.h" +#include "codac2_TSlice.h" +#include "codac2_TDomain.h" + +namespace codac2 +{ + using codac::Interval; + using codac::IntervalVector; + using codac::TrajectoryVector; + + class TubeVector; + class TSlice; + + class SliceVector + { + public: + + explicit SliceVector(size_t n, const TubeVector& tube_vector, std::list>::iterator it_tslice); + ~SliceVector(); + + const TubeVector& tube_vector() const; + + // SliceVector objects cannot be copyable or movable, + // as they are supposed to be connected to other SliceVector objects + SliceVector& operator=(const SliceVector&) = delete; + SliceVector(SliceVector&&) = delete; + SliceVector& operator=(SliceVector&&) = delete; + + size_t size() const; + + bool contains(const TrajectoryVector& value) const; + + std::shared_ptr prev_slice() const; + std::shared_ptr prev_slice(); + std::shared_ptr next_slice() const; + std::shared_ptr next_slice(); + + const Interval& tdomain() const; + + const IntervalVector& codomain() const; + const IntervalVector input_gate() const; + const IntervalVector output_gate() const; + + void set(const IntervalVector& codomain); + + friend std::ostream& operator<<(std::ostream& os, const SliceVector& x); + + + protected: + + friend class TubeVector; + //friend class TubeVectorComponent; + + const TubeVector& _tube_vector; + std::list>::iterator _it_tslice; + IntervalVector _codomain; + }; +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TDomain.cpp b/src/core/2/domain/tube/codac2_TDomain.cpp new file mode 100644 index 000000000..25238245e --- /dev/null +++ b/src/core/2/domain/tube/codac2_TDomain.cpp @@ -0,0 +1,63 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_TDomain.h" +#include "codac_predef_values.h" + +using namespace std; +using namespace codac; + +namespace codac2 +{ + TDomain::TDomain(const Interval& t0_tf, double dt, bool with_gates) + { + _tslices.push_back(make_shared(Interval(-oo,t0_tf.lb()))); + + for(double t = t0_tf.lb() ; t < t0_tf.ub() ; t+=dt) + { + if(with_gates) + _tslices.push_back(make_shared(Interval(t))); + _tslices.push_back(make_shared(Interval(t,std::min(t0_tf.ub(),t+dt)))); + } + + if(with_gates) + _tslices.push_back(make_shared(Interval(t0_tf.ub()))); + _tslices.push_back(make_shared(Interval(t0_tf.ub(),oo))); + + // End of container: + _tslices.push_back(make_shared(Interval(oo,oo))); + } + + const Interval TDomain::t0_tf() const + { + return Interval(_tslices.front()->tdomain().ub(), + prev(prev(_tslices.end()))->get()->tdomain().lb()); + } + + size_t TDomain::nb_tslices() const + { + return _tslices.size() - 1; + } + + const list> TDomain::tslices() const + { + return _tslices; + } + + ostream& operator<<(ostream& os, const TDomain& x) + { + os << x.t0_tf() + << ", " << x.nb_tslices() + << " slice" << (x.nb_tslices() > 1 ? "s" : "") + << flush; + return os; + } +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TDomain.h b/src/core/2/domain/tube/codac2_TDomain.h new file mode 100644 index 000000000..b5e34e0c7 --- /dev/null +++ b/src/core/2/domain/tube/codac2_TDomain.h @@ -0,0 +1,47 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TDOMAIN_H__ +#define __CODAC2_TDOMAIN_H__ + +#include +#include +#include +#include + +#include "codac_Interval.h" +#include "codac2_TSlice.h" + +namespace codac2 +{ + using codac::Interval; + + class TDomain + { + public: + + explicit TDomain(const Interval& t0_tf, double dt, bool with_gates = false); + const Interval t0_tf() const; + size_t nb_tslices() const; + friend std::ostream& operator<<(std::ostream& os, const TDomain& x); + + + protected: + + const std::list> tslices() const; + + friend class SliceVector; + friend class TubeVector; + std::list> _tslices; + }; +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TSlice.cpp b/src/core/2/domain/tube/codac2_TSlice.cpp new file mode 100644 index 000000000..d4f096d93 --- /dev/null +++ b/src/core/2/domain/tube/codac2_TSlice.cpp @@ -0,0 +1,46 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_TSlice.h" +#include "codac2_SliceVector.h" + +using namespace std; +using namespace codac; + +namespace codac2 +{ + TSlice::TSlice(const Interval& t0_tf) : _tdomain(t0_tf) + { + + } + + const Interval& TSlice::tdomain() const + { + return _tdomain; + } + + const map> TSlice::slices() const + { + return _slices; + } + + void TSlice::add_slice(const std::shared_ptr& slice) + { + _slices.insert( + pair>(&slice.get()->tube_vector(), slice)); + } + + ostream& operator<<(ostream& os, const TSlice& x) + { + os << x._tdomain; + return os; + } +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TSlice.h b/src/core/2/domain/tube/codac2_TSlice.h new file mode 100644 index 000000000..d857b605b --- /dev/null +++ b/src/core/2/domain/tube/codac2_TSlice.h @@ -0,0 +1,46 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TSLICE_H__ +#define __CODAC2_TSLICE_H__ + +#include +#include +#include +#include + +#include "codac_Interval.h" + +namespace codac2 +{ + using codac::Interval; + + class SliceVector; + class TubeVector; + + class TSlice + { + public: + + explicit TSlice(const Interval& t0_tf); + const Interval& tdomain() const; + const std::map> slices() const; + void add_slice(const std::shared_ptr& slice); + friend std::ostream& operator<<(std::ostream& os, const TSlice& x); + + protected: + + const Interval _tdomain; + std::map> _slices; + }; +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeAbstract_const.cpp b/src/core/2/domain/tube/codac2_TubeAbstract_const.cpp new file mode 100644 index 000000000..ac4313983 --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeAbstract_const.cpp @@ -0,0 +1,31 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_TubeAbstract_const.h" + +using namespace std; + +namespace codac2 +{ + /*template + TubeAbstract_const::TubeAbstract_const() + { + + } + + //ostream& operator<<(ostream& os, const TubeAbstract_const& x) + void TubeAbstract_const::print(ostream& os) const + { + os << tdomain() + << "↦" << codomain() + << flush; + }*/ +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeAbstract_const.h b/src/core/2/domain/tube/codac2_TubeAbstract_const.h new file mode 100644 index 000000000..b0b516e41 --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeAbstract_const.h @@ -0,0 +1,77 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TUBEVECTOR_CONST_H__ +#define __CODAC2_TUBEVECTOR_CONST_H__ + +#include +#include + +#include "codac_Interval.h" +#include "codac_IntervalVector.h" +#include "codac_TrajectoryVector.h" + +namespace codac2 +{ + using codac::Tube; + using codac::Trajectory; + using codac::TrajectoryVector; + using codac::Interval; + using codac::IntervalVector; + + template + class TubeAbstract_const + { + public: + + TubeAbstract_const() + { + + } + + explicit TubeAbstract_const(const T& x); + + virtual size_t size() const = 0; + virtual bool contains(const V& value) const = 0; + virtual Interval t0_tf() const = 0; + virtual I codomain() const = 0; + virtual I operator()(double t) const = 0; + virtual I operator()(const Interval& t) const = 0; + + //TubeVectorComponent operator[](size_t index); + //const TubeVectorComponent operator[](size_t index) const; + + //friend std::ostream& operator<<(std::ostream& os, const TubeVector_& x); + void print(std::ostream& os) const + { + os << t0_tf() + << "↦" << codomain() + << std::flush; + } + }; + + class Tube_const : public TubeAbstract_const + { + + }; + + class TubeVector_const : public TubeAbstract_const + { + + }; + + /*class TubeMatrix_const : public TubeAbstract_const + { + + };*/ +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVector.cpp b/src/core/2/domain/tube/codac2_TubeVector.cpp new file mode 100644 index 000000000..d9e91db4d --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeVector.cpp @@ -0,0 +1,126 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include "codac2_TubeVector.h" +#include "codac2_SliceVector.h" +#include "codac2_TubeVectorComponent.h" + +using namespace std; + +namespace codac2 +{ + TubeVector::TubeVector(size_t n, TDomain& tdomain) : + _tdomain(tdomain) + { + for(list>::iterator it = _tdomain._tslices.begin(); + it != _tdomain._tslices.end(); ++it) + it->get()->add_slice(make_shared(n, *this, it)); + } + + size_t TubeVector::size() const + { + return first_slice()->size(); + } + + size_t TubeVector::nb_slices() const + { + return _tdomain.nb_tslices(); + } + + const std::shared_ptr& TubeVector::first_slice() const + { + return _tdomain.tslices().front()->slices().at(this); + } + + std::shared_ptr& TubeVector::first_slice() + { + return const_cast&>( + static_cast(*this).first_slice()); + } + + const std::shared_ptr& TubeVector::last_slice() const + { + return _tdomain.tslices().back()->slices().at(this); + } + + std::shared_ptr& TubeVector::last_slice() + { + return const_cast&>( + static_cast(*this).last_slice()); + } + + bool TubeVector::contains(const TrajectoryVector& value) const + { + return true; + } + + TDomain& TubeVector::tdomain() const + { + return _tdomain; + } + + Interval TubeVector::t0_tf() const + { + return _tdomain.t0_tf(); + } + + IntervalVector TubeVector::codomain() const + { + IntervalVector codomain(size()); + codomain.set_empty(); + for(const auto& s : *this) + codomain |= s.codomain(); + return codomain; + } + + IntervalVector TubeVector::operator()(double t) const + { + return codomain(); + } + + IntervalVector TubeVector::operator()(const Interval& t) const + { + return codomain(); + } + + void TubeVector::set(const IntervalVector& codomain) + { + assert((size_t)codomain.size() == size()); + for(auto& s : *this) + s.set(codomain); + } + + /*TubeVectorComponent TubeVector::operator[](size_t index) + { + assert(index >= 0 && index < size()); + return TubeVectorComponent(*this, index); + } + + const TubeVectorComponent TubeVector::operator[](size_t index) const + { +// assert(index >= 0 && index < size()); +//return const_cast(static_cast(*this).operator[](index)); + + assert(index >= 0 && index < size()); + return TubeVectorComponent(*this, index); + }*/ + + ostream& operator<<(ostream& os, const TubeVector& x) + { + x.TubeVector_const::print(os); + // Adding information related to sliced structure + os << ", " << x.nb_slices() + << " slice" << (x.nb_slices() > 1 ? "s" : "") + << flush; + return os; + } +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVector.h b/src/core/2/domain/tube/codac2_TubeVector.h new file mode 100644 index 000000000..92f1c02e6 --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeVector.h @@ -0,0 +1,158 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TUBEVECTOR_H__ +#define __CODAC2_TUBEVECTOR_H__ + +#include +#include +#include "codac2_TDomain.h" +#include "codac2_SliceVector.h" + +#include "codac2_TubeAbstract_const.h" + +namespace codac2 +{ + class TDomain; + //class SliceVector; + + class TubeVector : public TubeVector_const + { + public: + + explicit TubeVector(size_t n, TDomain& tdomain); + size_t size() const; + + size_t nb_slices() const; + const std::shared_ptr& first_slice() const; + std::shared_ptr& first_slice(); + const std::shared_ptr& last_slice() const; + std::shared_ptr& last_slice(); + + //TubeVectorComponent operator[](size_t index); + //const TubeVectorComponent operator[](size_t index) const; + + bool contains(const TrajectoryVector& value) const; + + TDomain& tdomain() const; + Interval t0_tf() const; + IntervalVector codomain() const; + IntervalVector operator()(double t) const; + IntervalVector operator()(const Interval& t) const; + void set(const IntervalVector& codomain); + + friend std::ostream& operator<<(std::ostream& os, const TubeVector& x); + + + protected: + + //friend class TubeVectorComponent; + TDomain& _tdomain; + + + public: + + struct Iterator + { + using iterator_category = std::bidirectional_iterator_tag; + using difference_type = std::ptrdiff_t; + using value_type = SliceVector; + using pointer = std::shared_ptr; + using reference = SliceVector&; + + public: + + Iterator(pointer ptr) : m_ptr(ptr) { } + + reference operator*() const + { + return *m_ptr; + } + + pointer operator->() + { + return m_ptr; + } + + Iterator& operator++() + { + if(m_ptr != nullptr) + m_ptr = m_ptr->next_slice(); + return *this; + } + + friend bool operator==(const Iterator& a, const Iterator& b) + { + return a.m_ptr == b.m_ptr; + }; + + friend bool operator!=(const Iterator& a, const Iterator& b) + { + return a.m_ptr != b.m_ptr; + }; + + private: + + pointer m_ptr; + }; + + Iterator begin() { return Iterator(first_slice()); } + Iterator end() { return Iterator(last_slice()); } + + struct ConstIterator + { + using iterator_category = std::bidirectional_iterator_tag; + using difference_type = std::ptrdiff_t; + using value_type = SliceVector; + using pointer = const std::shared_ptr; + using reference = const SliceVector&; + + public: + + ConstIterator(pointer ptr) : m_ptr(ptr) { } + + reference operator*() const + { + return *m_ptr; + } + + pointer operator->() + { + return m_ptr; + } + + const ConstIterator& operator++() + { + m_ptr = m_ptr->next_slice(); + return *this; + } + + friend bool operator==(const ConstIterator& a, const ConstIterator& b) + { + return a.m_ptr == b.m_ptr; + }; + + friend bool operator!=(const ConstIterator& a, const ConstIterator& b) + { + return a.m_ptr != b.m_ptr; + }; + + private: + + std::shared_ptr m_ptr; + }; + + ConstIterator begin() const { return ConstIterator(first_slice()); } + ConstIterator end() const { return ConstIterator(last_slice()); } + }; +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp b/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp new file mode 100644 index 000000000..1f7074099 --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp @@ -0,0 +1,43 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_TubeVectorComponent.h" +#include "codac2_TubeVector.h" +#include "codac2_SliceVector.h" + +using namespace std; + +namespace codac2 +{ + /*const Interval_& TubeVectorComponent::tdomain() const + { + return m_tubevector.tdomain(); + } + + bool TubeVectorComponent::contains(const Trajectory_& value) const + { + return true; + } + + TubeVectorComponent::TubeVectorComponent(T_TubeVector& tubevector, size_t i) : + m_i(i), m_tubevector(tubevector) + { + assert(i >= 0 && i < tubevector.size()); + + } + + void TubeVectorComponent::set_codomain(const Interval_& codomain) + { + for(auto& s : m_tubevector.m_slices) + s->m_codomain[m_i] = codomain; + }*/ + +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.h b/src/core/2/domain/tube/codac2_TubeVectorComponent.h new file mode 100644 index 000000000..1e9fe9ded --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeVectorComponent.h @@ -0,0 +1,46 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TUBEVECTORCOMPONENT_H__ +#define __CODAC2_TUBEVECTORCOMPONENT_H__ + +#include +#include "codac_Interval.h" +#include "codac2_TubeVector.h" + +namespace codac2 +{ + class TubeVector_; + + /*template + class TubeVectorComponent// : public DomainItem_, public TemporalItem_ + { + public: + + const Interval_& tdomain() const; + + bool contains(const Trajectory_& value) const; + + void set_codomain(const Interval_& codomain); + + + protected: + + friend class TubeVector_; + explicit TubeVectorComponent(T_TubeVector& tubevector, size_t i); + + size_t m_i; + T_TubeVector& m_tubevector; + + };*/ +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 948371585..99e094a93 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -153,6 +153,20 @@ ${CMAKE_CURRENT_SOURCE_DIR}/tools/codac_Eigen.h ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.cpp ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.h + + # Files related to codac2 + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_SliceVector.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_SliceVector.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TSlice.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TSlice.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TDomain.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TDomain.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeAbstract_const.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeAbstract_const.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVector.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVector.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorComponent.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorComponent.h ) From d2ed825cecfeadeef8ba182c38bb1196d076bade Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 24 May 2022 15:48:48 +0200 Subject: [PATCH 002/256] [tube] const_pointer_cast for prev/next slices --- src/core/2/domain/tube/codac2_SliceVector.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/core/2/domain/tube/codac2_SliceVector.cpp b/src/core/2/domain/tube/codac2_SliceVector.cpp index 30912bbc2..88dd8a092 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.cpp +++ b/src/core/2/domain/tube/codac2_SliceVector.cpp @@ -57,9 +57,8 @@ namespace codac2 shared_ptr SliceVector::prev_slice() { - if(_tube_vector.first_slice().get() == this) - return shared_ptr(nullptr); - return prev(_it_tslice)->get()->slices().at(&_tube_vector); + return const_pointer_cast( + static_cast(*this).prev_slice()); } shared_ptr SliceVector::next_slice() const @@ -71,9 +70,8 @@ namespace codac2 shared_ptr SliceVector::next_slice() { - if(_tube_vector.last_slice().get() == this) - return shared_ptr(nullptr); - return next(_it_tslice)->get()->slices().at(&_tube_vector); + return const_pointer_cast( + static_cast(*this).next_slice()); } const IntervalVector& SliceVector::codomain() const From 3cfc1fc2f884c4df054de735f8ebc54540151db2 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 24 May 2022 16:57:09 +0200 Subject: [PATCH 003/256] [tube] using iterator from list --- src/core/2/domain/tube/codac2_TDomain.cpp | 7 +- src/core/2/domain/tube/codac2_TSlice.h | 1 + src/core/2/domain/tube/codac2_TubeVector.h | 92 +++++++--------------- 3 files changed, 31 insertions(+), 69 deletions(-) diff --git a/src/core/2/domain/tube/codac2_TDomain.cpp b/src/core/2/domain/tube/codac2_TDomain.cpp index 25238245e..66ebbfc33 100644 --- a/src/core/2/domain/tube/codac2_TDomain.cpp +++ b/src/core/2/domain/tube/codac2_TDomain.cpp @@ -31,20 +31,17 @@ namespace codac2 if(with_gates) _tslices.push_back(make_shared(Interval(t0_tf.ub()))); _tslices.push_back(make_shared(Interval(t0_tf.ub(),oo))); - - // End of container: - _tslices.push_back(make_shared(Interval(oo,oo))); } const Interval TDomain::t0_tf() const { return Interval(_tslices.front()->tdomain().ub(), - prev(prev(_tslices.end()))->get()->tdomain().lb()); + prev(_tslices.end())->get()->tdomain().lb()); } size_t TDomain::nb_tslices() const { - return _tslices.size() - 1; + return _tslices.size(); } const list> TDomain::tslices() const diff --git a/src/core/2/domain/tube/codac2_TSlice.h b/src/core/2/domain/tube/codac2_TSlice.h index d857b605b..7f49ffc19 100644 --- a/src/core/2/domain/tube/codac2_TSlice.h +++ b/src/core/2/domain/tube/codac2_TSlice.h @@ -38,6 +38,7 @@ namespace codac2 protected: + friend class TubeVector; const Interval _tdomain; std::map> _slices; }; diff --git a/src/core/2/domain/tube/codac2_TubeVector.h b/src/core/2/domain/tube/codac2_TubeVector.h index 92f1c02e6..02c591361 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.h +++ b/src/core/2/domain/tube/codac2_TubeVector.h @@ -60,98 +60,62 @@ namespace codac2 public: - struct Iterator + using base_container = std::list>; + + struct iterator : public base_container::iterator { - using iterator_category = std::bidirectional_iterator_tag; - using difference_type = std::ptrdiff_t; + using iterator_category = typename base_container::iterator::iterator_category; + using difference_type = typename base_container::iterator::difference_type; + using value_type = SliceVector; using pointer = std::shared_ptr; using reference = SliceVector&; public: + + iterator(const TubeVector& tube_vector, base_container::iterator it) : + base_container::iterator(it), _tube_vector(tube_vector) { } - Iterator(pointer ptr) : m_ptr(ptr) { } - - reference operator*() const - { - return *m_ptr; - } - - pointer operator->() + reference operator*() { - return m_ptr; + return *((*this)->get()->_slices.at(&_tube_vector)); } - Iterator& operator++() - { - if(m_ptr != nullptr) - m_ptr = m_ptr->next_slice(); - return *this; - } - - friend bool operator==(const Iterator& a, const Iterator& b) - { - return a.m_ptr == b.m_ptr; - }; - - friend bool operator!=(const Iterator& a, const Iterator& b) - { - return a.m_ptr != b.m_ptr; - }; - - private: + protected: - pointer m_ptr; + const TubeVector& _tube_vector; }; - Iterator begin() { return Iterator(first_slice()); } - Iterator end() { return Iterator(last_slice()); } + iterator begin() { return iterator(*this, _tdomain._tslices.begin()); } + iterator end() { return iterator(*this, _tdomain._tslices.end()); } + - struct ConstIterator + struct const_iterator : public base_container::const_iterator { - using iterator_category = std::bidirectional_iterator_tag; - using difference_type = std::ptrdiff_t; + using iterator_category = typename base_container::const_iterator::iterator_category; + using difference_type = typename base_container::const_iterator::difference_type; + using value_type = SliceVector; using pointer = const std::shared_ptr; using reference = const SliceVector&; public: - - ConstIterator(pointer ptr) : m_ptr(ptr) { } + + const_iterator(const TubeVector& tube_vector, base_container::const_iterator it) : + base_container::const_iterator(it), _tube_vector(tube_vector) { } reference operator*() const { - return *m_ptr; - } - - pointer operator->() - { - return m_ptr; + return *((*this)->get()->_slices.at(&_tube_vector)); } - const ConstIterator& operator++() - { - m_ptr = m_ptr->next_slice(); - return *this; - } - - friend bool operator==(const ConstIterator& a, const ConstIterator& b) - { - return a.m_ptr == b.m_ptr; - }; - - friend bool operator!=(const ConstIterator& a, const ConstIterator& b) - { - return a.m_ptr != b.m_ptr; - }; - - private: + protected: - std::shared_ptr m_ptr; + const TubeVector& _tube_vector; }; - ConstIterator begin() const { return ConstIterator(first_slice()); } - ConstIterator end() const { return ConstIterator(last_slice()); } + const_iterator begin() const { return const_iterator(*this, _tdomain._tslices.cbegin()); } + const_iterator end() const { return const_iterator(*this, _tdomain._tslices.cend()); } }; } // namespace codac From f78e8c283caf6f28b3e55517a85d17d3d6b8594f Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 25 May 2022 17:10:37 +0200 Subject: [PATCH 004/256] [tube] sampling of TDomain --- src/core/2/domain/tube/codac2_SliceVector.cpp | 6 +++ src/core/2/domain/tube/codac2_SliceVector.h | 1 + src/core/2/domain/tube/codac2_TDomain.cpp | 51 +++++++++++++++---- src/core/2/domain/tube/codac2_TDomain.h | 3 ++ src/core/2/domain/tube/codac2_TSlice.cpp | 15 +++++- src/core/2/domain/tube/codac2_TSlice.h | 8 ++- 6 files changed, 71 insertions(+), 13 deletions(-) diff --git a/src/core/2/domain/tube/codac2_SliceVector.cpp b/src/core/2/domain/tube/codac2_SliceVector.cpp index 88dd8a092..1d1cef0f3 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.cpp +++ b/src/core/2/domain/tube/codac2_SliceVector.cpp @@ -23,6 +23,12 @@ namespace codac2 } + SliceVector::SliceVector(const SliceVector& s) : + _tube_vector(s._tube_vector), _it_tslice(s._it_tslice), _codomain(s.size()) + { + + } + SliceVector::~SliceVector() { diff --git a/src/core/2/domain/tube/codac2_SliceVector.h b/src/core/2/domain/tube/codac2_SliceVector.h index 842875661..2a37ac16a 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.h +++ b/src/core/2/domain/tube/codac2_SliceVector.h @@ -33,6 +33,7 @@ namespace codac2 public: explicit SliceVector(size_t n, const TubeVector& tube_vector, std::list>::iterator it_tslice); + SliceVector(const SliceVector& s); ~SliceVector(); const TubeVector& tube_vector() const; diff --git a/src/core/2/domain/tube/codac2_TDomain.cpp b/src/core/2/domain/tube/codac2_TDomain.cpp index 66ebbfc33..88271b0b6 100644 --- a/src/core/2/domain/tube/codac2_TDomain.cpp +++ b/src/core/2/domain/tube/codac2_TDomain.cpp @@ -9,7 +9,9 @@ * the GNU Lesser General Public License (LGPL). */ +#include #include "codac2_TDomain.h" +#include "codac2_TubeVector.h" #include "codac_predef_values.h" using namespace std; @@ -19,18 +21,15 @@ namespace codac2 { TDomain::TDomain(const Interval& t0_tf, double dt, bool with_gates) { - _tslices.push_back(make_shared(Interval(-oo,t0_tf.lb()))); - - for(double t = t0_tf.lb() ; t < t0_tf.ub() ; t+=dt) + _tslices.push_back(make_shared(Interval(-oo,oo))); + for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t+=dt) { + double t_ = min(t, t0_tf.ub()); + + sample(t_); if(with_gates) - _tslices.push_back(make_shared(Interval(t))); - _tslices.push_back(make_shared(Interval(t,std::min(t0_tf.ub(),t+dt)))); + sample(t_); // second sampling } - - if(with_gates) - _tslices.push_back(make_shared(Interval(t0_tf.ub()))); - _tslices.push_back(make_shared(Interval(t0_tf.ub(),oo))); } const Interval TDomain::t0_tf() const @@ -44,7 +43,37 @@ namespace codac2 return _tslices.size(); } - const list> TDomain::tslices() const + size_t TDomain::nb_tubes() const + { + return _tslices.front().get()->_slices.size(); + } + + list>::iterator TDomain::iterator_tslice(double t) + { + list>::iterator it; + for(it = _tslices.begin(); it != _tslices.end(); ++it) + if(it->get()->tdomain().contains(t)) return it; + return _tslices.end(); + } + + void TDomain::sample(double t) + { + std::list>::iterator it = iterator_tslice(t); + assert(it != _tslices.end()); + const Interval tdomain = it->get()->tdomain(); + assert(tdomain.contains(t)); + + it->get()->set_tdomain(Interval(tdomain.lb(), t)); + ++it; + + if(t == tdomain.ub()) + assert(!it->get()->tdomain().is_degenerated() && + "degenerated tslice (gate) already existing at this time"); + + _tslices.insert(it, make_shared(Interval(t, tdomain.ub()))); + } + + const list> TDomain::tslices() const { return _tslices; } @@ -54,6 +83,8 @@ namespace codac2 os << x.t0_tf() << ", " << x.nb_tslices() << " slice" << (x.nb_tslices() > 1 ? "s" : "") + << ", " << x.nb_tubes() + << " tube" << (x.nb_tubes() > 1 ? "s" : "") << flush; return os; } diff --git a/src/core/2/domain/tube/codac2_TDomain.h b/src/core/2/domain/tube/codac2_TDomain.h index b5e34e0c7..9401fa175 100644 --- a/src/core/2/domain/tube/codac2_TDomain.h +++ b/src/core/2/domain/tube/codac2_TDomain.h @@ -30,7 +30,10 @@ namespace codac2 explicit TDomain(const Interval& t0_tf, double dt, bool with_gates = false); const Interval t0_tf() const; + std::list>::iterator iterator_tslice(double t); size_t nb_tslices() const; + size_t nb_tubes() const; + void sample(double t); friend std::ostream& operator<<(std::ostream& os, const TDomain& x); diff --git a/src/core/2/domain/tube/codac2_TSlice.cpp b/src/core/2/domain/tube/codac2_TSlice.cpp index d4f096d93..bd5121402 100644 --- a/src/core/2/domain/tube/codac2_TSlice.cpp +++ b/src/core/2/domain/tube/codac2_TSlice.cpp @@ -17,15 +17,28 @@ using namespace codac; namespace codac2 { - TSlice::TSlice(const Interval& t0_tf) : _tdomain(t0_tf) + TSlice::TSlice(const Interval& tdomain) { + set_tdomain(tdomain); + } + TSlice::TSlice(const TSlice& tslice, const Interval& tdomain) + { + set_tdomain(tdomain); + for(const auto& [tv,s] : tslice.slices()) + add_slice(make_shared(*s.get())); } const Interval& TSlice::tdomain() const { return _tdomain; } + + void TSlice::set_tdomain(const Interval& tdomain) + { + assert(!tdomain.is_empty()); + _tdomain = tdomain; + } const map> TSlice::slices() const { diff --git a/src/core/2/domain/tube/codac2_TSlice.h b/src/core/2/domain/tube/codac2_TSlice.h index 7f49ffc19..69ef52c9e 100644 --- a/src/core/2/domain/tube/codac2_TSlice.h +++ b/src/core/2/domain/tube/codac2_TSlice.h @@ -30,7 +30,8 @@ namespace codac2 { public: - explicit TSlice(const Interval& t0_tf); + explicit TSlice(const Interval& tdomain); + TSlice(const TSlice& tslice, const Interval& tdomain); // performs a deep copy on slices const Interval& tdomain() const; const std::map> slices() const; void add_slice(const std::shared_ptr& slice); @@ -38,8 +39,11 @@ namespace codac2 protected: + void set_tdomain(const Interval& tdomain); + friend class TubeVector; - const Interval _tdomain; + friend class TDomain; + Interval _tdomain; std::map> _slices; }; } // namespace codac From 9d2a8bf8ce66330938a32436d819462a1ddc235c Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 26 May 2022 16:37:16 +0200 Subject: [PATCH 005/256] [tube] simplifying pointers --- src/core/2/domain/tube/codac2_SliceVector.cpp | 32 +++++++++---------- src/core/2/domain/tube/codac2_SliceVector.h | 12 +++---- src/core/2/domain/tube/codac2_TDomain.cpp | 26 +++++++-------- src/core/2/domain/tube/codac2_TDomain.h | 6 ++-- src/core/2/domain/tube/codac2_TSlice.cpp | 8 ++--- src/core/2/domain/tube/codac2_TSlice.h | 6 ++-- src/core/2/domain/tube/codac2_TubeVector.cpp | 22 ++++++------- src/core/2/domain/tube/codac2_TubeVector.h | 18 +++++------ 8 files changed, 65 insertions(+), 65 deletions(-) diff --git a/src/core/2/domain/tube/codac2_SliceVector.cpp b/src/core/2/domain/tube/codac2_SliceVector.cpp index 1d1cef0f3..8a6929009 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.cpp +++ b/src/core/2/domain/tube/codac2_SliceVector.cpp @@ -16,7 +16,7 @@ using namespace std; namespace codac2 { - SliceVector::SliceVector(size_t n, const TubeVector& tube_vector, list>::iterator it_tslice) : + SliceVector::SliceVector(size_t n, const TubeVector& tube_vector, list::iterator it_tslice) : _tube_vector(tube_vector), _it_tslice(it_tslice), _codomain(IntervalVector(n)) { @@ -51,32 +51,32 @@ namespace codac2 const Interval& SliceVector::tdomain() const { - return _it_tslice->get()->tdomain(); + return _it_tslice->tdomain(); } - shared_ptr SliceVector::prev_slice() const + const SliceVector* SliceVector::prev_slice() const { - if(_tube_vector.first_slice().get() == this) - return shared_ptr(nullptr); - return prev(_it_tslice)->get()->slices().at(&_tube_vector); + if(&_tube_vector.first_slice() == this) + return nullptr; + return &prev(_it_tslice)->slices().at(&_tube_vector); } - shared_ptr SliceVector::prev_slice() + SliceVector* SliceVector::prev_slice() { - return const_pointer_cast( + return const_cast( static_cast(*this).prev_slice()); } - shared_ptr SliceVector::next_slice() const + const SliceVector* SliceVector::next_slice() const { - if(_tube_vector.last_slice().get() == this) - return shared_ptr(nullptr); - return next(_it_tslice)->get()->slices().at(&_tube_vector); + if(&_tube_vector.last_slice() == this) + return nullptr; + return &next(_it_tslice)->slices().at(&_tube_vector); } - shared_ptr SliceVector::next_slice() + SliceVector* SliceVector::next_slice() { - return const_pointer_cast( + return const_cast( static_cast(*this).next_slice()); } @@ -89,7 +89,7 @@ namespace codac2 { IntervalVector gate = codomain(); if(prev_slice()) - gate &= prev_slice().get()->codomain(); + gate &= prev_slice()->codomain(); return gate; } @@ -97,7 +97,7 @@ namespace codac2 { IntervalVector gate = codomain(); if(next_slice()) - gate &= next_slice().get()->codomain(); + gate &= next_slice()->codomain(); return gate; } diff --git a/src/core/2/domain/tube/codac2_SliceVector.h b/src/core/2/domain/tube/codac2_SliceVector.h index 2a37ac16a..a9dcdc1ae 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.h +++ b/src/core/2/domain/tube/codac2_SliceVector.h @@ -32,7 +32,7 @@ namespace codac2 { public: - explicit SliceVector(size_t n, const TubeVector& tube_vector, std::list>::iterator it_tslice); + explicit SliceVector(size_t n, const TubeVector& tube_vector, std::list::iterator it_tslice); SliceVector(const SliceVector& s); ~SliceVector(); @@ -48,10 +48,10 @@ namespace codac2 bool contains(const TrajectoryVector& value) const; - std::shared_ptr prev_slice() const; - std::shared_ptr prev_slice(); - std::shared_ptr next_slice() const; - std::shared_ptr next_slice(); + const SliceVector* prev_slice() const; + SliceVector* prev_slice(); + const SliceVector* next_slice() const; + SliceVector* next_slice(); const Interval& tdomain() const; @@ -70,7 +70,7 @@ namespace codac2 //friend class TubeVectorComponent; const TubeVector& _tube_vector; - std::list>::iterator _it_tslice; + std::list::iterator _it_tslice; IntervalVector _codomain; }; } // namespace codac diff --git a/src/core/2/domain/tube/codac2_TDomain.cpp b/src/core/2/domain/tube/codac2_TDomain.cpp index 88271b0b6..6d4993be2 100644 --- a/src/core/2/domain/tube/codac2_TDomain.cpp +++ b/src/core/2/domain/tube/codac2_TDomain.cpp @@ -21,7 +21,7 @@ namespace codac2 { TDomain::TDomain(const Interval& t0_tf, double dt, bool with_gates) { - _tslices.push_back(make_shared(Interval(-oo,oo))); + _tslices.push_back(TSlice(Interval(-oo,oo))); for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t+=dt) { double t_ = min(t, t0_tf.ub()); @@ -34,8 +34,8 @@ namespace codac2 const Interval TDomain::t0_tf() const { - return Interval(_tslices.front()->tdomain().ub(), - prev(_tslices.end())->get()->tdomain().lb()); + return Interval(_tslices.front().tdomain().ub(), + prev(_tslices.end())->tdomain().lb()); } size_t TDomain::nb_tslices() const @@ -45,35 +45,35 @@ namespace codac2 size_t TDomain::nb_tubes() const { - return _tslices.front().get()->_slices.size(); + return _tslices.front()._slices.size(); } - list>::iterator TDomain::iterator_tslice(double t) + list::iterator TDomain::iterator_tslice(double t) { - list>::iterator it; + list::iterator it; for(it = _tslices.begin(); it != _tslices.end(); ++it) - if(it->get()->tdomain().contains(t)) return it; + if(it->tdomain().contains(t)) return it; return _tslices.end(); } void TDomain::sample(double t) { - std::list>::iterator it = iterator_tslice(t); + std::list::iterator it = iterator_tslice(t); assert(it != _tslices.end()); - const Interval tdomain = it->get()->tdomain(); + const Interval tdomain = it->tdomain(); assert(tdomain.contains(t)); - it->get()->set_tdomain(Interval(tdomain.lb(), t)); + it->set_tdomain(Interval(tdomain.lb(), t)); ++it; if(t == tdomain.ub()) - assert(!it->get()->tdomain().is_degenerated() && + assert(!it->tdomain().is_degenerated() && "degenerated tslice (gate) already existing at this time"); - _tslices.insert(it, make_shared(Interval(t, tdomain.ub()))); + _tslices.insert(it, TSlice(Interval(t, tdomain.ub()))); } - const list> TDomain::tslices() const + const list& TDomain::tslices() const { return _tslices; } diff --git a/src/core/2/domain/tube/codac2_TDomain.h b/src/core/2/domain/tube/codac2_TDomain.h index 9401fa175..f6eacdfec 100644 --- a/src/core/2/domain/tube/codac2_TDomain.h +++ b/src/core/2/domain/tube/codac2_TDomain.h @@ -30,7 +30,7 @@ namespace codac2 explicit TDomain(const Interval& t0_tf, double dt, bool with_gates = false); const Interval t0_tf() const; - std::list>::iterator iterator_tslice(double t); + std::list::iterator iterator_tslice(double t); size_t nb_tslices() const; size_t nb_tubes() const; void sample(double t); @@ -39,11 +39,11 @@ namespace codac2 protected: - const std::list> tslices() const; + const std::list& tslices() const; friend class SliceVector; friend class TubeVector; - std::list> _tslices; + std::list _tslices; }; } // namespace codac diff --git a/src/core/2/domain/tube/codac2_TSlice.cpp b/src/core/2/domain/tube/codac2_TSlice.cpp index bd5121402..c3872f9cd 100644 --- a/src/core/2/domain/tube/codac2_TSlice.cpp +++ b/src/core/2/domain/tube/codac2_TSlice.cpp @@ -26,7 +26,7 @@ namespace codac2 { set_tdomain(tdomain); for(const auto& [tv,s] : tslice.slices()) - add_slice(make_shared(*s.get())); + add_slice(s); } const Interval& TSlice::tdomain() const @@ -40,15 +40,15 @@ namespace codac2 _tdomain = tdomain; } - const map> TSlice::slices() const + const map& TSlice::slices() const { return _slices; } - void TSlice::add_slice(const std::shared_ptr& slice) + void TSlice::add_slice(const SliceVector& slice) { _slices.insert( - pair>(&slice.get()->tube_vector(), slice)); + pair(&slice.tube_vector(), slice)); } ostream& operator<<(ostream& os, const TSlice& x) diff --git a/src/core/2/domain/tube/codac2_TSlice.h b/src/core/2/domain/tube/codac2_TSlice.h index 69ef52c9e..8311c7b2e 100644 --- a/src/core/2/domain/tube/codac2_TSlice.h +++ b/src/core/2/domain/tube/codac2_TSlice.h @@ -33,8 +33,8 @@ namespace codac2 explicit TSlice(const Interval& tdomain); TSlice(const TSlice& tslice, const Interval& tdomain); // performs a deep copy on slices const Interval& tdomain() const; - const std::map> slices() const; - void add_slice(const std::shared_ptr& slice); + const std::map& slices() const; + void add_slice(const SliceVector& slice); friend std::ostream& operator<<(std::ostream& os, const TSlice& x); protected: @@ -44,7 +44,7 @@ namespace codac2 friend class TubeVector; friend class TDomain; Interval _tdomain; - std::map> _slices; + std::map _slices; }; } // namespace codac diff --git a/src/core/2/domain/tube/codac2_TubeVector.cpp b/src/core/2/domain/tube/codac2_TubeVector.cpp index d9e91db4d..90de4cb89 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.cpp +++ b/src/core/2/domain/tube/codac2_TubeVector.cpp @@ -21,14 +21,14 @@ namespace codac2 TubeVector::TubeVector(size_t n, TDomain& tdomain) : _tdomain(tdomain) { - for(list>::iterator it = _tdomain._tslices.begin(); + for(list::iterator it = _tdomain._tslices.begin(); it != _tdomain._tslices.end(); ++it) - it->get()->add_slice(make_shared(n, *this, it)); + it->add_slice(SliceVector(n, *this, it)); } size_t TubeVector::size() const { - return first_slice()->size(); + return first_slice().size(); } size_t TubeVector::nb_slices() const @@ -36,25 +36,25 @@ namespace codac2 return _tdomain.nb_tslices(); } - const std::shared_ptr& TubeVector::first_slice() const + const SliceVector& TubeVector::first_slice() const { - return _tdomain.tslices().front()->slices().at(this); + return _tdomain.tslices().front().slices().at(this); } - std::shared_ptr& TubeVector::first_slice() + SliceVector& TubeVector::first_slice() { - return const_cast&>( + return const_cast( static_cast(*this).first_slice()); } - const std::shared_ptr& TubeVector::last_slice() const + const SliceVector& TubeVector::last_slice() const { - return _tdomain.tslices().back()->slices().at(this); + return _tdomain.tslices().back().slices().at(this); } - std::shared_ptr& TubeVector::last_slice() + SliceVector& TubeVector::last_slice() { - return const_cast&>( + return const_cast( static_cast(*this).last_slice()); } diff --git a/src/core/2/domain/tube/codac2_TubeVector.h b/src/core/2/domain/tube/codac2_TubeVector.h index 02c591361..b06ef15c4 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.h +++ b/src/core/2/domain/tube/codac2_TubeVector.h @@ -32,10 +32,10 @@ namespace codac2 size_t size() const; size_t nb_slices() const; - const std::shared_ptr& first_slice() const; - std::shared_ptr& first_slice(); - const std::shared_ptr& last_slice() const; - std::shared_ptr& last_slice(); + const SliceVector& first_slice() const; + SliceVector& first_slice(); + const SliceVector& last_slice() const; + SliceVector& last_slice(); //TubeVectorComponent operator[](size_t index); //const TubeVectorComponent operator[](size_t index) const; @@ -60,7 +60,7 @@ namespace codac2 public: - using base_container = std::list>; + using base_container = std::list; struct iterator : public base_container::iterator { @@ -68,7 +68,7 @@ namespace codac2 using difference_type = typename base_container::iterator::difference_type; using value_type = SliceVector; - using pointer = std::shared_ptr; + using pointer = SliceVector*; using reference = SliceVector&; public: @@ -78,7 +78,7 @@ namespace codac2 reference operator*() { - return *((*this)->get()->_slices.at(&_tube_vector)); + return ((*this)->_slices.at(&_tube_vector)); } protected: @@ -96,7 +96,7 @@ namespace codac2 using difference_type = typename base_container::const_iterator::difference_type; using value_type = SliceVector; - using pointer = const std::shared_ptr; + using pointer = const SliceVector*; using reference = const SliceVector&; public: @@ -106,7 +106,7 @@ namespace codac2 reference operator*() const { - return *((*this)->get()->_slices.at(&_tube_vector)); + return ((*this)->_slices.at(&_tube_vector)); } protected: From ea7cef3042e20279744c01875536bfe6fbd198cd Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 30 May 2022 13:22:48 +0200 Subject: [PATCH 006/256] [tube] new implementation --- src/core/2/domain/tube/codac2_SliceVector.cpp | 26 +++---- src/core/2/domain/tube/codac2_SliceVector.h | 15 ++-- src/core/2/domain/tube/codac2_TDomain.cpp | 38 +++++++--- src/core/2/domain/tube/codac2_TDomain.h | 4 +- src/core/2/domain/tube/codac2_TSlice.cpp | 27 +++---- src/core/2/domain/tube/codac2_TSlice.h | 7 +- .../2/domain/tube/codac2_TubeAbstract_const.h | 4 +- src/core/2/domain/tube/codac2_TubeVector.cpp | 66 +++++++++++----- src/core/2/domain/tube/codac2_TubeVector.h | 21 ++++-- .../tube/codac2_TubeVectorComponent.cpp | 75 ++++++++++++++++--- .../domain/tube/codac2_TubeVectorComponent.h | 39 +++++++--- .../tube/codac2_TubeVectorEvaluation.cpp | 60 +++++++++++++++ .../domain/tube/codac2_TubeVectorEvaluation.h | 49 ++++++++++++ src/core/CMakeLists.txt | 2 + 14 files changed, 335 insertions(+), 98 deletions(-) create mode 100644 src/core/2/domain/tube/codac2_TubeVectorEvaluation.cpp create mode 100644 src/core/2/domain/tube/codac2_TubeVectorEvaluation.h diff --git a/src/core/2/domain/tube/codac2_SliceVector.cpp b/src/core/2/domain/tube/codac2_SliceVector.cpp index 8a6929009..e5bac1440 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.cpp +++ b/src/core/2/domain/tube/codac2_SliceVector.cpp @@ -17,16 +17,16 @@ using namespace std; namespace codac2 { SliceVector::SliceVector(size_t n, const TubeVector& tube_vector, list::iterator it_tslice) : - _tube_vector(tube_vector), _it_tslice(it_tslice), + _tubevector(tube_vector), _it_tslice(it_tslice), _codomain(IntervalVector(n)) { } SliceVector::SliceVector(const SliceVector& s) : - _tube_vector(s._tube_vector), _it_tslice(s._it_tslice), _codomain(s.size()) + _tubevector(s._tubevector), _it_tslice(s._it_tslice), _codomain(s._codomain) { - + } SliceVector::~SliceVector() @@ -36,7 +36,7 @@ namespace codac2 const TubeVector& SliceVector::tube_vector() const { - return _tube_vector; + return _tubevector; } size_t SliceVector::size() const @@ -49,16 +49,16 @@ namespace codac2 return true; } - const Interval& SliceVector::tdomain() const + const Interval& SliceVector::t0_tf() const { - return _it_tslice->tdomain(); + return _it_tslice->t0_tf(); } const SliceVector* SliceVector::prev_slice() const { - if(&_tube_vector.first_slice() == this) + if(&_tubevector.first_slice() == this) return nullptr; - return &prev(_it_tslice)->slices().at(&_tube_vector); + return &prev(_it_tslice)->slices().at(&_tubevector); } SliceVector* SliceVector::prev_slice() @@ -69,9 +69,9 @@ namespace codac2 const SliceVector* SliceVector::next_slice() const { - if(&_tube_vector.last_slice() == this) + if(&_tubevector.last_slice() == this) return nullptr; - return &next(_it_tslice)->slices().at(&_tube_vector); + return &next(_it_tslice)->slices().at(&_tubevector); } SliceVector* SliceVector::next_slice() @@ -85,7 +85,7 @@ namespace codac2 return _codomain; } - const IntervalVector SliceVector::input_gate() const + IntervalVector SliceVector::input_gate() const { IntervalVector gate = codomain(); if(prev_slice()) @@ -93,7 +93,7 @@ namespace codac2 return gate; } - const IntervalVector SliceVector::output_gate() const + IntervalVector SliceVector::output_gate() const { IntervalVector gate = codomain(); if(next_slice()) @@ -109,7 +109,7 @@ namespace codac2 ostream& operator<<(ostream& os, const SliceVector& x) { - os << x.tdomain() + os << x.t0_tf() << "↦" << x.codomain() << flush; return os; diff --git a/src/core/2/domain/tube/codac2_SliceVector.h b/src/core/2/domain/tube/codac2_SliceVector.h index a9dcdc1ae..dee7e121c 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.h +++ b/src/core/2/domain/tube/codac2_SliceVector.h @@ -33,8 +33,9 @@ namespace codac2 public: explicit SliceVector(size_t n, const TubeVector& tube_vector, std::list::iterator it_tslice); - SliceVector(const SliceVector& s); ~SliceVector(); + + SliceVector(const SliceVector& s); const TubeVector& tube_vector() const; @@ -53,11 +54,11 @@ namespace codac2 const SliceVector* next_slice() const; SliceVector* next_slice(); - const Interval& tdomain() const; + const Interval& t0_tf() const; const IntervalVector& codomain() const; - const IntervalVector input_gate() const; - const IntervalVector output_gate() const; + IntervalVector input_gate() const; + IntervalVector output_gate() const; void set(const IntervalVector& codomain); @@ -67,9 +68,11 @@ namespace codac2 protected: friend class TubeVector; - //friend class TubeVectorComponent; + friend class TubeVectorComponent; + friend class TDomain; + friend class TSlice; - const TubeVector& _tube_vector; + const TubeVector& _tubevector; std::list::iterator _it_tslice; IntervalVector _codomain; }; diff --git a/src/core/2/domain/tube/codac2_TDomain.cpp b/src/core/2/domain/tube/codac2_TDomain.cpp index 6d4993be2..0a910be93 100644 --- a/src/core/2/domain/tube/codac2_TDomain.cpp +++ b/src/core/2/domain/tube/codac2_TDomain.cpp @@ -21,6 +21,9 @@ namespace codac2 { TDomain::TDomain(const Interval& t0_tf, double dt, bool with_gates) { + assert(!t0_tf.is_empty()); + assert(dt > 0.); + _tslices.push_back(TSlice(Interval(-oo,oo))); for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t+=dt) { @@ -34,8 +37,8 @@ namespace codac2 const Interval TDomain::t0_tf() const { - return Interval(_tslices.front().tdomain().ub(), - prev(_tslices.end())->tdomain().lb()); + return Interval(_tslices.front().t0_tf().ub(), + prev(_tslices.end())->t0_tf().lb()); } size_t TDomain::nb_tslices() const @@ -50,27 +53,40 @@ namespace codac2 list::iterator TDomain::iterator_tslice(double t) { + if(t == -oo) return _tslices.begin(); + if(t == oo) return prev(_tslices.end()); + list::iterator it; for(it = _tslices.begin(); it != _tslices.end(); ++it) - if(it->tdomain().contains(t)) return it; + { + const Interval& tdom = it->t0_tf(); + if((tdom.is_degenerated() && tdom.lb() == t) // gate + || (tdom.lb() <= t && tdom.ub() > t)) // slice + return it; + } + assert(false && "time must belong to one slice because tdomain is unbounded"); return _tslices.end(); } - void TDomain::sample(double t) + list::iterator TDomain::sample(double t, bool allow_gate) { - std::list::iterator it = iterator_tslice(t); + list::iterator it = iterator_tslice(t); assert(it != _tslices.end()); - const Interval tdomain = it->tdomain(); + const Interval tdomain = it->t0_tf(); assert(tdomain.contains(t)); + if((tdomain.lb() == t && !allow_gate) || tdomain.is_degenerated()) + return it; + it->set_tdomain(Interval(tdomain.lb(), t)); + TSlice ts(*it, Interval(t, tdomain.ub())); + ++it; + it = _tslices.insert(it, ts); + for(auto& [k,s] : it->_slices) // adding the new iterator pointer to the new slices + s._it_tslice = it; - if(t == tdomain.ub()) - assert(!it->tdomain().is_degenerated() && - "degenerated tslice (gate) already existing at this time"); - - _tslices.insert(it, TSlice(Interval(t, tdomain.ub()))); + return it; } const list& TDomain::tslices() const diff --git a/src/core/2/domain/tube/codac2_TDomain.h b/src/core/2/domain/tube/codac2_TDomain.h index f6eacdfec..e3bd45dc3 100644 --- a/src/core/2/domain/tube/codac2_TDomain.h +++ b/src/core/2/domain/tube/codac2_TDomain.h @@ -29,11 +29,11 @@ namespace codac2 public: explicit TDomain(const Interval& t0_tf, double dt, bool with_gates = false); - const Interval t0_tf() const; + const Interval t0_tf() const; // todo: keep this method? std::list::iterator iterator_tslice(double t); size_t nb_tslices() const; size_t nb_tubes() const; - void sample(double t); + std::list::iterator sample(double t, bool allow_gate = true); friend std::ostream& operator<<(std::ostream& os, const TDomain& x); diff --git a/src/core/2/domain/tube/codac2_TSlice.cpp b/src/core/2/domain/tube/codac2_TSlice.cpp index c3872f9cd..12532624f 100644 --- a/src/core/2/domain/tube/codac2_TSlice.cpp +++ b/src/core/2/domain/tube/codac2_TSlice.cpp @@ -11,49 +11,46 @@ #include "codac2_TSlice.h" #include "codac2_SliceVector.h" +#include "codac2_TubeVector.h" using namespace std; using namespace codac; namespace codac2 { - TSlice::TSlice(const Interval& tdomain) + TSlice::TSlice(const Interval& tdomain) : + _slices(map()) { set_tdomain(tdomain); } - TSlice::TSlice(const TSlice& tslice, const Interval& tdomain) + TSlice::TSlice(const TSlice& tslice, const Interval& tdomain) : + TSlice(tdomain) { - set_tdomain(tdomain); - for(const auto& [tv,s] : tslice.slices()) - add_slice(s); + for(const auto[k,s] : tslice._slices) + _slices.insert(pair( + k, SliceVector(s))); } - const Interval& TSlice::tdomain() const + const Interval& TSlice::t0_tf() const { - return _tdomain; + return _t0_tf; } void TSlice::set_tdomain(const Interval& tdomain) { assert(!tdomain.is_empty()); - _tdomain = tdomain; + _t0_tf = tdomain; } const map& TSlice::slices() const { return _slices; } - - void TSlice::add_slice(const SliceVector& slice) - { - _slices.insert( - pair(&slice.tube_vector(), slice)); - } ostream& operator<<(ostream& os, const TSlice& x) { - os << x._tdomain; + os << x._t0_tf; return os; } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TSlice.h b/src/core/2/domain/tube/codac2_TSlice.h index 8311c7b2e..5d92496a0 100644 --- a/src/core/2/domain/tube/codac2_TSlice.h +++ b/src/core/2/domain/tube/codac2_TSlice.h @@ -32,9 +32,8 @@ namespace codac2 explicit TSlice(const Interval& tdomain); TSlice(const TSlice& tslice, const Interval& tdomain); // performs a deep copy on slices - const Interval& tdomain() const; + const Interval& t0_tf() const; const std::map& slices() const; - void add_slice(const SliceVector& slice); friend std::ostream& operator<<(std::ostream& os, const TSlice& x); protected: @@ -42,8 +41,10 @@ namespace codac2 void set_tdomain(const Interval& tdomain); friend class TubeVector; + friend class TubeVectorComponent; + friend class TubeVectorEvaluation; friend class TDomain; - Interval _tdomain; + Interval _t0_tf; std::map _slices; }; } // namespace codac diff --git a/src/core/2/domain/tube/codac2_TubeAbstract_const.h b/src/core/2/domain/tube/codac2_TubeAbstract_const.h index b0b516e41..8b8647bad 100644 --- a/src/core/2/domain/tube/codac2_TubeAbstract_const.h +++ b/src/core/2/domain/tube/codac2_TubeAbstract_const.h @@ -43,8 +43,8 @@ namespace codac2 virtual bool contains(const V& value) const = 0; virtual Interval t0_tf() const = 0; virtual I codomain() const = 0; - virtual I operator()(double t) const = 0; - virtual I operator()(const Interval& t) const = 0; + // virtual I operator()(double t) const = 0; + //virtual I operator()(const Interval& t) const = 0; //TubeVectorComponent operator[](size_t index); //const TubeVectorComponent operator[](size_t index) const; diff --git a/src/core/2/domain/tube/codac2_TubeVector.cpp b/src/core/2/domain/tube/codac2_TubeVector.cpp index 90de4cb89..bb44aaa42 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.cpp +++ b/src/core/2/domain/tube/codac2_TubeVector.cpp @@ -23,7 +23,29 @@ namespace codac2 { for(list::iterator it = _tdomain._tslices.begin(); it != _tdomain._tslices.end(); ++it) - it->add_slice(SliceVector(n, *this, it)); + { + it->_slices.insert( + pair(this, + SliceVector(n, *this, it))); + } + } + + TubeVector::TubeVector(const TubeVector& x) : + _tdomain(x.tdomain()) + { + for(list::iterator it = _tdomain._tslices.begin(); + it != _tdomain._tslices.end(); ++it) + { + it->_slices.insert( + pair(this, + SliceVector(it->_slices.at(&x).size(), *this, it))); + } + } + + TubeVector::~TubeVector() + { + for(auto& s : _tdomain._tslices) + s._slices.erase(this); } size_t TubeVector::size() const @@ -82,14 +104,33 @@ namespace codac2 return codomain; } - IntervalVector TubeVector::operator()(double t) const + TubeVectorEvaluation TubeVector::operator()(double t) { - return codomain(); + return TubeVectorEvaluation(*this, t); } - IntervalVector TubeVector::operator()(const Interval& t) const + TubeVectorEvaluation TubeVector::operator()(const Interval& t) { - return codomain(); + return TubeVectorEvaluation(*this, t); + } + + IntervalVector TubeVector::eval(double t) const + { + return _tdomain.iterator_tslice(t)->_slices.at(this).codomain(); + } + + IntervalVector TubeVector::eval(const Interval& t) const + { + list::iterator it = _tdomain.iterator_tslice(t.lb()); + IntervalVector codomain = it->_slices.at(this).codomain(); + + while(it != _tdomain.iterator_tslice(t.ub())) + { + codomain |= it->_slices.at(this).codomain(); + it++; + } + + return codomain; } void TubeVector::set(const IntervalVector& codomain) @@ -99,21 +140,12 @@ namespace codac2 s.set(codomain); } - /*TubeVectorComponent TubeVector::operator[](size_t index) + TubeVectorComponent TubeVector::operator[](size_t i) { - assert(index >= 0 && index < size()); - return TubeVectorComponent(*this, index); + assert(i >= 0 && i < size()); + return TubeVectorComponent(*this, i); } - const TubeVectorComponent TubeVector::operator[](size_t index) const - { -// assert(index >= 0 && index < size()); -//return const_cast(static_cast(*this).operator[](index)); - - assert(index >= 0 && index < size()); - return TubeVectorComponent(*this, index); - }*/ - ostream& operator<<(ostream& os, const TubeVector& x) { x.TubeVector_const::print(os); diff --git a/src/core/2/domain/tube/codac2_TubeVector.h b/src/core/2/domain/tube/codac2_TubeVector.h index b06ef15c4..f162219b7 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.h +++ b/src/core/2/domain/tube/codac2_TubeVector.h @@ -16,19 +16,23 @@ #include #include "codac2_TDomain.h" #include "codac2_SliceVector.h" - +#include "codac2_TubeVectorComponent.h" +#include "codac2_TubeVectorEvaluation.h" #include "codac2_TubeAbstract_const.h" namespace codac2 { class TDomain; - //class SliceVector; + class TubeVectorComponent; + class TubeVectorEvaluation; class TubeVector : public TubeVector_const { public: explicit TubeVector(size_t n, TDomain& tdomain); + explicit TubeVector(const TubeVector& x); + ~TubeVector(); size_t size() const; size_t nb_slices() const; @@ -37,16 +41,18 @@ namespace codac2 const SliceVector& last_slice() const; SliceVector& last_slice(); - //TubeVectorComponent operator[](size_t index); - //const TubeVectorComponent operator[](size_t index) const; + TubeVectorComponent operator[](size_t i); + //const TubeVectorComponent operator[](size_t i) const; bool contains(const TrajectoryVector& value) const; TDomain& tdomain() const; Interval t0_tf() const; IntervalVector codomain() const; - IntervalVector operator()(double t) const; - IntervalVector operator()(const Interval& t) const; + TubeVectorEvaluation operator()(double t); + TubeVectorEvaluation operator()(const Interval& t); + IntervalVector eval(double t) const; + IntervalVector eval(const Interval& t) const; void set(const IntervalVector& codomain); friend std::ostream& operator<<(std::ostream& os, const TubeVector& x); @@ -54,7 +60,8 @@ namespace codac2 protected: - //friend class TubeVectorComponent; + friend class TubeVectorComponent; + friend class TubeVectorEvaluation; TDomain& _tdomain; diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp b/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp index 1f7074099..07c04b093 100644 --- a/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp +++ b/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp @@ -9,35 +9,88 @@ * the GNU Lesser General Public License (LGPL). */ +#include #include "codac2_TubeVectorComponent.h" #include "codac2_TubeVector.h" #include "codac2_SliceVector.h" +#include "ibex_Interval.h" using namespace std; namespace codac2 { - /*const Interval_& TubeVectorComponent::tdomain() const + TubeVectorComponent::TubeVectorComponent(TubeVector& tubevector, size_t i) : + _i(i), _tubevector(tubevector) { - return m_tubevector.tdomain(); + assert(i >= 0 && i < tubevector.size()); } - bool TubeVectorComponent::contains(const Trajectory_& value) const + TubeVectorComponent::TubeVectorComponent(const TubeVectorComponent& tubevector_i) : + _i(tubevector_i._i), _tubevector(tubevector_i._tubevector) { - return true; + + } + + size_t TubeVectorComponent::size() const + { + return 1; } - TubeVectorComponent::TubeVectorComponent(T_TubeVector& tubevector, size_t i) : - m_i(i), m_tubevector(tubevector) + const TDomain& TubeVectorComponent::tdomain() const { - assert(i >= 0 && i < tubevector.size()); + return _tubevector.tdomain(); + } + + Interval TubeVectorComponent::t0_tf() const + { + return _tubevector.t0_tf(); + } + + Interval TubeVectorComponent::codomain() const + { + Interval codomain(Interval::EMPTY_SET); + for(const auto& s : _tubevector) + codomain |= s.codomain()[_i]; + return codomain; + } + bool TubeVectorComponent::contains(const Trajectory& value) const + { + assert(false); + return true; } - void TubeVectorComponent::set_codomain(const Interval_& codomain) + void TubeVectorComponent::set(const Interval& codomain) + { + for(auto& s : _tubevector) + s._codomain[_i] = codomain; + } + + const TubeVectorComponent& TubeVectorComponent::operator=(const TubeVectorComponent& x) + { + assert(&x.tdomain() == &tdomain()); + for(auto& s : _tubevector) + s._codomain[_i] = s._it_tslice->_slices.at(&x._tubevector)._codomain[x._i]; + return *this; + } + + const TubeVectorComponent& TubeVectorComponent::operator=(pair,const TubeVectorComponent> rel) { - for(auto& s : m_tubevector.m_slices) - s->m_codomain[m_i] = codomain; - }*/ + assert(&rel.second.tdomain() == &tdomain()); + for(auto& s : _tubevector) + s._codomain[_i] = rel.first(s._it_tslice->_slices.at(&rel.second._tubevector)._codomain[_i]); + return *this; + } + + ostream& operator<<(ostream& os, const TubeVectorComponent& x) + { + os << "Component " << x._i << " of: " << x._tubevector << flush; + return os; + } + + pair,const TubeVectorComponent> cos(const TubeVectorComponent& x) + { + return make_pair(static_cast(ibex::cos), x); + } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.h b/src/core/2/domain/tube/codac2_TubeVectorComponent.h index 1e9fe9ded..99ee6b868 100644 --- a/src/core/2/domain/tube/codac2_TubeVectorComponent.h +++ b/src/core/2/domain/tube/codac2_TubeVectorComponent.h @@ -14,33 +14,50 @@ #include #include "codac_Interval.h" +#include "codac_Trajectory.h" #include "codac2_TubeVector.h" +#include "codac2_TubeAbstract_const.h" +#include "ibex_Interval.h" namespace codac2 { - class TubeVector_; + using codac::Interval; + using codac::Trajectory; - /*template - class TubeVectorComponent// : public DomainItem_, public TemporalItem_ + class TubeVector; + + class TubeVectorComponent : public Tube_const { public: - const Interval_& tdomain() const; + TubeVectorComponent(const TubeVectorComponent& tubevector_i); + + size_t size() const; + const TDomain& tdomain() const; + Interval t0_tf() const; + Interval codomain() const; + + bool contains(const Trajectory& value) const; - bool contains(const Trajectory_& value) const; + void set(const Interval& codomain); + const TubeVectorComponent& operator=(const TubeVectorComponent& x); + const TubeVectorComponent& operator=(std::pair,const TubeVectorComponent> x); - void set_codomain(const Interval_& codomain); + friend std::ostream& operator<<(std::ostream& os, const TubeVectorComponent& x); protected: - friend class TubeVector_; - explicit TubeVectorComponent(T_TubeVector& tubevector, size_t i); + friend class TubeVector; + explicit TubeVectorComponent(TubeVector& tubevector, size_t i); + + size_t _i; + TubeVector& _tubevector; + }; + + std::pair,const TubeVectorComponent> cos(const TubeVectorComponent& x); - size_t m_i; - T_TubeVector& m_tubevector; - };*/ } // namespace codac #endif \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVectorEvaluation.cpp b/src/core/2/domain/tube/codac2_TubeVectorEvaluation.cpp new file mode 100644 index 000000000..fa69ca2bc --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeVectorEvaluation.cpp @@ -0,0 +1,60 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_TubeVectorEvaluation.h" +#include "codac2_TubeVector.h" +#include "codac2_SliceVector.h" +#include "ibex_Interval.h" + +using namespace std; + +namespace codac2 +{ + TubeVectorEvaluation::TubeVectorEvaluation(TubeVector& tubevector, double t) : + _t(Interval(t)), _tubevector(tubevector) + { + + } + + TubeVectorEvaluation::TubeVectorEvaluation(TubeVector& tubevector, const Interval& t) : + _t(t), _tubevector(tubevector) + { + + } + + TubeVectorEvaluation::operator IntervalVector() const + { + return _tubevector.eval(_t); + } + + const TubeVectorEvaluation& TubeVectorEvaluation::operator=(const IntervalVector& x) + { + // Sampling the tube only if affectation is performed + // (i.e. this is not done in the constructor) + list::iterator it_lb = _tubevector._tdomain.sample(_t.lb(), false); + list::iterator it_ub = _tubevector._tdomain.sample(_t.ub(), _t.is_degenerated()); + + do + { + it_lb->_slices.at(&_tubevector).set(x); + it_lb++; + } while(it_lb != it_ub); + + return *this; + } + + ostream& operator<<(ostream& os, const TubeVectorEvaluation& x) + { + os << x._tubevector.eval(x._t) << flush; + return os; + } + +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVectorEvaluation.h b/src/core/2/domain/tube/codac2_TubeVectorEvaluation.h new file mode 100644 index 000000000..3cb63030e --- /dev/null +++ b/src/core/2/domain/tube/codac2_TubeVectorEvaluation.h @@ -0,0 +1,49 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TUBEVECTOREVALUATION_H__ +#define __CODAC2_TUBEVECTOREVALUATION_H__ + +#include +#include "codac_Interval.h" +#include "codac_Trajectory.h" +#include "codac2_TubeVector.h" +#include "ibex_Interval.h" + +namespace codac2 +{ + using codac::Interval; + + class TubeVector; + + class TubeVectorEvaluation + { + public: + + const TubeVectorEvaluation& operator=(const IntervalVector& x); + operator IntervalVector() const; + + friend std::ostream& operator<<(std::ostream& os, const TubeVectorEvaluation& x); + + + protected: + + friend class TubeVector; + explicit TubeVectorEvaluation(TubeVector& tubevector, double t); + explicit TubeVectorEvaluation(TubeVector& tubevector, const Interval& t); + + const Interval _t; + TubeVector& _tubevector; + }; + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 99e094a93..49fb3ae54 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -167,6 +167,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVector.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorComponent.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorComponent.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorEvaluation.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorEvaluation.h ) From db72e0a9dc03715ee282dd6fc977b776d4b91a4c Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 30 May 2022 15:13:23 +0200 Subject: [PATCH 007/256] [tube] to_codac1() conversion methods --- src/core/2/domain/tube/codac2_TubeVector.cpp | 12 ++++++++++++ src/core/2/domain/tube/codac2_TubeVector.h | 3 +++ .../2/domain/tube/codac2_TubeVectorComponent.cpp | 12 ++++++++++++ src/core/2/domain/tube/codac2_TubeVectorComponent.h | 3 +++ 4 files changed, 30 insertions(+) diff --git a/src/core/2/domain/tube/codac2_TubeVector.cpp b/src/core/2/domain/tube/codac2_TubeVector.cpp index bb44aaa42..2bac74edf 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.cpp +++ b/src/core/2/domain/tube/codac2_TubeVector.cpp @@ -155,4 +155,16 @@ namespace codac2 << flush; return os; } + + codac::TubeVector TubeVector::to_codac1() const + { + codac::TubeVector x(t0_tf(), size()); + for(const auto& s : *this) + if(!s.t0_tf().is_unbounded()) + x.set(s.codomain(), s.t0_tf()); + for(const auto& s : *this) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x.set(s.codomain(), s.t0_tf()); + return x; + } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVector.h b/src/core/2/domain/tube/codac2_TubeVector.h index f162219b7..cbaf81221 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.h +++ b/src/core/2/domain/tube/codac2_TubeVector.h @@ -19,6 +19,7 @@ #include "codac2_TubeVectorComponent.h" #include "codac2_TubeVectorEvaluation.h" #include "codac2_TubeAbstract_const.h" +#include "codac_TubeVector.h" // to be removed namespace codac2 { @@ -57,6 +58,8 @@ namespace codac2 friend std::ostream& operator<<(std::ostream& os, const TubeVector& x); + codac::TubeVector to_codac1() const; // to be removed + protected: diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp b/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp index 07c04b093..17cb2fffb 100644 --- a/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp +++ b/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp @@ -92,5 +92,17 @@ namespace codac2 { return make_pair(static_cast(ibex::cos), x); } + + codac::Tube TubeVectorComponent::to_codac1() const + { + codac::Tube x(t0_tf()); + for(const auto& s : _tubevector) + if(!s.t0_tf().is_unbounded()) + x.set(s.codomain()[_i], s.t0_tf()); + for(const auto& s : _tubevector) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x.set(s.codomain()[_i], s.t0_tf()); + return x; + } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.h b/src/core/2/domain/tube/codac2_TubeVectorComponent.h index 99ee6b868..9029bf566 100644 --- a/src/core/2/domain/tube/codac2_TubeVectorComponent.h +++ b/src/core/2/domain/tube/codac2_TubeVectorComponent.h @@ -18,6 +18,7 @@ #include "codac2_TubeVector.h" #include "codac2_TubeAbstract_const.h" #include "ibex_Interval.h" +#include "codac_Tube.h" // to be removed namespace codac2 { @@ -44,6 +45,8 @@ namespace codac2 const TubeVectorComponent& operator=(std::pair,const TubeVectorComponent> x); friend std::ostream& operator<<(std::ostream& os, const TubeVectorComponent& x); + + codac::Tube to_codac1() const; // to be removed protected: From 0482cd7f3952d6bbdc4cb896388ef51b2277360f Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 30 May 2022 16:37:39 +0200 Subject: [PATCH 008/256] [ctc] preparing for CtcDiffInclusion --- .../2/contractors/codac2_CtcDiffInclusion.cpp | 49 +++++++++++++++++++ .../2/contractors/codac2_CtcDiffInclusion.h | 42 ++++++++++++++++ .../tube/codac2_SliceVector.cpp | 22 +++++++++ .../tube/codac2_SliceVector.h | 7 +++ .../tube/codac2_TDomain.cpp | 0 .../{domain => domains}/tube/codac2_TDomain.h | 0 .../tube/codac2_TSlice.cpp | 0 .../{domain => domains}/tube/codac2_TSlice.h | 0 .../tube/codac2_TubeAbstract_const.cpp | 0 .../tube/codac2_TubeAbstract_const.h | 0 .../tube/codac2_TubeVector.cpp | 16 ++++++ .../tube/codac2_TubeVector.h | 2 + .../tube/codac2_TubeVectorComponent.cpp | 0 .../tube/codac2_TubeVectorComponent.h | 0 .../tube/codac2_TubeVectorEvaluation.cpp | 0 .../tube/codac2_TubeVectorEvaluation.h | 0 src/core/CMakeLists.txt | 34 +++++++------ 17 files changed, 157 insertions(+), 15 deletions(-) create mode 100644 src/core/2/contractors/codac2_CtcDiffInclusion.cpp create mode 100644 src/core/2/contractors/codac2_CtcDiffInclusion.h rename src/core/2/{domain => domains}/tube/codac2_SliceVector.cpp (85%) rename src/core/2/{domain => domains}/tube/codac2_SliceVector.h (90%) rename src/core/2/{domain => domains}/tube/codac2_TDomain.cpp (100%) rename src/core/2/{domain => domains}/tube/codac2_TDomain.h (100%) rename src/core/2/{domain => domains}/tube/codac2_TSlice.cpp (100%) rename src/core/2/{domain => domains}/tube/codac2_TSlice.h (100%) rename src/core/2/{domain => domains}/tube/codac2_TubeAbstract_const.cpp (100%) rename src/core/2/{domain => domains}/tube/codac2_TubeAbstract_const.h (100%) rename src/core/2/{domain => domains}/tube/codac2_TubeVector.cpp (93%) rename src/core/2/{domain => domains}/tube/codac2_TubeVector.h (98%) rename src/core/2/{domain => domains}/tube/codac2_TubeVectorComponent.cpp (100%) rename src/core/2/{domain => domains}/tube/codac2_TubeVectorComponent.h (100%) rename src/core/2/{domain => domains}/tube/codac2_TubeVectorEvaluation.cpp (100%) rename src/core/2/{domain => domains}/tube/codac2_TubeVectorEvaluation.h (100%) diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp new file mode 100644 index 000000000..69b516fad --- /dev/null +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp @@ -0,0 +1,49 @@ +/** + * CtcDiffInclusion class + * ---------------------------------------------------------------------------- + * \date 2022 + * \author + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_CtcDiffInclusion.h" + +using namespace std; +using namespace ibex; + +namespace codac2 +{ + CtcDiffInclusion::CtcDiffInclusion(const TFunction& f) + : _f(f) + { + + } + + const TFunction& CtcDiffInclusion::f() const + { + return _f; + } + + void CtcDiffInclusion::contract(TubeVector& x, TubeVector& u) + { + // Verifying that x and u share exactly the same tdomain and slicing: + assert(&x.tdomain() == &u.tdomain()); + assert(_f.nb_var() == x.size() + u.size()); + assert(_f.image_dim() == x.size()); + + for(auto& sx : x) // sx is a SliceVector of the TubeVector x + { + // su is a SliceVector of the TubeVector u: + const SliceVector& su = sx.tslice().slices().at(&u); + + + sx.set(su.codomain()); + cout << sx << " " << su << endl; + + // ... + } + + } +} \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.h b/src/core/2/contractors/codac2_CtcDiffInclusion.h new file mode 100644 index 000000000..50b362afb --- /dev/null +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.h @@ -0,0 +1,42 @@ +/** + * \file + * CtcDiffInclusion class + * ---------------------------------------------------------------------------- + * \date 2022 + * \author + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_CTCDIFFINCLUSION_H__ +#define __CODAC2_CTCDIFFINCLUSION_H__ + +#include "codac_TFunction.h" +#include "codac2_TubeVector.h" + +namespace codac2 +{ + using codac::TFunction; + + /** + * \class CtcDiffInclusion + * \brief ... + */ + class CtcDiffInclusion + { + public: + + CtcDiffInclusion(const TFunction& t); + void contract(TubeVector& x, const TubeVector& u); + const TFunction& f() const; + + void contract(TubeVector& x, TubeVector& u); + + protected: + + const TFunction _f; + }; +} + +#endif \ No newline at end of file diff --git a/src/core/2/domain/tube/codac2_SliceVector.cpp b/src/core/2/domains/tube/codac2_SliceVector.cpp similarity index 85% rename from src/core/2/domain/tube/codac2_SliceVector.cpp rename to src/core/2/domains/tube/codac2_SliceVector.cpp index e5bac1440..4939b65a9 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.cpp +++ b/src/core/2/domains/tube/codac2_SliceVector.cpp @@ -44,6 +44,21 @@ namespace codac2 return _codomain.size(); } + bool SliceVector::is_gate() const + { + return t0_tf().is_degenerated(); + } + + bool SliceVector::is_empty() const + { + return input_gate().is_empty() || output_gate().is_empty(); + } + + bool SliceVector::is_unbounded() const + { + return _codomain.is_unbounded(); + } + bool SliceVector::contains(const TrajectoryVector& value) const { return true; @@ -54,6 +69,11 @@ namespace codac2 return _it_tslice->t0_tf(); } + const TSlice& SliceVector::tslice() const + { + return *_it_tslice; + } + const SliceVector* SliceVector::prev_slice() const { if(&_tubevector.first_slice() == this) @@ -105,6 +125,8 @@ namespace codac2 { assert((size_t)codomain.size() == size()); _codomain = codomain; + if(is_gate()) + _codomain &= prev_slice()->codomain() & next_slice()->codomain(); } ostream& operator<<(ostream& os, const SliceVector& x) diff --git a/src/core/2/domain/tube/codac2_SliceVector.h b/src/core/2/domains/tube/codac2_SliceVector.h similarity index 90% rename from src/core/2/domain/tube/codac2_SliceVector.h rename to src/core/2/domains/tube/codac2_SliceVector.h index dee7e121c..47c65e11c 100644 --- a/src/core/2/domain/tube/codac2_SliceVector.h +++ b/src/core/2/domains/tube/codac2_SliceVector.h @@ -47,6 +47,9 @@ namespace codac2 size_t size() const; + bool is_gate() const; + bool is_empty() const; + bool is_unbounded() const; bool contains(const TrajectoryVector& value) const; const SliceVector* prev_slice() const; @@ -55,6 +58,7 @@ namespace codac2 SliceVector* next_slice(); const Interval& t0_tf() const; + const TSlice& tslice() const; const IntervalVector& codomain() const; IntervalVector input_gate() const; @@ -75,6 +79,9 @@ namespace codac2 const TubeVector& _tubevector; std::list::iterator _it_tslice; IntervalVector _codomain; + + // Wrappers related to guaranteed integration can be dynamically allocated here + // ... }; } // namespace codac diff --git a/src/core/2/domain/tube/codac2_TDomain.cpp b/src/core/2/domains/tube/codac2_TDomain.cpp similarity index 100% rename from src/core/2/domain/tube/codac2_TDomain.cpp rename to src/core/2/domains/tube/codac2_TDomain.cpp diff --git a/src/core/2/domain/tube/codac2_TDomain.h b/src/core/2/domains/tube/codac2_TDomain.h similarity index 100% rename from src/core/2/domain/tube/codac2_TDomain.h rename to src/core/2/domains/tube/codac2_TDomain.h diff --git a/src/core/2/domain/tube/codac2_TSlice.cpp b/src/core/2/domains/tube/codac2_TSlice.cpp similarity index 100% rename from src/core/2/domain/tube/codac2_TSlice.cpp rename to src/core/2/domains/tube/codac2_TSlice.cpp diff --git a/src/core/2/domain/tube/codac2_TSlice.h b/src/core/2/domains/tube/codac2_TSlice.h similarity index 100% rename from src/core/2/domain/tube/codac2_TSlice.h rename to src/core/2/domains/tube/codac2_TSlice.h diff --git a/src/core/2/domain/tube/codac2_TubeAbstract_const.cpp b/src/core/2/domains/tube/codac2_TubeAbstract_const.cpp similarity index 100% rename from src/core/2/domain/tube/codac2_TubeAbstract_const.cpp rename to src/core/2/domains/tube/codac2_TubeAbstract_const.cpp diff --git a/src/core/2/domain/tube/codac2_TubeAbstract_const.h b/src/core/2/domains/tube/codac2_TubeAbstract_const.h similarity index 100% rename from src/core/2/domain/tube/codac2_TubeAbstract_const.h rename to src/core/2/domains/tube/codac2_TubeAbstract_const.h diff --git a/src/core/2/domain/tube/codac2_TubeVector.cpp b/src/core/2/domains/tube/codac2_TubeVector.cpp similarity index 93% rename from src/core/2/domain/tube/codac2_TubeVector.cpp rename to src/core/2/domains/tube/codac2_TubeVector.cpp index 2bac74edf..f7b0f4182 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.cpp +++ b/src/core/2/domains/tube/codac2_TubeVector.cpp @@ -80,6 +80,22 @@ namespace codac2 static_cast(*this).last_slice()); } + bool TubeVector::is_empty() const + { + for(const auto& s : *this) + if(s.is_empty()) + return true; + return false; + } + + bool TubeVector::is_unbounded() const + { + for(const auto& s : *this) + if(s.is_unbounded()) + return true; + return false; + } + bool TubeVector::contains(const TrajectoryVector& value) const { return true; diff --git a/src/core/2/domain/tube/codac2_TubeVector.h b/src/core/2/domains/tube/codac2_TubeVector.h similarity index 98% rename from src/core/2/domain/tube/codac2_TubeVector.h rename to src/core/2/domains/tube/codac2_TubeVector.h index cbaf81221..2cad7aca1 100644 --- a/src/core/2/domain/tube/codac2_TubeVector.h +++ b/src/core/2/domains/tube/codac2_TubeVector.h @@ -45,6 +45,8 @@ namespace codac2 TubeVectorComponent operator[](size_t i); //const TubeVectorComponent operator[](size_t i) const; + bool is_empty() const; + bool is_unbounded() const; bool contains(const TrajectoryVector& value) const; TDomain& tdomain() const; diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.cpp b/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp similarity index 100% rename from src/core/2/domain/tube/codac2_TubeVectorComponent.cpp rename to src/core/2/domains/tube/codac2_TubeVectorComponent.cpp diff --git a/src/core/2/domain/tube/codac2_TubeVectorComponent.h b/src/core/2/domains/tube/codac2_TubeVectorComponent.h similarity index 100% rename from src/core/2/domain/tube/codac2_TubeVectorComponent.h rename to src/core/2/domains/tube/codac2_TubeVectorComponent.h diff --git a/src/core/2/domain/tube/codac2_TubeVectorEvaluation.cpp b/src/core/2/domains/tube/codac2_TubeVectorEvaluation.cpp similarity index 100% rename from src/core/2/domain/tube/codac2_TubeVectorEvaluation.cpp rename to src/core/2/domains/tube/codac2_TubeVectorEvaluation.cpp diff --git a/src/core/2/domain/tube/codac2_TubeVectorEvaluation.h b/src/core/2/domains/tube/codac2_TubeVectorEvaluation.h similarity index 100% rename from src/core/2/domain/tube/codac2_TubeVectorEvaluation.h rename to src/core/2/domains/tube/codac2_TubeVectorEvaluation.h diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 49fb3ae54..9929d4d21 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -155,20 +155,22 @@ ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.h # Files related to codac2 - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_SliceVector.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_SliceVector.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TSlice.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TSlice.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TDomain.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TDomain.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeAbstract_const.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeAbstract_const.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVector.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVector.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorComponent.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorComponent.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorEvaluation.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domain/tube/codac2_TubeVectorEvaluation.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_SliceVector.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_SliceVector.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TDomain.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TDomain.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeAbstract_const.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeAbstract_const.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVector.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVector.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorComponent.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorComponent.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorEvaluation.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorEvaluation.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.h ) @@ -196,7 +198,9 @@ ${CMAKE_CURRENT_SOURCE_DIR}/contractors/dyn ${CMAKE_CURRENT_SOURCE_DIR}/cn ${CMAKE_CURRENT_SOURCE_DIR}/tools - ${CMAKE_CURRENT_SOURCE_DIR}/sivia) + ${CMAKE_CURRENT_SOURCE_DIR}/sivia + ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube) target_link_libraries(codac PUBLIC Ibex::ibex) From ea4719ac6f79c7e55a02932710b0f1423f7014d4 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 31 May 2022 10:50:59 +0200 Subject: [PATCH 009/256] [tube] faster constructor + build from TFnc --- .../2/contractors/codac2_CtcDiffInclusion.cpp | 27 +++++++++++++++---- .../2/contractors/codac2_CtcDiffInclusion.h | 4 +-- src/core/2/domains/tube/codac2_TDomain.cpp | 10 ++++--- src/core/2/domains/tube/codac2_TubeVector.cpp | 10 +++++++ src/core/2/domains/tube/codac2_TubeVector.h | 3 +++ 5 files changed, 44 insertions(+), 10 deletions(-) diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp index 69b516fad..8544f6fc8 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp @@ -26,24 +26,41 @@ namespace codac2 return _f; } - void CtcDiffInclusion::contract(TubeVector& x, TubeVector& u) + void CtcDiffInclusion::contract(TubeVector& x, const TubeVector& u) { // Verifying that x and u share exactly the same tdomain and slicing: assert(&x.tdomain() == &u.tdomain()); - assert(_f.nb_var() == x.size() + u.size()); - assert(_f.image_dim() == x.size()); + // Verifying that the provided tubes are consistent with the function + assert((size_t)_f.nb_var() == 2); + assert((size_t)_f.image_dim() == x.size()); for(auto& sx : x) // sx is a SliceVector of the TubeVector x { + if(sx.is_gate()) // the slace may be on a degenerated temporal domain, i.e. a gate + continue; + // su is a SliceVector of the TubeVector u: const SliceVector& su = sx.tslice().slices().at(&u); + const double dt = sx.t0_tf().diam(); - sx.set(su.codomain()); - cout << sx << " " << su << endl; + // sx.set(su.codomain()); + // cout << sx << " " << su << endl; // ... } + } + + void CtcDiffInclusion::contract(SliceVector& x, const SliceVector& u) + { + // Verifying that x and u share exactly the same tdomain + assert(&x.tslice() == &u.tslice()); + // Verifying that the provided slices are consistent with the function + assert((size_t)_f.nb_var() == 2); + assert((size_t)_f.image_dim() == x.size()); + + const double dt = x.t0_tf().diam(); + // ... } } \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.h b/src/core/2/contractors/codac2_CtcDiffInclusion.h index 50b362afb..02956b9cd 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.h +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.h @@ -14,6 +14,7 @@ #include "codac_TFunction.h" #include "codac2_TubeVector.h" +#include "codac2_SliceVector.h" namespace codac2 { @@ -29,10 +30,9 @@ namespace codac2 CtcDiffInclusion(const TFunction& t); void contract(TubeVector& x, const TubeVector& u); + void contract(SliceVector& x, const SliceVector& u); const TFunction& f() const; - void contract(TubeVector& x, TubeVector& u); - protected: const TFunction _f; diff --git a/src/core/2/domains/tube/codac2_TDomain.cpp b/src/core/2/domains/tube/codac2_TDomain.cpp index 0a910be93..e2a34f514 100644 --- a/src/core/2/domains/tube/codac2_TDomain.cpp +++ b/src/core/2/domains/tube/codac2_TDomain.cpp @@ -24,15 +24,19 @@ namespace codac2 assert(!t0_tf.is_empty()); assert(dt > 0.); - _tslices.push_back(TSlice(Interval(-oo,oo))); + double prev_t = -oo; for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t+=dt) { double t_ = min(t, t0_tf.ub()); - sample(t_); + _tslices.push_back(TSlice(Interval(prev_t,t_))); if(with_gates) - sample(t_); // second sampling + _tslices.push_back(TSlice(Interval(t_,t_))); + + prev_t = t_; } + + _tslices.push_back(TSlice(Interval(t0_tf.ub(),oo))); } const Interval TDomain::t0_tf() const diff --git a/src/core/2/domains/tube/codac2_TubeVector.cpp b/src/core/2/domains/tube/codac2_TubeVector.cpp index f7b0f4182..47a4d95bd 100644 --- a/src/core/2/domains/tube/codac2_TubeVector.cpp +++ b/src/core/2/domains/tube/codac2_TubeVector.cpp @@ -30,6 +30,16 @@ namespace codac2 } } + TubeVector::TubeVector(size_t n, TDomain& tdomain, const TFnc& f) : + TubeVector(n, tdomain) + { + assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); + assert((size_t)f.image_dim() == n); + + for(auto& s : *this) + s.set(f.eval_vector(s.t0_tf())); + } + TubeVector::TubeVector(const TubeVector& x) : _tdomain(x.tdomain()) { diff --git a/src/core/2/domains/tube/codac2_TubeVector.h b/src/core/2/domains/tube/codac2_TubeVector.h index 2cad7aca1..1b39810c8 100644 --- a/src/core/2/domains/tube/codac2_TubeVector.h +++ b/src/core/2/domains/tube/codac2_TubeVector.h @@ -14,6 +14,7 @@ #include #include +#include "codac_TFnc.h" #include "codac2_TDomain.h" #include "codac2_SliceVector.h" #include "codac2_TubeVectorComponent.h" @@ -23,6 +24,7 @@ namespace codac2 { + using codac::TFnc; class TDomain; class TubeVectorComponent; class TubeVectorEvaluation; @@ -32,6 +34,7 @@ namespace codac2 public: explicit TubeVector(size_t n, TDomain& tdomain); + explicit TubeVector(size_t n, TDomain& tdomain, const TFnc& f); explicit TubeVector(const TubeVector& x); ~TubeVector(); size_t size() const; From 0d6ecda130e34f4197647137fbdd69aea556facc Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 31 May 2022 10:51:37 +0200 Subject: [PATCH 010/256] [tests] added tests for codac2::TubeVector --- tests/core/CMakeLists.txt | 49 ++++--- tests/core/tests_codac2_tubes.cpp | 227 ++++++++++++++++++++++++++++++ 2 files changed, 253 insertions(+), 23 deletions(-) create mode 100644 tests/core/tests_codac2_tubes.cpp diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index a42b39c37..7762925b6 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -5,29 +5,32 @@ set(TESTS_NAME codac-tests-core) list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h - ${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp + + ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp + + #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h + #${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp ) add_executable(${TESTS_NAME} ${SRC_TESTS}) diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp new file mode 100644 index 000000000..c6f5605ff --- /dev/null +++ b/tests/core/tests_codac2_tubes.cpp @@ -0,0 +1,227 @@ +#include "catch_interval.hpp" +#include "vibes.h" + +// Using #define so that we can access protected methods +// of the class for tests purposes +#define protected public +#include "codac2_TDomain.h" + +#include "codac_predef_values.h" +#include "codac2_TubeVector.h" + +using namespace Catch; +using namespace Detail; +using namespace std; +using namespace ibex; +using namespace codac2; +using codac::oo; + +TEST_CASE("Test codac2::tubes") +{ + SECTION("Test TDomain") + { + TDomain tdomain(Interval(0,1), 0.5); + CHECK(tdomain.nb_tslices() == 4); + CHECK(tdomain.t0_tf() == Interval(0,1)); + + const list& tslices = tdomain.tslices(); + vector vector_tslices{ + make_move_iterator(tslices.begin()), + make_move_iterator(tslices.end()) }; + + CHECK(vector_tslices.size() == 4); + CHECK(vector_tslices[0].t0_tf() == Interval(-oo,0)); + CHECK(vector_tslices[1].t0_tf() == Interval(0,0.5)); + CHECK(vector_tslices[2].t0_tf() == Interval(0.5,1)); + CHECK(vector_tslices[3].t0_tf() == Interval(1,oo)); + + CHECK(tdomain.iterator_tslice(-10.)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain.iterator_tslice(-120.)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain.iterator_tslice(0.2)->t0_tf() == Interval(0,0.5)); + CHECK(tdomain.iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); + + CHECK(tdomain.nb_tubes() == 0); + TubeVector x(2, tdomain); // adding a tubevector to the tdomain + CHECK(tdomain.nb_tubes() == 1); + + { // new scope + TubeVector v(3, tdomain); + CHECK(tdomain.nb_tubes() == 2); + } // end of scope, auto removing the tube + + CHECK(tdomain.nb_tubes() == 1); + } + + SECTION("Test degenerated TDomain") + { + TDomain tdomain(Interval(1), 0.5); + CHECK(tdomain.nb_tslices() == 2); + CHECK(tdomain.t0_tf() == Interval(1)); + CHECK(tdomain.nb_tubes() == 0); + + const list& tslices = tdomain.tslices(); + vector vector_tslices{ + make_move_iterator(tslices.begin()), + make_move_iterator(tslices.end()) }; + + CHECK(vector_tslices.size() == 2); + CHECK(vector_tslices[0].t0_tf() == Interval(-oo,1)); + CHECK(vector_tslices[1].t0_tf() == Interval(1,oo)); + } + + SECTION("Test TDomain with gates") + { + TDomain tdomain(Interval(0,1), 0.5, true); + CHECK(tdomain.nb_tslices() == 7); + CHECK(tdomain.t0_tf() == Interval(0,1)); + CHECK(tdomain.nb_tubes() == 0); + + const list& tslices = tdomain.tslices(); + vector vector_tslices{ + make_move_iterator(tslices.begin()), + make_move_iterator(tslices.end()) }; + + CHECK(vector_tslices.size() == 7); + CHECK(vector_tslices[0].t0_tf() == Interval(-oo,0)); + CHECK(vector_tslices[1].t0_tf() == Interval(0)); + CHECK(vector_tslices[2].t0_tf() == Interval(0,0.5)); + CHECK(vector_tslices[3].t0_tf() == Interval(0.5)); + CHECK(vector_tslices[4].t0_tf() == Interval(0.5,1)); + CHECK(vector_tslices[5].t0_tf() == Interval(1,1)); + CHECK(vector_tslices[6].t0_tf() == Interval(1,oo)); + + CHECK(tdomain.iterator_tslice(-oo)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain.iterator_tslice(-10.)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain.iterator_tslice(0.)->t0_tf() == Interval(0)); + CHECK(tdomain.iterator_tslice(0.6)->t0_tf() == Interval(0.5,1)); + CHECK(tdomain.iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); + CHECK(tdomain.iterator_tslice(oo)->t0_tf() == Interval(1,oo)); + } + + SECTION("Test TDomain with sampling") + { + TDomain tdomain(Interval(1), 0.5); + CHECK(tdomain.nb_tslices() == 2); + tdomain.sample(10.); + CHECK(tdomain.nb_tslices() == 3); + tdomain.sample(10.); // second sampling which creates a gate + CHECK(tdomain.nb_tslices() == 4); + tdomain.sample(10.); // no more action + CHECK(tdomain.nb_tslices() == 4); + + const list& tslices = tdomain.tslices(); + vector vector_tslices{ + make_move_iterator(tslices.begin()), + make_move_iterator(tslices.end()) }; + + CHECK(vector_tslices.size() == 4); + CHECK(vector_tslices[0].t0_tf() == Interval(-oo,1)); + CHECK(vector_tslices[1].t0_tf() == Interval(1,10)); + CHECK(vector_tslices[2].t0_tf() == Interval(10)); + CHECK(vector_tslices[3].t0_tf() == Interval(10,oo)); + } + + SECTION("Test basic TubeVector") + { + TDomain tdomain(Interval(0,1), 0.1, false); + TubeVector x(3, tdomain); + + CHECK(x.size() == 3); + CHECK(&x.tdomain() == &tdomain); + CHECK(x.t0_tf() == Interval(0,1)); + CHECK(x.nb_slices() == tdomain.nb_tslices()); + CHECK(x.nb_slices() == 12); + CHECK(x.first_slice().t0_tf() == Interval(-oo,0)); + CHECK(x.last_slice().t0_tf() == Interval(1,oo)); + CHECK(x.codomain() == IntervalVector(3)); + x.set(IntervalVector(3, Interval(-10,10))); + CHECK(x.codomain() == IntervalVector(3, Interval(-10,10))); + + // TubeVectorComponent + CHECK(x[0].codomain() == Interval(-10,10)); + CHECK(x[0].t0_tf() == Interval(0,1)); + CHECK(&x[0].tdomain() == &tdomain); + x[0].set(Interval(-20,20)); + CHECK(x[0].codomain() == Interval(-20,20)); + CHECK(x.codomain() == IntervalVector({Interval(-20,20),Interval(-10,10),Interval(-10,10)})); + x[1] = x[0]; + CHECK(x[1].codomain() == Interval(-20,20)); + CHECK(x.codomain() == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + + // Eval + CHECK(tdomain.nb_tubes() == 1); + CHECK(static_cast(x(Interval(-oo,oo))) == x.codomain()); + CHECK(static_cast(x(Interval(-1,1))) == x.codomain()); + CHECK(static_cast(x(-42.)) == x.codomain()); + + // Eval: affectation at scalar t + CHECK(tdomain.nb_tslices() == 12); + x(-42.) = IntervalVector(3,Interval(2.,3.)); + CHECK(tdomain.nb_tslices() == 14); + CHECK(static_cast(x(-42.)) == IntervalVector(3,Interval(2.,3.))); + CHECK(static_cast(x(ibex::previous_float(-42.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + CHECK(static_cast(x(ibex::next_float(-42.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + + // Eval: affectation at interval t + CHECK(tdomain.nb_tslices() == 14); + x(Interval(44,55)) = IntervalVector(3,Interval(9.,10.)); + CHECK(tdomain.nb_tslices() == 16); + CHECK(static_cast(x(Interval(44,55))) == IntervalVector(3,Interval(9.,10.))); + CHECK(static_cast(x(ibex::previous_float(44.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + CHECK(static_cast(x(ibex::next_float(55.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + + // Iterators tests + { + SliceVector* s_ = &x.first_slice(); + for(auto& s : x) + { + CHECK(&s == s_); + s_ = s_->next_slice(); + } + } + + // Iterators tests (const) + { + const TubeVector y(x); // copy constructor + const SliceVector* s_ = &x.first_slice(); + for(const auto& s : x) + { + CHECK(&s == s_); + s_ = s_->next_slice(); + } + } + } + + SECTION("Test SliceVector") + { + TDomain tdomain(Interval(0,1), 0.1); + TubeVector x(2, tdomain); + CHECK(x.nb_slices() == 12); + CHECK(&x.first_slice() == &tdomain.iterator_tslice(-oo)->_slices.at(&x)); + CHECK(&x.last_slice() == &tdomain.iterator_tslice(oo)->_slices.at(&x)); + + for(auto& s : x) + s.set(IntervalVector(2,s.t0_tf())); + + vector v; + for(const auto& s : x) + v.push_back(&s); + + CHECK(v[0]->t0_tf() == Interval(-oo,0)); + CHECK(v[0]->codomain() == IntervalVector(2,Interval(-oo,0))); + CHECK(v[0]->input_gate() == IntervalVector(2,Interval(-oo,0))); + CHECK(v[0]->output_gate() == IntervalVector(2,Interval(0))); + + CHECK(v[1]->t0_tf() == Interval(0,0.1)); + CHECK(v[1]->input_gate() == v[0]->output_gate()); + CHECK(v[1]->codomain() == IntervalVector(2,Interval(0,0.1))); + CHECK(v[1]->input_gate() == IntervalVector(2,Interval(0))); + CHECK(v[1]->output_gate() == IntervalVector(2,Interval(0.1))); + + CHECK(v[11]->t0_tf() == Interval(1,oo)); + CHECK(v[11]->input_gate() == v[10]->output_gate()); + CHECK(v[11]->codomain() == IntervalVector(2,Interval(1,oo))); + CHECK(v[11]->input_gate() == IntervalVector(2,Interval(1))); + CHECK(v[11]->output_gate() == IntervalVector(2,Interval(1,oo))); + } +} \ No newline at end of file From 729039b70609904dd4b107d9c586260ddb5fb8f5 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 31 May 2022 10:58:40 +0200 Subject: [PATCH 011/256] [ex] added first example of Codac2 --- examples/codac2/01/CMakeLists.txt | 41 +++++++++++++++++++++++++++++++ examples/codac2/01/main.cpp | 31 +++++++++++++++++++++++ 2 files changed, 72 insertions(+) create mode 100644 examples/codac2/01/CMakeLists.txt create mode 100644 examples/codac2/01/main.cpp diff --git a/examples/codac2/01/CMakeLists.txt b/examples/codac2/01/CMakeLists.txt new file mode 100644 index 000000000..40d8f265c --- /dev/null +++ b/examples/codac2/01/CMakeLists.txt @@ -0,0 +1,41 @@ +# ================================================================== +# codac / basics example - cmake configuration file +# ================================================================== + + cmake_minimum_required(VERSION 3.0.2) + project(codac_basics_01 LANGUAGES CXX) + +# Adding IBEX + + # In case you installed IBEX in a local directory, you need + # to specify its path with the CMAKE_PREFIX_PATH option. + # set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install") + + find_package(IBEX REQUIRED) + ibex_init_common() # IBEX should have installed this function + message(STATUS "Found IBEX version ${IBEX_VERSION}") + +# Adding Eigen3 + + # In case you installed Eigen3 in a local directory, you need + # to specify its path with the CMAKE_PREFIX_PATH option, e.g. + # set(CMAKE_PREFIX_PATH "~/eigen/build_install") + + find_package(Eigen3 REQUIRED NO_MODULE) + message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + +# Adding Codac + + # In case you installed Codac in a local directory, you need + # to specify its path with the CMAKE_PREFIX_PATH option. + # set(CMAKE_PREFIX_PATH "~/codac/build_install") + + find_package(CODAC REQUIRED) + message(STATUS "Found Codac version ${CODAC_VERSION}") + +# Compilation + + add_executable(${PROJECT_NAME} main.cpp) + target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS}) + target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) + target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex ${CODAC_LIBRARIES} Ibex::ibex) \ No newline at end of file diff --git a/examples/codac2/01/main.cpp b/examples/codac2/01/main.cpp new file mode 100644 index 000000000..970deb7ff --- /dev/null +++ b/examples/codac2/01/main.cpp @@ -0,0 +1,31 @@ +#include + +using namespace std; +using namespace codac; + +int main() +{ + codac2::TDomain tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) + codac2::TubeVector x(2, tdomain, + TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); + codac2::TubeVector u(2, tdomain); + + TFunction tf("x[2]", "u[2]", "(sin(x[1]) ; -sin(x[0]))"); + codac2::CtcDiffInclusion ctc_diffincl(tf); + ctc_diffincl.contract(x,u); + + + vibes::beginDrawing(); + + codac::TubeVector x_codac1 = x.to_codac1(); // may take time + codac::Tube xi_codac1 = x[1].to_codac1(); // may take time + + VIBesFigTube fig("Tube"); + fig.set_properties(100, 100, 600, 300); + fig.add_tube(&xi_codac1, "x"); + fig.show(true); + + vibes::endDrawing(); + + return EXIT_SUCCESS; +} \ No newline at end of file From 050b0fb95e828f1d83044fdafb92779cb7df9451 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 9 Jun 2022 16:06:37 +0200 Subject: [PATCH 012/256] [tube] using std::variant for codomain of SliceVector --- .../2/contractors/codac2_CtcDiffInclusion.h | 1 + .../2/domains/tube/codac2_SliceVector.cpp | 52 +++++++++++++++---- src/core/2/domains/tube/codac2_SliceVector.h | 14 +++-- .../tube/codac2_TubeVectorComponent.cpp | 6 +-- .../2/integration/codac2_AbstractDomain.cpp | 27 ++++++++++ .../2/integration/codac2_AbstractDomain.h | 37 +++++++++++++ src/core/CMakeLists.txt | 5 +- 7 files changed, 122 insertions(+), 20 deletions(-) create mode 100644 src/core/2/integration/codac2_AbstractDomain.cpp create mode 100644 src/core/2/integration/codac2_AbstractDomain.h diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.h b/src/core/2/contractors/codac2_CtcDiffInclusion.h index 02956b9cd..99067811e 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.h +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.h @@ -35,6 +35,7 @@ namespace codac2 protected: + friend class SliceVector; // to be removed const TFunction _f; }; } diff --git a/src/core/2/domains/tube/codac2_SliceVector.cpp b/src/core/2/domains/tube/codac2_SliceVector.cpp index 4939b65a9..7cb6b3d03 100644 --- a/src/core/2/domains/tube/codac2_SliceVector.cpp +++ b/src/core/2/domains/tube/codac2_SliceVector.cpp @@ -11,18 +11,30 @@ #include "codac2_TubeVector.h" #include "codac2_SliceVector.h" +#include "codac_Exception.h" using namespace std; namespace codac2 { - SliceVector::SliceVector(size_t n, const TubeVector& tube_vector, list::iterator it_tslice) : - _tubevector(tube_vector), _it_tslice(it_tslice), - _codomain(IntervalVector(n)) + SliceVector::SliceVector(size_t n, const TubeVector& tube_vector, const list::iterator& it_tslice) : + SliceVector(IntervalVector(n), tube_vector, it_tslice) { } + SliceVector::SliceVector(const IntervalVector& box, const TubeVector& tube_vector, const list::iterator& it_tslice) : + _tubevector(tube_vector), _it_tslice(it_tslice), _codomain(box) + { + assert(holds_alternative(_codomain)); + } + + SliceVector::SliceVector(const AbstractDomain& ad, const TubeVector& tube_vector, const list::iterator& it_tslice) : + _tubevector(tube_vector), _it_tslice(it_tslice), _codomain(ad) + { + assert(holds_alternative(_codomain)); + } + SliceVector::SliceVector(const SliceVector& s) : _tubevector(s._tubevector), _it_tslice(s._it_tslice), _codomain(s._codomain) { @@ -41,7 +53,7 @@ namespace codac2 size_t SliceVector::size() const { - return _codomain.size(); + return codomain().size(); } bool SliceVector::is_gate() const @@ -56,7 +68,7 @@ namespace codac2 bool SliceVector::is_unbounded() const { - return _codomain.is_unbounded(); + return codomain().is_unbounded(); } bool SliceVector::contains(const TrajectoryVector& value) const @@ -100,9 +112,16 @@ namespace codac2 static_cast(*this).next_slice()); } - const IntervalVector& SliceVector::codomain() const + const IntervalVector SliceVector::codomain() const { - return _codomain; + if(holds_alternative(_codomain)) + return get(_codomain); + + else if(holds_alternative(_codomain)) + return get(_codomain).box(); + + assert(false && "unhandled case"); + return IntervalVector(0); // should not happen } IntervalVector SliceVector::input_gate() const @@ -123,10 +142,21 @@ namespace codac2 void SliceVector::set(const IntervalVector& codomain) { - assert((size_t)codomain.size() == size()); - _codomain = codomain; - if(is_gate()) - _codomain &= prev_slice()->codomain() & next_slice()->codomain(); + if(holds_alternative(_codomain)) + { + assert((size_t)codomain.size() == size()); + get(_codomain) = codomain; + if(is_gate()) + get(_codomain) &= prev_slice()->codomain() & next_slice()->codomain(); + } + + else + throw codac::Exception(__func__, "unable to set values for this AbstractDomain"); + } + + void SliceVector::set_component(size_t i, const Interval& x) + { + } ostream& operator<<(ostream& os, const SliceVector& x) diff --git a/src/core/2/domains/tube/codac2_SliceVector.h b/src/core/2/domains/tube/codac2_SliceVector.h index 47c65e11c..ba90b632b 100644 --- a/src/core/2/domains/tube/codac2_SliceVector.h +++ b/src/core/2/domains/tube/codac2_SliceVector.h @@ -13,11 +13,13 @@ #define __CODAC2_SLICEVECTOR_H__ #include +#include #include "codac_Interval.h" #include "codac_IntervalVector.h" #include "codac_TrajectoryVector.h" #include "codac2_TSlice.h" #include "codac2_TDomain.h" +#include "codac2_AbstractDomain.h" namespace codac2 { @@ -32,7 +34,9 @@ namespace codac2 { public: - explicit SliceVector(size_t n, const TubeVector& tube_vector, std::list::iterator it_tslice); + explicit SliceVector(size_t n, const TubeVector& tube_vector, const std::list::iterator& it_tslice); + explicit SliceVector(const IntervalVector& box, const TubeVector& tube_vector, const std::list::iterator& it_tslice); + explicit SliceVector(const AbstractDomain& ad, const TubeVector& tube_vector, const std::list::iterator& it_tslice); ~SliceVector(); SliceVector(const SliceVector& s); @@ -60,11 +64,12 @@ namespace codac2 const Interval& t0_tf() const; const TSlice& tslice() const; - const IntervalVector& codomain() const; + const IntervalVector codomain() const; IntervalVector input_gate() const; IntervalVector output_gate() const; void set(const IntervalVector& codomain); + void set_component(size_t i, const Interval& x); friend std::ostream& operator<<(std::ostream& os, const SliceVector& x); @@ -78,10 +83,9 @@ namespace codac2 const TubeVector& _tubevector; std::list::iterator _it_tslice; - IntervalVector _codomain; - // Wrappers related to guaranteed integration can be dynamically allocated here - // ... + // Several abstract domains related to guaranteed integration can be considered here + std::variant _codomain; }; } // namespace codac diff --git a/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp b/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp index 17cb2fffb..6a527c0e1 100644 --- a/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp +++ b/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp @@ -63,14 +63,14 @@ namespace codac2 void TubeVectorComponent::set(const Interval& codomain) { for(auto& s : _tubevector) - s._codomain[_i] = codomain; + s.set_component(_i, codomain); } const TubeVectorComponent& TubeVectorComponent::operator=(const TubeVectorComponent& x) { assert(&x.tdomain() == &tdomain()); for(auto& s : _tubevector) - s._codomain[_i] = s._it_tslice->_slices.at(&x._tubevector)._codomain[x._i]; + s.set_component(_i, s._it_tslice->_slices.at(&x._tubevector).codomain()[x._i]); return *this; } @@ -78,7 +78,7 @@ namespace codac2 { assert(&rel.second.tdomain() == &tdomain()); for(auto& s : _tubevector) - s._codomain[_i] = rel.first(s._it_tslice->_slices.at(&rel.second._tubevector)._codomain[_i]); + s.set_component(_i, rel.first(s._it_tslice->_slices.at(&rel.second._tubevector).codomain()[rel.second._i])); return *this; } diff --git a/src/core/2/integration/codac2_AbstractDomain.cpp b/src/core/2/integration/codac2_AbstractDomain.cpp new file mode 100644 index 000000000..cd6c92143 --- /dev/null +++ b/src/core/2/integration/codac2_AbstractDomain.cpp @@ -0,0 +1,27 @@ +/** + * AbstractDomain class + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Damien Massé + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_AbstractDomain.h" + +using namespace std; +using namespace codac; + +namespace codac2 +{ + AbstractDomain::AbstractDomain() + { + + } + + IntervalVector AbstractDomain::box() const + { + return IntervalVector(0); // todo + } +} \ No newline at end of file diff --git a/src/core/2/integration/codac2_AbstractDomain.h b/src/core/2/integration/codac2_AbstractDomain.h new file mode 100644 index 000000000..60d3dca54 --- /dev/null +++ b/src/core/2/integration/codac2_AbstractDomain.h @@ -0,0 +1,37 @@ +/** + * \file + * AbstractDomain class + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Damien Massé + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_ABSTRACTDOMAIN_H__ +#define __CODAC2_ABSTRACTDOMAIN_H__ + +#include "codac_IntervalVector.h" + +namespace codac2 +{ + using codac::IntervalVector; + + /** + * \class AbstractDomain + * \brief ... + */ + class AbstractDomain + { + public: + + AbstractDomain(); + IntervalVector box() const; + + protected: + + }; +} + +#endif \ No newline at end of file diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 9929d4d21..e2376f488 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -171,6 +171,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorEvaluation.h ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.h ) @@ -200,7 +202,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/tools ${CMAKE_CURRENT_SOURCE_DIR}/sivia ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube) + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube + ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/) target_link_libraries(codac PUBLIC Ibex::ibex) From 3327f75c62496028cc023574eb9041c757eb9bde Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 9 Jun 2022 16:52:46 +0200 Subject: [PATCH 013/256] [py] attempt to solve a bug --- python/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 12d3baafb..9db3ce068 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -180,7 +180,7 @@ ################################################################################ if(BUILD_TESTS) - include(CTest) + file(GLOB TESTS_FILES "${PYTHON_PACKAGE_DIR}/${PYTHON_PACKAGE_NAME}/tests/test_*.py" "${PYTHON_PACKAGE_DIR}/${PYTHON_PACKAGE_NAME}/tests/tests_from_pyibex/test_*.py" From e8a9130ee8b4a95c52d0000a133dfda2f03004ef Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 9 Jun 2022 17:17:09 +0200 Subject: [PATCH 014/256] [actions] pip install numpy --- scripts/docker/build_pybinding.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 9119972f6..be0daf235 100644 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -22,6 +22,7 @@ for PYBIN in /opt/python/cp3*/bin; do auditwheel repair "$whl" -w /io/wheelhouse/ done + "${PYBIN}/python" -m pip install numpy "${PYBIN}/python" -m pip install codac --no-deps --no-index -f /io/wheelhouse (cd "$HOME"; "${PYBIN}/python" -m unittest discover codac.tests) cd /io From 48104e2b766c8995fec0a6d12603aa0313e7a115 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 13 Jun 2022 17:30:21 +0200 Subject: [PATCH 015/256] [doc] updated info_dev (docker) --- doc/doc/dev/info_dev.rst | 11 ++++++++++- scripts/docker/build_pybinding.sh | 0 2 files changed, 10 insertions(+), 1 deletion(-) mode change 100644 => 100755 scripts/docker/build_pybinding.sh diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index 4b5797e34..e26a9463c 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -213,4 +213,13 @@ Upload the *wheels* on PyPi: .. code-block:: bash - python3 -m twine upload --repository pypi * \ No newline at end of file + python3 -m twine upload --repository pypi * + +.. rubric:: Testing with Docker + +In the :file:`codac` directory, test the Ubuntu configuration locally using Docker: + +.. code-block:: bash + + chmod a+x scripts/docker/build_pybinding.sh + docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-ibex /io/scripts/docker/build_pybinding.sh \ No newline at end of file diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh old mode 100644 new mode 100755 From 340db48b39023bf2382a43cf7e102143529eaf85 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 13 Jun 2022 18:21:42 +0200 Subject: [PATCH 016/256] [ctc] removing variadic def of cart_prod for CtcCartProd (was shadowing other cart_prod functions) --- .../core/contractors/static/codac_py_CtcCartProd.cpp | 6 +++++- src/core/contractors/static/codac_CtcCartProd.cpp | 5 +++++ src/core/contractors/static/codac_CtcCartProd.h | 12 ++++-------- 3 files changed, 14 insertions(+), 9 deletions(-) diff --git a/python/src/core/contractors/static/codac_py_CtcCartProd.cpp b/python/src/core/contractors/static/codac_py_CtcCartProd.cpp index 14578b6a2..612963566 100644 --- a/python/src/core/contractors/static/codac_py_CtcCartProd.cpp +++ b/python/src/core/contractors/static/codac_py_CtcCartProd.cpp @@ -42,7 +42,11 @@ void export_CtcCartProd(py::module& m, py::class_& ctc) "x"_a.noconvert()) ; - m.def("cart_prod", [](ibex::Array a) + m.def("cart_prod", [](Ctc& c1, Ctc& c2) + { return cart_prod(c1, c2); }, + "c1"_a.noconvert(), "c2"_a.noconvert()); + + m.def("cart_prod", [](const ibex::Array& a) { return cart_prod(a); }, "array"_a.noconvert()); } \ No newline at end of file diff --git a/src/core/contractors/static/codac_CtcCartProd.cpp b/src/core/contractors/static/codac_CtcCartProd.cpp index a821791d5..14b48bfd1 100644 --- a/src/core/contractors/static/codac_CtcCartProd.cpp +++ b/src/core/contractors/static/codac_CtcCartProd.cpp @@ -27,6 +27,11 @@ namespace codac index += m_v[i].nb_var; } } + + CtcCartProd cart_prod(Ctc& c1, Ctc& c2) + { + return CtcCartProd(c1, c2); + } CtcCartProd cart_prod(const ibex::Array& array) { diff --git a/src/core/contractors/static/codac_CtcCartProd.h b/src/core/contractors/static/codac_CtcCartProd.h index 85e0d40ec..15081e20f 100644 --- a/src/core/contractors/static/codac_CtcCartProd.h +++ b/src/core/contractors/static/codac_CtcCartProd.h @@ -54,17 +54,13 @@ namespace codac }; /** - * \fn template CtcCartProd cart_prod(Args &...args) - * \brief Cartesian product of contractors + * \brief Cartesian product of contractors from two Ctc objects * - * \param args list of contractors + * \param c1 first Ctc contractor + * \param c2 second Ctc contractor * \return the Cartesian product of the contractors \f$\mathcal{C}_1\times\dots\times\mathcal{C}_n\f$ */ - template - CtcCartProd cart_prod(Args&...args) - { - return CtcCartProd(args...); - } + CtcCartProd cart_prod(Ctc& c1, Ctc& c2); /** * \brief Cartesian product of contractors from an ibex::Array From 99a39698cfd9b649fec58dab38ad95c1ee3af6d2 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 13 Jun 2022 18:22:43 +0200 Subject: [PATCH 017/256] [fnc] unlimited arguments for TFunction::eval_vector --- src/core/2/domains/tube/codac2_SliceVector.cpp | 9 +++++++++ src/core/functions/codac_TFunction.h | 10 ++++++++++ 2 files changed, 19 insertions(+) diff --git a/src/core/2/domains/tube/codac2_SliceVector.cpp b/src/core/2/domains/tube/codac2_SliceVector.cpp index 7cb6b3d03..a7be7d192 100644 --- a/src/core/2/domains/tube/codac2_SliceVector.cpp +++ b/src/core/2/domains/tube/codac2_SliceVector.cpp @@ -156,7 +156,16 @@ namespace codac2 void SliceVector::set_component(size_t i, const Interval& x) { + if(holds_alternative(_codomain)) + { + assert((size_t)codomain.size() == size()); + get(_codomain)[i] = x; + if(is_gate()) + get(_codomain)[i] &= prev_slice()->codomain()[i] & next_slice()->codomain()[i]; + } + else + throw codac::Exception(__func__, "unable to set values for this AbstractDomain"); } ostream& operator<<(ostream& os, const SliceVector& x) diff --git a/src/core/functions/codac_TFunction.h b/src/core/functions/codac_TFunction.h index 84d581e37..8e6455433 100644 --- a/src/core/functions/codac_TFunction.h +++ b/src/core/functions/codac_TFunction.h @@ -69,6 +69,16 @@ namespace codac const IntervalVector eval_vector(int slice_id, const TubeVector& x) const; const IntervalVector eval_vector(const Interval& t, const TubeVector& x) const; + template + const IntervalVector eval_vector(const IntervalVector& x, FirstArg& xi, Args&... xs) // recursive variadic function + { + IntervalVector x_ = cart_prod(x,xi); + if constexpr(sizeof...(xs) > 0) + return eval_vector(x_, xs...); + else + return eval_vector(x_); + } + const TFunction diff() const; protected: From db729b4492ccb4d77acd506ce39e51ebade581d3 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 13 Jun 2022 18:26:00 +0200 Subject: [PATCH 018/256] [ctc] TimePropag for CtcDiffInclusion --- .../2/contractors/codac2_CtcDiffInclusion.cpp | 28 +++++++++++++++++-- .../2/contractors/codac2_CtcDiffInclusion.h | 6 ++-- 2 files changed, 30 insertions(+), 4 deletions(-) diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp index 8544f6fc8..96e4641b4 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp @@ -26,7 +26,7 @@ namespace codac2 return _f; } - void CtcDiffInclusion::contract(TubeVector& x, const TubeVector& u) + void CtcDiffInclusion::contract(TubeVector& x, const TubeVector& u, TimePropag t_propa) { // Verifying that x and u share exactly the same tdomain and slicing: assert(&x.tdomain() == &u.tdomain()); @@ -48,10 +48,22 @@ namespace codac2 // cout << sx << " " << su << endl; // ... + + if(t_propa & TimePropag::FORWARD) + { + // Computations related to forward propagation + // ... + } + + if(t_propa & TimePropag::BACKWARD) + { + // Computations related to backward propagation + // ... + } } } - void CtcDiffInclusion::contract(SliceVector& x, const SliceVector& u) + void CtcDiffInclusion::contract(SliceVector& x, const SliceVector& u, TimePropag t_propa) { // Verifying that x and u share exactly the same tdomain assert(&x.tslice() == &u.tslice()); @@ -62,5 +74,17 @@ namespace codac2 const double dt = x.t0_tf().diam(); // ... + + if(t_propa & TimePropag::FORWARD) + { + // Computations related to forward propagation + // ... + } + + if(t_propa & TimePropag::BACKWARD) + { + // Computations related to backward propagation + // ... + } } } \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.h b/src/core/2/contractors/codac2_CtcDiffInclusion.h index 99067811e..558d28138 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.h +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.h @@ -13,12 +13,14 @@ #define __CODAC2_CTCDIFFINCLUSION_H__ #include "codac_TFunction.h" +#include "codac_DynCtc.h" #include "codac2_TubeVector.h" #include "codac2_SliceVector.h" namespace codac2 { using codac::TFunction; + using codac::TimePropag; /** * \class CtcDiffInclusion @@ -29,8 +31,8 @@ namespace codac2 public: CtcDiffInclusion(const TFunction& t); - void contract(TubeVector& x, const TubeVector& u); - void contract(SliceVector& x, const SliceVector& u); + void contract(TubeVector& x, const TubeVector& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(SliceVector& x, const SliceVector& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); const TFunction& f() const; protected: From 26e716ad4b7202bf50280782ef2deb27a5f83bc6 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 13 Jun 2022 18:38:06 +0200 Subject: [PATCH 019/256] [tube] assert error --- src/core/2/domains/tube/codac2_SliceVector.cpp | 12 ++++++------ src/core/2/domains/tube/codac2_SliceVector.h | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/core/2/domains/tube/codac2_SliceVector.cpp b/src/core/2/domains/tube/codac2_SliceVector.cpp index a7be7d192..963a4438f 100644 --- a/src/core/2/domains/tube/codac2_SliceVector.cpp +++ b/src/core/2/domains/tube/codac2_SliceVector.cpp @@ -140,12 +140,12 @@ namespace codac2 return gate; } - void SliceVector::set(const IntervalVector& codomain) + void SliceVector::set(const IntervalVector& x) { if(holds_alternative(_codomain)) { - assert((size_t)codomain.size() == size()); - get(_codomain) = codomain; + assert((size_t)codomain().size() == size()); + get(_codomain) = x; if(is_gate()) get(_codomain) &= prev_slice()->codomain() & next_slice()->codomain(); } @@ -154,12 +154,12 @@ namespace codac2 throw codac::Exception(__func__, "unable to set values for this AbstractDomain"); } - void SliceVector::set_component(size_t i, const Interval& x) + void SliceVector::set_component(size_t i, const Interval& xi) { if(holds_alternative(_codomain)) { - assert((size_t)codomain.size() == size()); - get(_codomain)[i] = x; + assert((size_t)codomain().size() == size()); + get(_codomain)[i] = xi; if(is_gate()) get(_codomain)[i] &= prev_slice()->codomain()[i] & next_slice()->codomain()[i]; } diff --git a/src/core/2/domains/tube/codac2_SliceVector.h b/src/core/2/domains/tube/codac2_SliceVector.h index ba90b632b..6c60f2f15 100644 --- a/src/core/2/domains/tube/codac2_SliceVector.h +++ b/src/core/2/domains/tube/codac2_SliceVector.h @@ -68,8 +68,8 @@ namespace codac2 IntervalVector input_gate() const; IntervalVector output_gate() const; - void set(const IntervalVector& codomain); - void set_component(size_t i, const Interval& x); + void set(const IntervalVector& x); + void set_component(size_t i, const Interval& xi); friend std::ostream& operator<<(std::ostream& os, const SliceVector& x); From 914cddc64b452e370a27a0bed0e87b1ce016153e Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 13 Jun 2022 19:17:55 +0200 Subject: [PATCH 020/256] [c++] examples now running in C++17 --- examples/basics/01_arithmetic/CMakeLists.txt | 3 +++ examples/basics/02_simple_ctc/CMakeLists.txt | 3 +++ examples/basics/03_ivp_msinx/CMakeLists.txt | 3 +++ examples/basics/04_simple_eval/CMakeLists.txt | 3 +++ examples/basics/05_graphics/CMakeLists.txt | 3 +++ examples/basics/06_ctc_comparisons/CMakeLists.txt | 3 +++ examples/basics/07_temporal_ctc/CMakeLists.txt | 3 +++ examples/basics/08_tube_paving/CMakeLists.txt | 3 +++ examples/basics/09_cn_paving/CMakeLists.txt | 3 +++ examples/brunovsky/CMakeLists.txt | 3 +++ examples/codac2/01/CMakeLists.txt | 5 ++++- examples/lie_group/05_loc/CMakeLists.txt | 3 +++ examples/linobs/01_paper/CMakeLists.txt | 3 +++ examples/robotics/01_causal_chain/CMakeLists.txt | 3 +++ examples/robotics/03_drifting_clock/CMakeLists.txt | 3 +++ examples/robotics/04_redermor_traj/CMakeLists.txt | 3 +++ examples/robotics/05_loops_detec/CMakeLists.txt | 3 +++ examples/robotics/06_loops_proofs/CMakeLists.txt | 3 +++ examples/robotics/07_dynloc/CMakeLists.txt | 3 +++ examples/robotics/08_tubepaving/CMakeLists.txt | 3 +++ examples/robotics/09_lissajous/CMakeLists.txt | 3 +++ examples/robotics/10_datasso/CMakeLists.txt | 3 +++ examples/robotics/11_explored_area/CMakeLists.txt | 3 +++ examples/tuto/01_getting_started/CMakeLists.txt | 3 +++ examples/tuto/02_static_rangeonly/CMakeLists.txt | 3 +++ examples/tuto/03_static_rangebearing/CMakeLists.txt | 3 +++ examples/tuto/04_dyn_rangeonly/CMakeLists.txt | 3 +++ examples/tuto/05_dyn_rangebearing/CMakeLists.txt | 3 +++ 28 files changed, 85 insertions(+), 1 deletion(-) diff --git a/examples/basics/01_arithmetic/CMakeLists.txt b/examples/basics/01_arithmetic/CMakeLists.txt index 1891afbb6..95a4f02e5 100644 --- a/examples/basics/01_arithmetic/CMakeLists.txt +++ b/examples/basics/01_arithmetic/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_01 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/02_simple_ctc/CMakeLists.txt b/examples/basics/02_simple_ctc/CMakeLists.txt index 6c9f32d38..44bd9fba5 100644 --- a/examples/basics/02_simple_ctc/CMakeLists.txt +++ b/examples/basics/02_simple_ctc/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_02 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/03_ivp_msinx/CMakeLists.txt b/examples/basics/03_ivp_msinx/CMakeLists.txt index f4d63550d..6449af029 100644 --- a/examples/basics/03_ivp_msinx/CMakeLists.txt +++ b/examples/basics/03_ivp_msinx/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_03 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/04_simple_eval/CMakeLists.txt b/examples/basics/04_simple_eval/CMakeLists.txt index 189540e73..239e47fa0 100644 --- a/examples/basics/04_simple_eval/CMakeLists.txt +++ b/examples/basics/04_simple_eval/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_04 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/05_graphics/CMakeLists.txt b/examples/basics/05_graphics/CMakeLists.txt index b03a30669..0fb388410 100644 --- a/examples/basics/05_graphics/CMakeLists.txt +++ b/examples/basics/05_graphics/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_05 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/06_ctc_comparisons/CMakeLists.txt b/examples/basics/06_ctc_comparisons/CMakeLists.txt index 885a8e847..36b72c8b0 100644 --- a/examples/basics/06_ctc_comparisons/CMakeLists.txt +++ b/examples/basics/06_ctc_comparisons/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_06 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/07_temporal_ctc/CMakeLists.txt b/examples/basics/07_temporal_ctc/CMakeLists.txt index acfb11f37..bf29a2288 100644 --- a/examples/basics/07_temporal_ctc/CMakeLists.txt +++ b/examples/basics/07_temporal_ctc/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_07 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/08_tube_paving/CMakeLists.txt b/examples/basics/08_tube_paving/CMakeLists.txt index a78dc8995..ea7bb6f79 100644 --- a/examples/basics/08_tube_paving/CMakeLists.txt +++ b/examples/basics/08_tube_paving/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_08 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/basics/09_cn_paving/CMakeLists.txt b/examples/basics/09_cn_paving/CMakeLists.txt index bdc4b90c6..e8ddd8f56 100644 --- a/examples/basics/09_cn_paving/CMakeLists.txt +++ b/examples/basics/09_cn_paving/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_09 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/brunovsky/CMakeLists.txt b/examples/brunovsky/CMakeLists.txt index e4e4bd373..ed4ee820d 100755 --- a/examples/brunovsky/CMakeLists.txt +++ b/examples/brunovsky/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_brunov LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Compilation options set(CMAKE_CXX_STANDARD 17) diff --git a/examples/codac2/01/CMakeLists.txt b/examples/codac2/01/CMakeLists.txt index 40d8f265c..143ab46eb 100644 --- a/examples/codac2/01/CMakeLists.txt +++ b/examples/codac2/01/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_basics_01 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need @@ -35,7 +38,7 @@ # Compilation - add_executable(${PROJECT_NAME} main.cpp) + add_executable(${PROJECT_NAME} main_test_sample.cpp) target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS}) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex ${CODAC_LIBRARIES} Ibex::ibex) \ No newline at end of file diff --git a/examples/lie_group/05_loc/CMakeLists.txt b/examples/lie_group/05_loc/CMakeLists.txt index 2be59bfb3..5b982904b 100644 --- a/examples/lie_group/05_loc/CMakeLists.txt +++ b/examples/lie_group/05_loc/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_lie_05 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/linobs/01_paper/CMakeLists.txt b/examples/linobs/01_paper/CMakeLists.txt index 8e7e15165..ed3131762 100644 --- a/examples/linobs/01_paper/CMakeLists.txt +++ b/examples/linobs/01_paper/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_linobs LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Compilation options set(CMAKE_CXX_STANDARD 17) diff --git a/examples/robotics/01_causal_chain/CMakeLists.txt b/examples/robotics/01_causal_chain/CMakeLists.txt index 5bc663c25..52cdeeabc 100644 --- a/examples/robotics/01_causal_chain/CMakeLists.txt +++ b/examples/robotics/01_causal_chain/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_01 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/03_drifting_clock/CMakeLists.txt b/examples/robotics/03_drifting_clock/CMakeLists.txt index 547b492f9..3555c5cd8 100644 --- a/examples/robotics/03_drifting_clock/CMakeLists.txt +++ b/examples/robotics/03_drifting_clock/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_03 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/04_redermor_traj/CMakeLists.txt b/examples/robotics/04_redermor_traj/CMakeLists.txt index 48564d05e..e60e217cc 100644 --- a/examples/robotics/04_redermor_traj/CMakeLists.txt +++ b/examples/robotics/04_redermor_traj/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_04 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/05_loops_detec/CMakeLists.txt b/examples/robotics/05_loops_detec/CMakeLists.txt index e87c167a1..6502c2225 100644 --- a/examples/robotics/05_loops_detec/CMakeLists.txt +++ b/examples/robotics/05_loops_detec/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_05 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/06_loops_proofs/CMakeLists.txt b/examples/robotics/06_loops_proofs/CMakeLists.txt index a96881fba..e8c781795 100644 --- a/examples/robotics/06_loops_proofs/CMakeLists.txt +++ b/examples/robotics/06_loops_proofs/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_06 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/07_dynloc/CMakeLists.txt b/examples/robotics/07_dynloc/CMakeLists.txt index 93be85b80..e8197444b 100644 --- a/examples/robotics/07_dynloc/CMakeLists.txt +++ b/examples/robotics/07_dynloc/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_07 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/08_tubepaving/CMakeLists.txt b/examples/robotics/08_tubepaving/CMakeLists.txt index 68bb93c1b..34af68eb5 100644 --- a/examples/robotics/08_tubepaving/CMakeLists.txt +++ b/examples/robotics/08_tubepaving/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_08 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/09_lissajous/CMakeLists.txt b/examples/robotics/09_lissajous/CMakeLists.txt index 58cee6e1d..2243131e0 100644 --- a/examples/robotics/09_lissajous/CMakeLists.txt +++ b/examples/robotics/09_lissajous/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_09 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/10_datasso/CMakeLists.txt b/examples/robotics/10_datasso/CMakeLists.txt index 94196110d..5b0b6ee00 100644 --- a/examples/robotics/10_datasso/CMakeLists.txt +++ b/examples/robotics/10_datasso/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_10 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/robotics/11_explored_area/CMakeLists.txt b/examples/robotics/11_explored_area/CMakeLists.txt index 02561f5f6..b294df7d5 100644 --- a/examples/robotics/11_explored_area/CMakeLists.txt +++ b/examples/robotics/11_explored_area/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(codac_rob_11 LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/tuto/01_getting_started/CMakeLists.txt b/examples/tuto/01_getting_started/CMakeLists.txt index e4c08cf53..d7b18c2de 100644 --- a/examples/tuto/01_getting_started/CMakeLists.txt +++ b/examples/tuto/01_getting_started/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(01_getting_started LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/tuto/02_static_rangeonly/CMakeLists.txt b/examples/tuto/02_static_rangeonly/CMakeLists.txt index da0ba5d99..4276189be 100644 --- a/examples/tuto/02_static_rangeonly/CMakeLists.txt +++ b/examples/tuto/02_static_rangeonly/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(02_static_rangeonly LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/tuto/03_static_rangebearing/CMakeLists.txt b/examples/tuto/03_static_rangebearing/CMakeLists.txt index 5ee96f0dd..0496fd765 100644 --- a/examples/tuto/03_static_rangebearing/CMakeLists.txt +++ b/examples/tuto/03_static_rangebearing/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(03_static_rangebearing LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/tuto/04_dyn_rangeonly/CMakeLists.txt b/examples/tuto/04_dyn_rangeonly/CMakeLists.txt index 7bae7641b..5c94967f1 100644 --- a/examples/tuto/04_dyn_rangeonly/CMakeLists.txt +++ b/examples/tuto/04_dyn_rangeonly/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(04_dyn_rangeonly LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need diff --git a/examples/tuto/05_dyn_rangebearing/CMakeLists.txt b/examples/tuto/05_dyn_rangebearing/CMakeLists.txt index 8b512ca5b..5f25f65a1 100644 --- a/examples/tuto/05_dyn_rangebearing/CMakeLists.txt +++ b/examples/tuto/05_dyn_rangebearing/CMakeLists.txt @@ -5,6 +5,9 @@ cmake_minimum_required(VERSION 3.0.2) project(05_dyn_rangebearing LANGUAGES CXX) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + # Adding IBEX # In case you installed IBEX in a local directory, you need From 0a9af47defece6e0e5b3dfcb5e534a79bae6fe11 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 21 Jun 2022 14:34:51 +0200 Subject: [PATCH 021/256] [sivia] minor update --- src/core/sivia/codac_sivia.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/core/sivia/codac_sivia.cpp b/src/core/sivia/codac_sivia.cpp index f3c311c5a..8f0cc435a 100644 --- a/src/core/sivia/codac_sivia.cpp +++ b/src/core/sivia/codac_sivia.cpp @@ -114,6 +114,8 @@ namespace codac else { + if(display_result) + vibes::drawBox(x.subvector(0,1), "lightGray"); pair p = bisector.bisect(x); stack.push_back(p.first); stack.push_back(p.second); From 191fc940212562f9d9277041a0c271586c0d487e Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 29 Jul 2022 23:30:02 +0200 Subject: [PATCH 022/256] [tube] new templated tubes --- examples/codac2/01/main.cpp | 4 +- examples/codac2/01/main_test_sample.cpp | 33 ++ .../2/contractors/codac2_CtcDiffInclusion.cpp | 11 +- .../2/contractors/codac2_CtcDiffInclusion.h | 10 +- ...act_const.h => codac2_AbstractConstTube.h} | 35 +- .../2/domains/tube/codac2_AbstractSlice.cpp | 50 ++ .../2/domains/tube/codac2_AbstractSlice.h | 56 +++ ...onst.cpp => codac2_AbstractSlicedTube.cpp} | 20 +- .../domains/tube/codac2_AbstractSlicedTube.h | 40 ++ src/core/2/domains/tube/codac2_Slice.h | 177 +++++++ .../2/domains/tube/codac2_SliceVector.cpp | 178 ------- src/core/2/domains/tube/codac2_SliceVector.h | 92 ---- src/core/2/domains/tube/codac2_TDomain.cpp | 18 +- src/core/2/domains/tube/codac2_TDomain.h | 14 +- src/core/2/domains/tube/codac2_TSlice.cpp | 11 +- src/core/2/domains/tube/codac2_TSlice.h | 18 +- src/core/2/domains/tube/codac2_Tube.h | 454 ++++++++++++++++++ src/core/2/domains/tube/codac2_TubeVector.cpp | 196 -------- src/core/2/domains/tube/codac2_TubeVector.h | 137 ------ .../tube/codac2_TubeVectorComponent.cpp | 108 ----- .../domains/tube/codac2_TubeVectorComponent.h | 66 --- .../tube/codac2_TubeVectorEvaluation.cpp | 60 --- .../tube/codac2_TubeVectorEvaluation.h | 49 -- src/core/CMakeLists.txt | 21 +- tests/core/tests_codac2_tubes.cpp | 140 +++++- 25 files changed, 1014 insertions(+), 984 deletions(-) create mode 100644 examples/codac2/01/main_test_sample.cpp rename src/core/2/domains/tube/{codac2_TubeAbstract_const.h => codac2_AbstractConstTube.h} (58%) create mode 100644 src/core/2/domains/tube/codac2_AbstractSlice.cpp create mode 100644 src/core/2/domains/tube/codac2_AbstractSlice.h rename src/core/2/domains/tube/{codac2_TubeAbstract_const.cpp => codac2_AbstractSlicedTube.cpp} (55%) create mode 100644 src/core/2/domains/tube/codac2_AbstractSlicedTube.h create mode 100644 src/core/2/domains/tube/codac2_Slice.h delete mode 100644 src/core/2/domains/tube/codac2_SliceVector.cpp delete mode 100644 src/core/2/domains/tube/codac2_SliceVector.h create mode 100644 src/core/2/domains/tube/codac2_Tube.h delete mode 100644 src/core/2/domains/tube/codac2_TubeVector.cpp delete mode 100644 src/core/2/domains/tube/codac2_TubeVector.h delete mode 100644 src/core/2/domains/tube/codac2_TubeVectorComponent.cpp delete mode 100644 src/core/2/domains/tube/codac2_TubeVectorComponent.h delete mode 100644 src/core/2/domains/tube/codac2_TubeVectorEvaluation.cpp delete mode 100644 src/core/2/domains/tube/codac2_TubeVectorEvaluation.h diff --git a/examples/codac2/01/main.cpp b/examples/codac2/01/main.cpp index 970deb7ff..4e9f2dc15 100644 --- a/examples/codac2/01/main.cpp +++ b/examples/codac2/01/main.cpp @@ -6,9 +6,9 @@ using namespace codac; int main() { codac2::TDomain tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) - codac2::TubeVector x(2, tdomain, + codac2::Tube x(2, tdomain, TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); - codac2::TubeVector u(2, tdomain); + codac2::Tube u(2, tdomain); TFunction tf("x[2]", "u[2]", "(sin(x[1]) ; -sin(x[0]))"); codac2::CtcDiffInclusion ctc_diffincl(tf); diff --git a/examples/codac2/01/main_test_sample.cpp b/examples/codac2/01/main_test_sample.cpp new file mode 100644 index 000000000..e88470fea --- /dev/null +++ b/examples/codac2/01/main_test_sample.cpp @@ -0,0 +1,33 @@ +#include + +using namespace std; +using namespace codac; + +int main() +{ + { + codac2::TDomain tdomain(Interval(0,10), 1., false); + codac2::Tube x(2, tdomain); + + for(auto& sx : x) + { + if(sx.t0_tf().contains(5.2)) + { + cout << "sample" << endl; + tdomain.sample(5.2); + } + cout << sx << endl; + } + } + + { + TFunction f("x1", "x2", "u1", "u2", "(t+u1+x1;t+u2+x2)"); + IntervalVector x({{2,3},{5,6}}); + IntervalVector u({{0,0.1},{0,0.1}}); + Interval t(5.); + cout << f.eval_vector(t,x,u) << endl; + } + + + return EXIT_SUCCESS; +} \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp index 96e4641b4..d68dfdc3f 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp @@ -26,7 +26,7 @@ namespace codac2 return _f; } - void CtcDiffInclusion::contract(TubeVector& x, const TubeVector& u, TimePropag t_propa) + void CtcDiffInclusion::contract(Tube& x, const Tube& u, TimePropag t_propa) { // Verifying that x and u share exactly the same tdomain and slicing: assert(&x.tdomain() == &u.tdomain()); @@ -40,8 +40,9 @@ namespace codac2 continue; // su is a SliceVector of the TubeVector u: - const SliceVector& su = sx.tslice().slices().at(&u); - const double dt = sx.t0_tf().diam(); + const shared_ptr> su = static_pointer_cast>(sx.tslice().slices().at(&u)); + + //const double dt = sx.t0_tf().diam(); // sx.set(su.codomain()); @@ -63,7 +64,7 @@ namespace codac2 } } - void CtcDiffInclusion::contract(SliceVector& x, const SliceVector& u, TimePropag t_propa) + void CtcDiffInclusion::contract(Slice& x, const Slice& u, TimePropag t_propa) { // Verifying that x and u share exactly the same tdomain assert(&x.tslice() == &u.tslice()); @@ -71,7 +72,7 @@ namespace codac2 assert((size_t)_f.nb_var() == 2); assert((size_t)_f.image_dim() == x.size()); - const double dt = x.t0_tf().diam(); + //const double dt = x.t0_tf().diam(); // ... diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.h b/src/core/2/contractors/codac2_CtcDiffInclusion.h index 558d28138..8ded524e5 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.h +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.h @@ -14,8 +14,8 @@ #include "codac_TFunction.h" #include "codac_DynCtc.h" -#include "codac2_TubeVector.h" -#include "codac2_SliceVector.h" +#include "codac2_Tube.h" +#include "codac2_Slice.h" namespace codac2 { @@ -31,13 +31,13 @@ namespace codac2 public: CtcDiffInclusion(const TFunction& t); - void contract(TubeVector& x, const TubeVector& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); - void contract(SliceVector& x, const SliceVector& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(codac2::Tube& x, const codac2::Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(Slice& x, const Slice& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); const TFunction& f() const; protected: - friend class SliceVector; // to be removed + //friend class Slice; // to be removed const TFunction _f; }; } diff --git a/src/core/2/domains/tube/codac2_TubeAbstract_const.h b/src/core/2/domains/tube/codac2_AbstractConstTube.h similarity index 58% rename from src/core/2/domains/tube/codac2_TubeAbstract_const.h rename to src/core/2/domains/tube/codac2_AbstractConstTube.h index 8b8647bad..443799198 100644 --- a/src/core/2/domains/tube/codac2_TubeAbstract_const.h +++ b/src/core/2/domains/tube/codac2_AbstractConstTube.h @@ -9,8 +9,8 @@ * the GNU Lesser General Public License (LGPL). */ -#ifndef __CODAC2_TUBEVECTOR_CONST_H__ -#define __CODAC2_TUBEVECTOR_CONST_H__ +#ifndef __CODAC2_ABSTRACTCONSTTUBE_H__ +#define __CODAC2_ABSTRACTCONSTTUBE_H__ #include #include @@ -21,30 +21,29 @@ namespace codac2 { - using codac::Tube; using codac::Trajectory; using codac::TrajectoryVector; using codac::Interval; using codac::IntervalVector; - template - class TubeAbstract_const + template + class AbstractConstTube { public: - TubeAbstract_const() + AbstractConstTube() { } - explicit TubeAbstract_const(const T& x); + explicit AbstractConstTube(const T& x); virtual size_t size() const = 0; - virtual bool contains(const V& value) const = 0; + virtual bool contains(const TrajectoryVector& value) const = 0; virtual Interval t0_tf() const = 0; - virtual I codomain() const = 0; - // virtual I operator()(double t) const = 0; - //virtual I operator()(const Interval& t) const = 0; + virtual W codomain() const = 0; + // virtual W operator()(double t) const = 0; + //virtual W operator()(const Interval& t) const = 0; //TubeVectorComponent operator[](size_t index); //const TubeVectorComponent operator[](size_t index) const; @@ -58,20 +57,6 @@ namespace codac2 } }; - class Tube_const : public TubeAbstract_const - { - - }; - - class TubeVector_const : public TubeAbstract_const - { - - }; - - /*class TubeMatrix_const : public TubeAbstract_const - { - - };*/ } // namespace codac #endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_AbstractSlice.cpp b/src/core/2/domains/tube/codac2_AbstractSlice.cpp new file mode 100644 index 000000000..cb6d58324 --- /dev/null +++ b/src/core/2/domains/tube/codac2_AbstractSlice.cpp @@ -0,0 +1,50 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_AbstractSlice.h" +#include "codac2_TSlice.h" +#include "codac_Exception.h" + +using namespace std; + +namespace codac2 +{ + AbstractSlice::AbstractSlice(const AbstractSlicedTube& tubevector, const list::iterator& it_tslice) : + _tubevector(tubevector), _it_tslice(it_tslice) + { + + } + + const Interval& AbstractSlice::t0_tf() const + { + return _it_tslice->t0_tf(); + } + + const TSlice& AbstractSlice::tslice() const + { + return *_it_tslice; + } + + const std::shared_ptr AbstractSlice::prev_abstract_slice() const + { + if(&(*_tubevector.first_abstract_slice()) == this) + return nullptr; + return prev(_it_tslice)->slices().at(&_tubevector); + } + + const std::shared_ptr AbstractSlice::next_abstract_slice() const + { + if(&(*_tubevector.last_abstract_slice()) == this) + return nullptr; + return next(_it_tslice)->slices().at(&_tubevector); + } + +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_AbstractSlice.h b/src/core/2/domains/tube/codac2_AbstractSlice.h new file mode 100644 index 000000000..0a0164875 --- /dev/null +++ b/src/core/2/domains/tube/codac2_AbstractSlice.h @@ -0,0 +1,56 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_ABSTRACTSLICE_H__ +#define __CODAC2_ABSTRACTSLICE_H__ + +#include +#include +#include +#include "codac_Interval.h" +#include "codac_IntervalVector.h" +#include "codac_TrajectoryVector.h" +#include "codac_Exception.h" +#include "codac2_AbstractSlicedTube.h" + +namespace codac2 +{ + using codac::Interval; + using codac::IntervalVector; + using codac::TrajectoryVector; + + class TSlice; + + class AbstractSlice + { + public: + + AbstractSlice(const AbstractSlicedTube& tubevector, const std::list::iterator& _it_tslice); + virtual std::shared_ptr duplicate() const = 0; + virtual size_t size() const = 0; + + const Interval& t0_tf() const; + const TSlice& tslice() const; + + const std::shared_ptr prev_abstract_slice() const; + const std::shared_ptr next_abstract_slice() const; + + + protected: + + const AbstractSlicedTube& _tubevector; + std::list::iterator _it_tslice; + + friend class TDomain; + }; +} + +#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeAbstract_const.cpp b/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp similarity index 55% rename from src/core/2/domains/tube/codac2_TubeAbstract_const.cpp rename to src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp index ac4313983..713864216 100644 --- a/src/core/2/domains/tube/codac2_TubeAbstract_const.cpp +++ b/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp @@ -9,23 +9,25 @@ * the GNU Lesser General Public License (LGPL). */ -#include "codac2_TubeAbstract_const.h" +#include "codac2_AbstractSlicedTube.h" using namespace std; namespace codac2 { - /*template - TubeAbstract_const::TubeAbstract_const() + AbstractSlicedTube::AbstractSlicedTube(TDomain& tdomain) : + _tdomain(tdomain) { } - //ostream& operator<<(ostream& os, const TubeAbstract_const& x) - void TubeAbstract_const::print(ostream& os) const + TDomain& AbstractSlicedTube::tdomain() const { - os << tdomain() - << "↦" << codomain() - << flush; - }*/ + return _tdomain; + } + + Interval AbstractSlicedTube::t0_tf() const + { + return _tdomain.t0_tf(); + } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_AbstractSlicedTube.h b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h new file mode 100644 index 000000000..5726bf538 --- /dev/null +++ b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h @@ -0,0 +1,40 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_ABSTRACTTUBE_H__ +#define __CODAC2_ABSTRACTTUBE_H__ + +#include "codac2_TDomain.h" + +namespace codac2 +{ + class AbstractSlice; + + class AbstractSlicedTube + { + public: + + AbstractSlicedTube(TDomain& tdomain); + + virtual const std::shared_ptr& first_abstract_slice() const = 0; + virtual const std::shared_ptr& last_abstract_slice() const = 0; + + TDomain& tdomain() const; + Interval t0_tf() const; + + + protected: + + TDomain& _tdomain; + }; +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h new file mode 100644 index 000000000..39d121db2 --- /dev/null +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -0,0 +1,177 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_SLICE_H__ +#define __CODAC2_SLICE_H__ + +#include +#include +#include +#include "codac_Interval.h" +#include "codac_IntervalVector.h" +#include "codac_TrajectoryVector.h" +#include "codac_Exception.h" +#include "codac2_AbstractSlice.h" + +namespace codac2 +{ + using codac::Interval; + using codac::IntervalVector; + using codac::TrajectoryVector; + + class AbstractSlicedTube; + class TSlice; + + template + class Slice : public AbstractSlice + { + public: + + explicit Slice(size_t n, const AbstractSlicedTube& tube_vector, const std::list::iterator& it_tslice) : + Slice(T(n), tube_vector, it_tslice) + { + + } + + explicit Slice(const T& box, const AbstractSlicedTube& tube_vector, const std::list::iterator& it_tslice) : + AbstractSlice(tube_vector,it_tslice), _codomain(box) + { + + } + + Slice(const Slice& s) : + AbstractSlice(s._tubevector, s._it_tslice), _codomain(s._codomain) + { + + } + + ~Slice() + { + + } + + // Slice objects cannot be copyable or movable, + // as they are supposed to be connected to other Slice objects + Slice& operator=(const Slice&) = delete; + Slice(Slice&&) = delete; + Slice& operator=(Slice&&) = delete; + + const AbstractSlicedTube& tube_vector() const + { + return _tubevector; + } + + virtual std::shared_ptr duplicate() const + { + return std::make_shared(*this); + } + + virtual size_t size() const + { + return codomain().size(); + } + + bool is_gate() const + { + return t0_tf().is_degenerated(); + } + + bool is_empty() const + { + return input_gate().is_empty() || output_gate().is_empty(); + } + + bool is_unbounded() const + { + return codomain().is_unbounded(); + } + + bool contains(const TrajectoryVector& value) const + { + return true; // todo + } + + const std::shared_ptr> prev_slice() const + { + return std::static_pointer_cast>(prev_abstract_slice()); + } + + std::shared_ptr> prev_slice() + { + return std::const_pointer_cast>( + static_cast(*this).prev_slice()); + } + + const std::shared_ptr> next_slice() const + { + return std::static_pointer_cast>(next_abstract_slice()); + } + + std::shared_ptr> next_slice() + { + return std::const_pointer_cast>( + static_cast(*this).next_slice()); + } + + const T& codomain() const + { + return _codomain; + } + + T input_gate() const + { + T gate = codomain(); + if(prev_slice()) + gate &= prev_slice()->codomain(); + return gate; + } + + T output_gate() const + { + T gate = codomain(); + if(next_slice()) + gate &= next_slice()->codomain(); + return gate; + } + + void set(const T& x) + { + assert((size_t)codomain().size() == size()); + _codomain = x; + if(is_gate()) + _codomain &= prev_slice()->codomain() & next_slice()->codomain(); + } + + void set_component(size_t i, const Interval& xi) + { + assert((size_t)codomain().size() == size()); + _codomain[i] = xi; + if(is_gate()) + _codomain[i] &= prev_slice()->codomain()[i] & next_slice()->codomain()[i]; + } + + friend std::ostream& operator<<(std::ostream& os, const Slice& x) + { + os << x.t0_tf() + << "↦" << x.codomain() + << std::flush; + return os; + } + + + protected: + + T _codomain; + }; + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_SliceVector.cpp b/src/core/2/domains/tube/codac2_SliceVector.cpp deleted file mode 100644 index 963a4438f..000000000 --- a/src/core/2/domains/tube/codac2_SliceVector.cpp +++ /dev/null @@ -1,178 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#include "codac2_TubeVector.h" -#include "codac2_SliceVector.h" -#include "codac_Exception.h" - -using namespace std; - -namespace codac2 -{ - SliceVector::SliceVector(size_t n, const TubeVector& tube_vector, const list::iterator& it_tslice) : - SliceVector(IntervalVector(n), tube_vector, it_tslice) - { - - } - - SliceVector::SliceVector(const IntervalVector& box, const TubeVector& tube_vector, const list::iterator& it_tslice) : - _tubevector(tube_vector), _it_tslice(it_tslice), _codomain(box) - { - assert(holds_alternative(_codomain)); - } - - SliceVector::SliceVector(const AbstractDomain& ad, const TubeVector& tube_vector, const list::iterator& it_tslice) : - _tubevector(tube_vector), _it_tslice(it_tslice), _codomain(ad) - { - assert(holds_alternative(_codomain)); - } - - SliceVector::SliceVector(const SliceVector& s) : - _tubevector(s._tubevector), _it_tslice(s._it_tslice), _codomain(s._codomain) - { - - } - - SliceVector::~SliceVector() - { - - } - - const TubeVector& SliceVector::tube_vector() const - { - return _tubevector; - } - - size_t SliceVector::size() const - { - return codomain().size(); - } - - bool SliceVector::is_gate() const - { - return t0_tf().is_degenerated(); - } - - bool SliceVector::is_empty() const - { - return input_gate().is_empty() || output_gate().is_empty(); - } - - bool SliceVector::is_unbounded() const - { - return codomain().is_unbounded(); - } - - bool SliceVector::contains(const TrajectoryVector& value) const - { - return true; - } - - const Interval& SliceVector::t0_tf() const - { - return _it_tslice->t0_tf(); - } - - const TSlice& SliceVector::tslice() const - { - return *_it_tslice; - } - - const SliceVector* SliceVector::prev_slice() const - { - if(&_tubevector.first_slice() == this) - return nullptr; - return &prev(_it_tslice)->slices().at(&_tubevector); - } - - SliceVector* SliceVector::prev_slice() - { - return const_cast( - static_cast(*this).prev_slice()); - } - - const SliceVector* SliceVector::next_slice() const - { - if(&_tubevector.last_slice() == this) - return nullptr; - return &next(_it_tslice)->slices().at(&_tubevector); - } - - SliceVector* SliceVector::next_slice() - { - return const_cast( - static_cast(*this).next_slice()); - } - - const IntervalVector SliceVector::codomain() const - { - if(holds_alternative(_codomain)) - return get(_codomain); - - else if(holds_alternative(_codomain)) - return get(_codomain).box(); - - assert(false && "unhandled case"); - return IntervalVector(0); // should not happen - } - - IntervalVector SliceVector::input_gate() const - { - IntervalVector gate = codomain(); - if(prev_slice()) - gate &= prev_slice()->codomain(); - return gate; - } - - IntervalVector SliceVector::output_gate() const - { - IntervalVector gate = codomain(); - if(next_slice()) - gate &= next_slice()->codomain(); - return gate; - } - - void SliceVector::set(const IntervalVector& x) - { - if(holds_alternative(_codomain)) - { - assert((size_t)codomain().size() == size()); - get(_codomain) = x; - if(is_gate()) - get(_codomain) &= prev_slice()->codomain() & next_slice()->codomain(); - } - - else - throw codac::Exception(__func__, "unable to set values for this AbstractDomain"); - } - - void SliceVector::set_component(size_t i, const Interval& xi) - { - if(holds_alternative(_codomain)) - { - assert((size_t)codomain().size() == size()); - get(_codomain)[i] = xi; - if(is_gate()) - get(_codomain)[i] &= prev_slice()->codomain()[i] & next_slice()->codomain()[i]; - } - - else - throw codac::Exception(__func__, "unable to set values for this AbstractDomain"); - } - - ostream& operator<<(ostream& os, const SliceVector& x) - { - os << x.t0_tf() - << "↦" << x.codomain() - << flush; - return os; - } -} // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_SliceVector.h b/src/core/2/domains/tube/codac2_SliceVector.h deleted file mode 100644 index 6c60f2f15..000000000 --- a/src/core/2/domains/tube/codac2_SliceVector.h +++ /dev/null @@ -1,92 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#ifndef __CODAC2_SLICEVECTOR_H__ -#define __CODAC2_SLICEVECTOR_H__ - -#include -#include -#include "codac_Interval.h" -#include "codac_IntervalVector.h" -#include "codac_TrajectoryVector.h" -#include "codac2_TSlice.h" -#include "codac2_TDomain.h" -#include "codac2_AbstractDomain.h" - -namespace codac2 -{ - using codac::Interval; - using codac::IntervalVector; - using codac::TrajectoryVector; - - class TubeVector; - class TSlice; - - class SliceVector - { - public: - - explicit SliceVector(size_t n, const TubeVector& tube_vector, const std::list::iterator& it_tslice); - explicit SliceVector(const IntervalVector& box, const TubeVector& tube_vector, const std::list::iterator& it_tslice); - explicit SliceVector(const AbstractDomain& ad, const TubeVector& tube_vector, const std::list::iterator& it_tslice); - ~SliceVector(); - - SliceVector(const SliceVector& s); - - const TubeVector& tube_vector() const; - - // SliceVector objects cannot be copyable or movable, - // as they are supposed to be connected to other SliceVector objects - SliceVector& operator=(const SliceVector&) = delete; - SliceVector(SliceVector&&) = delete; - SliceVector& operator=(SliceVector&&) = delete; - - size_t size() const; - - bool is_gate() const; - bool is_empty() const; - bool is_unbounded() const; - bool contains(const TrajectoryVector& value) const; - - const SliceVector* prev_slice() const; - SliceVector* prev_slice(); - const SliceVector* next_slice() const; - SliceVector* next_slice(); - - const Interval& t0_tf() const; - const TSlice& tslice() const; - - const IntervalVector codomain() const; - IntervalVector input_gate() const; - IntervalVector output_gate() const; - - void set(const IntervalVector& x); - void set_component(size_t i, const Interval& xi); - - friend std::ostream& operator<<(std::ostream& os, const SliceVector& x); - - - protected: - - friend class TubeVector; - friend class TubeVectorComponent; - friend class TDomain; - friend class TSlice; - - const TubeVector& _tubevector; - std::list::iterator _it_tslice; - - // Several abstract domains related to guaranteed integration can be considered here - std::variant _codomain; - }; -} // namespace codac - -#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TDomain.cpp b/src/core/2/domains/tube/codac2_TDomain.cpp index e2a34f514..2c275dccc 100644 --- a/src/core/2/domains/tube/codac2_TDomain.cpp +++ b/src/core/2/domains/tube/codac2_TDomain.cpp @@ -10,8 +10,9 @@ */ #include +#include "codac2_TSlice.h" #include "codac2_TDomain.h" -#include "codac2_TubeVector.h" +#include "codac2_Slice.h" #include "codac_predef_values.h" using namespace std; @@ -19,6 +20,17 @@ using namespace codac; namespace codac2 { + TDomain::TDomain() + { + _tslices.push_back(TSlice(Interval())); + } + + TDomain::TDomain(const Interval& t0_tf, bool with_gates) : + TDomain(t0_tf, t0_tf.diam(), with_gates) + { + + } + TDomain::TDomain(const Interval& t0_tf, double dt, bool with_gates) { assert(!t0_tf.is_empty()); @@ -52,7 +64,7 @@ namespace codac2 size_t TDomain::nb_tubes() const { - return _tslices.front()._slices.size(); + return _tslices.front().slices().size(); } list::iterator TDomain::iterator_tslice(double t) @@ -88,7 +100,7 @@ namespace codac2 ++it; it = _tslices.insert(it, ts); for(auto& [k,s] : it->_slices) // adding the new iterator pointer to the new slices - s._it_tslice = it; + s->_it_tslice = it; return it; } diff --git a/src/core/2/domains/tube/codac2_TDomain.h b/src/core/2/domains/tube/codac2_TDomain.h index e3bd45dc3..382532f50 100644 --- a/src/core/2/domains/tube/codac2_TDomain.h +++ b/src/core/2/domains/tube/codac2_TDomain.h @@ -18,16 +18,18 @@ #include #include "codac_Interval.h" -#include "codac2_TSlice.h" namespace codac2 { using codac::Interval; + class TSlice; class TDomain { public: + explicit TDomain(); + explicit TDomain(const Interval& t0_tf, bool with_gates = false); explicit TDomain(const Interval& t0_tf, double dt, bool with_gates = false); const Interval t0_tf() const; // todo: keep this method? std::list::iterator iterator_tslice(double t); @@ -35,15 +37,15 @@ namespace codac2 size_t nb_tubes() const; std::list::iterator sample(double t, bool allow_gate = true); friend std::ostream& operator<<(std::ostream& os, const TDomain& x); + const std::list& tslices() const; protected: - - const std::list& tslices() const; - - friend class SliceVector; - friend class TubeVector; + std::list _tslices; + + template + friend class Tube; }; } // namespace codac diff --git a/src/core/2/domains/tube/codac2_TSlice.cpp b/src/core/2/domains/tube/codac2_TSlice.cpp index 12532624f..2e4e5e88c 100644 --- a/src/core/2/domains/tube/codac2_TSlice.cpp +++ b/src/core/2/domains/tube/codac2_TSlice.cpp @@ -10,8 +10,7 @@ */ #include "codac2_TSlice.h" -#include "codac2_SliceVector.h" -#include "codac2_TubeVector.h" +#include "codac2_Slice.h" using namespace std; using namespace codac; @@ -19,7 +18,7 @@ using namespace codac; namespace codac2 { TSlice::TSlice(const Interval& tdomain) : - _slices(map()) + _slices(map>()) { set_tdomain(tdomain); } @@ -28,8 +27,8 @@ namespace codac2 TSlice(tdomain) { for(const auto[k,s] : tslice._slices) - _slices.insert(pair( - k, SliceVector(s))); + _slices.insert(pair>( + k, s->duplicate())); } const Interval& TSlice::t0_tf() const @@ -43,7 +42,7 @@ namespace codac2 _t0_tf = tdomain; } - const map& TSlice::slices() const + const map>& TSlice::slices() const { return _slices; } diff --git a/src/core/2/domains/tube/codac2_TSlice.h b/src/core/2/domains/tube/codac2_TSlice.h index 5d92496a0..2ded9a5f7 100644 --- a/src/core/2/domains/tube/codac2_TSlice.h +++ b/src/core/2/domains/tube/codac2_TSlice.h @@ -18,13 +18,15 @@ #include #include "codac_Interval.h" +#include "codac2_Slice.h" namespace codac2 { using codac::Interval; - class SliceVector; - class TubeVector; + class TDomain; + class AbstractSlice; + class AbstractSlicedTube; class TSlice { @@ -33,19 +35,19 @@ namespace codac2 explicit TSlice(const Interval& tdomain); TSlice(const TSlice& tslice, const Interval& tdomain); // performs a deep copy on slices const Interval& t0_tf() const; - const std::map& slices() const; + const std::map>& slices() const; friend std::ostream& operator<<(std::ostream& os, const TSlice& x); protected: void set_tdomain(const Interval& tdomain); + + Interval _t0_tf; + std::map> _slices; - friend class TubeVector; - friend class TubeVectorComponent; - friend class TubeVectorEvaluation; friend class TDomain; - Interval _t0_tf; - std::map _slices; + template + friend class Tube; }; } // namespace codac diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h new file mode 100644 index 000000000..7e9e66167 --- /dev/null +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -0,0 +1,454 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TUBE_H__ +#define __CODAC2_TUBE_H__ + +#include +#include +#include "codac_TFnc.h" +#include "codac2_TSlice.h" +#include "codac_Tube.h" // to be removed +#include "codac2_AbstractSlicedTube.h" +#include "codac2_AbstractConstTube.h" +#include "codac2_TDomain.h" + +namespace codac2 +{ + using codac::TFnc; + + template + class Slice; + template + class TubeEvaluation; + template + class TubeComponent; + + + template + class Tube : public AbstractSlicedTube, public AbstractConstTube> + { + public: + + explicit Tube(size_t n, TDomain& tdomain) : + AbstractSlicedTube(tdomain) + { + for(std::list::iterator it = _tdomain._tslices.begin(); + it != _tdomain._tslices.end(); ++it) + { + it->_slices.insert( + std::pair>>(this, + std::make_shared>(n, *this, it))); + } + } + + explicit Tube(size_t n, TDomain& tdomain, const TFnc& f) : + Tube(n, tdomain) + { + assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); + assert((size_t)f.image_dim() == n); + + for(auto& s : *this) + s.set(f.eval_vector(s.t0_tf())); + } + + explicit Tube(const Tube& x) : + AbstractSlicedTube(x.tdomain()) + { + for(std::list::iterator it = _tdomain._tslices.begin(); + it != _tdomain._tslices.end(); ++it) + { + it->_slices.insert( + std::pair>>(this, + std::make_shared>(it->_slices.at(&x)->size(), *this, it))); + } + } + + ~Tube() + { + for(auto& s : _tdomain._tslices) + s._slices.erase(this); + } + + virtual Interval t0_tf() const + { + return AbstractSlicedTube::t0_tf(); + } + + size_t size() const + { + return first_slice().size(); + } + + size_t nb_slices() const + { + return _tdomain.nb_tslices(); + } + + virtual const std::shared_ptr& first_abstract_slice() const + { + return _tdomain.tslices().front().slices().at(this); + } + + virtual const std::shared_ptr& last_abstract_slice() const + { + return _tdomain.tslices().back().slices().at(this); + } + + const std::shared_ptr> first_slice_ptr() const + { + return std::static_pointer_cast>(first_abstract_slice()); + } + + const Slice& first_slice() const + { + return *first_slice_ptr(); + } + + Slice& first_slice() + { + return const_cast&>( + static_cast(*this).first_slice()); + } + + const std::shared_ptr> last_slice_ptr() const + { + return std::static_pointer_cast>(last_abstract_slice()); + } + + const Slice& last_slice() const + { + return *last_slice_ptr(); + } + + Slice& last_slice() + { + return const_cast&>( + static_cast(*this).last_slice()); + } + + bool is_empty() const + { + for(const auto& s : *this) + if(s.is_empty()) + return true; + return false; + } + + bool is_unbounded() const + { + for(const auto& s : *this) + if(s.is_unbounded()) + return true; + return false; + } + + bool contains(const TrajectoryVector& value) const + { + return true; + } + + IntervalVector codomain() const + { + IntervalVector codomain(size()); + codomain.set_empty(); + for(const auto& s : *this) + codomain |= s.codomain(); + return codomain; + } + + TubeEvaluation operator()(double t) + { + return TubeEvaluation(this, t); + } + + TubeEvaluation operator()(const Interval& t) + { + return TubeEvaluation(this, t); + } + + T eval(double t) const + { + return std::static_pointer_cast>(_tdomain.iterator_tslice(t)->_slices.at(this))->codomain(); + } + + T eval(const Interval& t) const + { + std::list::iterator it = _tdomain.iterator_tslice(t.lb()); + T codomain = std::static_pointer_cast>(it->_slices.at(this))->codomain(); + + while(it != _tdomain.iterator_tslice(t.ub())) + { + codomain |= std::static_pointer_cast>(it->_slices.at(this))->codomain(); + it++; + } + + return codomain; + } + + void set(const T& codomain) + { + assert((size_t)codomain.size() == size()); + for(auto& s : *this) + s.set(codomain); + } + + TubeComponent operator[](size_t i) + { + assert(i >= 0 && i < size()); + return TubeComponent(*this, i); + } + + codac::TubeVector to_codac1() const + { + codac::TubeVector x(t0_tf(), size()); + for(const auto& s : *this) + if(!s.t0_tf().is_unbounded()) + x.set(s.codomain(), s.t0_tf()); + for(const auto& s : *this) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x.set(s.codomain(), s.t0_tf()); + return x; + } + + friend std::ostream& operator<<(std::ostream& os, const Tube& x) + { + x.AbstractConstTube>::print(os); + // Adding information related to sliced structure + os << ", " << x.nb_slices() + << " slice" << (x.nb_slices() > 1 ? "s" : "") + << std::flush; + return os; + } + + + public: + + using base_container = std::list; + + struct iterator : public base_container::iterator + { + using iterator_category = typename base_container::iterator::iterator_category; + using difference_type = typename base_container::iterator::difference_type; + + using value_type = Slice; + using pointer = Slice*; + using reference = Slice&; + + public: + + iterator(const Tube& tube_vector, base_container::iterator it) : + base_container::iterator(it), _tube_vector(tube_vector) { } + + reference operator*() + { + return static_cast(*((*this)->_slices.at(&_tube_vector))); + } + + protected: + + const Tube& _tube_vector; + }; + + iterator begin() { return iterator(*this, _tdomain._tslices.begin()); } + iterator end() { return iterator(*this, _tdomain._tslices.end()); } + + + struct const_iterator : public base_container::const_iterator + { + using iterator_category = typename base_container::const_iterator::iterator_category; + using difference_type = typename base_container::const_iterator::difference_type; + + using value_type = Slice; + using pointer = const Slice*; + using reference = const Slice&; + + public: + + const_iterator(const Tube& tube_vector, base_container::const_iterator it) : + base_container::const_iterator(it), _tube_vector(tube_vector) { } + + reference operator*() const + { + return static_cast(*((*this)->_slices.at(&_tube_vector))); + } + + protected: + + const Tube& _tube_vector; + }; + + const_iterator begin() const { return const_iterator(*this, _tdomain._tslices.cbegin()); } + const_iterator end() const { return const_iterator(*this, _tdomain._tslices.cend()); } + }; + + + template + class TubeEvaluation + { + public: + + const TubeEvaluation& operator=(const T& x) + { + // Sampling the tube only if affectation is performed + // (i.e. this is not done in the constructor) + std::list::iterator it_lb = _tubevector->_tdomain.sample(_t.lb(), false); + std::list::iterator it_ub = _tubevector->_tdomain.sample(_t.ub(), _t.is_degenerated()); + + do + { + std::static_pointer_cast>(it_lb->_slices.at(_tubevector))->set(x); + it_lb++; + } while(it_lb != it_ub); + + return *this; + } + + explicit operator T() + { + return _tubevector->eval(_t); + } + + friend std::ostream& operator<<(std::ostream& os, const TubeEvaluation& x) + { + os << x._tubevector->eval(x._t) << std::flush; + return os; + } + + + protected: + + explicit TubeEvaluation(const Tube* tubevector, double t) : + _t(Interval(t)), _tubevector(tubevector) + { + + } + + explicit TubeEvaluation(const Tube* tubevector, const Interval& t) : + _t(t), _tubevector(tubevector) + { + + } + + const Interval _t; + const Tube* _tubevector; + }; + + + template + class TubeComponent //: public AbstractConstTube> + { + protected: + + TubeComponent(Tube& tubevector, size_t i) : + _i(i), _tubevector(tubevector) + { + assert(i >= 0 && i < tubevector.size()); + } + + public: + + TubeComponent(const TubeComponent& tubevector_i) : + _i(tubevector_i._i), _tubevector(tubevector_i._tubevector) + { + + } + + size_t size() const + { + return 1; + } + + const TDomain& tdomain() const + { + return _tubevector.tdomain(); + } + + Interval t0_tf() const + { + return _tubevector.t0_tf(); + } + + Interval codomain() const + { + Interval codomain(Interval::EMPTY_SET); + for(const auto& s : _tubevector) + codomain |= s.codomain()[_i]; + return codomain; + } + + bool contains(const Trajectory& value) const + { + assert(false); + return true; + } + + void set(const Interval& codomain) + { + for(auto& s : _tubevector) + s.set_component(_i, codomain); + } + + const TubeComponent& operator=(const TubeComponent& x) + { + assert(&x.tdomain() == &tdomain()); + for(auto& s : _tubevector) + s.set_component(_i, std::static_pointer_cast>(s._it_tslice->_slices.at(&x._tubevector))->codomain()[x._i]); + return *this; + } + + const TubeComponent& operator=(std::pair,const TubeComponent> rel) + { + assert(&rel.second.tdomain() == &tdomain()); + for(auto& s : _tubevector) + s.set_component(_i, rel.first(std::static_pointer_cast>(s._it_tslice->_slices.at(&rel.second._tubevector))->codomain()[rel.second._i])); + return *this; + } + + friend std::ostream& operator<<(std::ostream& os, const TubeComponent& x) + { + os << "Component " << x._i << " of: " << x._tubevector << std::flush; + return os; + } + + std::pair,const TubeComponent> cos(const TubeComponent& x) + { + return std::make_pair(static_cast(ibex::cos), x); + } + + codac::Tube to_codac1() const + { + codac::Tube x(t0_tf()); + for(const auto& s : _tubevector) + if(!s.t0_tf().is_unbounded()) + x.set(s.codomain()[_i], s.t0_tf()); + for(const auto& s : _tubevector) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x.set(s.codomain()[_i], s.t0_tf()); + return x; + } + + + protected: + + size_t _i; + Tube& _tubevector; + + template + friend class Tube; + }; + + template + std::pair,const TubeComponent> cos(const TubeComponent& x); + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeVector.cpp b/src/core/2/domains/tube/codac2_TubeVector.cpp deleted file mode 100644 index 47a4d95bd..000000000 --- a/src/core/2/domains/tube/codac2_TubeVector.cpp +++ /dev/null @@ -1,196 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#include -#include "codac2_TubeVector.h" -#include "codac2_SliceVector.h" -#include "codac2_TubeVectorComponent.h" - -using namespace std; - -namespace codac2 -{ - TubeVector::TubeVector(size_t n, TDomain& tdomain) : - _tdomain(tdomain) - { - for(list::iterator it = _tdomain._tslices.begin(); - it != _tdomain._tslices.end(); ++it) - { - it->_slices.insert( - pair(this, - SliceVector(n, *this, it))); - } - } - - TubeVector::TubeVector(size_t n, TDomain& tdomain, const TFnc& f) : - TubeVector(n, tdomain) - { - assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); - assert((size_t)f.image_dim() == n); - - for(auto& s : *this) - s.set(f.eval_vector(s.t0_tf())); - } - - TubeVector::TubeVector(const TubeVector& x) : - _tdomain(x.tdomain()) - { - for(list::iterator it = _tdomain._tslices.begin(); - it != _tdomain._tslices.end(); ++it) - { - it->_slices.insert( - pair(this, - SliceVector(it->_slices.at(&x).size(), *this, it))); - } - } - - TubeVector::~TubeVector() - { - for(auto& s : _tdomain._tslices) - s._slices.erase(this); - } - - size_t TubeVector::size() const - { - return first_slice().size(); - } - - size_t TubeVector::nb_slices() const - { - return _tdomain.nb_tslices(); - } - - const SliceVector& TubeVector::first_slice() const - { - return _tdomain.tslices().front().slices().at(this); - } - - SliceVector& TubeVector::first_slice() - { - return const_cast( - static_cast(*this).first_slice()); - } - - const SliceVector& TubeVector::last_slice() const - { - return _tdomain.tslices().back().slices().at(this); - } - - SliceVector& TubeVector::last_slice() - { - return const_cast( - static_cast(*this).last_slice()); - } - - bool TubeVector::is_empty() const - { - for(const auto& s : *this) - if(s.is_empty()) - return true; - return false; - } - - bool TubeVector::is_unbounded() const - { - for(const auto& s : *this) - if(s.is_unbounded()) - return true; - return false; - } - - bool TubeVector::contains(const TrajectoryVector& value) const - { - return true; - } - - TDomain& TubeVector::tdomain() const - { - return _tdomain; - } - - Interval TubeVector::t0_tf() const - { - return _tdomain.t0_tf(); - } - - IntervalVector TubeVector::codomain() const - { - IntervalVector codomain(size()); - codomain.set_empty(); - for(const auto& s : *this) - codomain |= s.codomain(); - return codomain; - } - - TubeVectorEvaluation TubeVector::operator()(double t) - { - return TubeVectorEvaluation(*this, t); - } - - TubeVectorEvaluation TubeVector::operator()(const Interval& t) - { - return TubeVectorEvaluation(*this, t); - } - - IntervalVector TubeVector::eval(double t) const - { - return _tdomain.iterator_tslice(t)->_slices.at(this).codomain(); - } - - IntervalVector TubeVector::eval(const Interval& t) const - { - list::iterator it = _tdomain.iterator_tslice(t.lb()); - IntervalVector codomain = it->_slices.at(this).codomain(); - - while(it != _tdomain.iterator_tslice(t.ub())) - { - codomain |= it->_slices.at(this).codomain(); - it++; - } - - return codomain; - } - - void TubeVector::set(const IntervalVector& codomain) - { - assert((size_t)codomain.size() == size()); - for(auto& s : *this) - s.set(codomain); - } - - TubeVectorComponent TubeVector::operator[](size_t i) - { - assert(i >= 0 && i < size()); - return TubeVectorComponent(*this, i); - } - - ostream& operator<<(ostream& os, const TubeVector& x) - { - x.TubeVector_const::print(os); - // Adding information related to sliced structure - os << ", " << x.nb_slices() - << " slice" << (x.nb_slices() > 1 ? "s" : "") - << flush; - return os; - } - - codac::TubeVector TubeVector::to_codac1() const - { - codac::TubeVector x(t0_tf(), size()); - for(const auto& s : *this) - if(!s.t0_tf().is_unbounded()) - x.set(s.codomain(), s.t0_tf()); - for(const auto& s : *this) // setting gate (were overwritten) - if(s.t0_tf().is_degenerated()) - x.set(s.codomain(), s.t0_tf()); - return x; - } -} // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeVector.h b/src/core/2/domains/tube/codac2_TubeVector.h deleted file mode 100644 index 1b39810c8..000000000 --- a/src/core/2/domains/tube/codac2_TubeVector.h +++ /dev/null @@ -1,137 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#ifndef __CODAC2_TUBEVECTOR_H__ -#define __CODAC2_TUBEVECTOR_H__ - -#include -#include -#include "codac_TFnc.h" -#include "codac2_TDomain.h" -#include "codac2_SliceVector.h" -#include "codac2_TubeVectorComponent.h" -#include "codac2_TubeVectorEvaluation.h" -#include "codac2_TubeAbstract_const.h" -#include "codac_TubeVector.h" // to be removed - -namespace codac2 -{ - using codac::TFnc; - class TDomain; - class TubeVectorComponent; - class TubeVectorEvaluation; - - class TubeVector : public TubeVector_const - { - public: - - explicit TubeVector(size_t n, TDomain& tdomain); - explicit TubeVector(size_t n, TDomain& tdomain, const TFnc& f); - explicit TubeVector(const TubeVector& x); - ~TubeVector(); - size_t size() const; - - size_t nb_slices() const; - const SliceVector& first_slice() const; - SliceVector& first_slice(); - const SliceVector& last_slice() const; - SliceVector& last_slice(); - - TubeVectorComponent operator[](size_t i); - //const TubeVectorComponent operator[](size_t i) const; - - bool is_empty() const; - bool is_unbounded() const; - bool contains(const TrajectoryVector& value) const; - - TDomain& tdomain() const; - Interval t0_tf() const; - IntervalVector codomain() const; - TubeVectorEvaluation operator()(double t); - TubeVectorEvaluation operator()(const Interval& t); - IntervalVector eval(double t) const; - IntervalVector eval(const Interval& t) const; - void set(const IntervalVector& codomain); - - friend std::ostream& operator<<(std::ostream& os, const TubeVector& x); - - codac::TubeVector to_codac1() const; // to be removed - - - protected: - - friend class TubeVectorComponent; - friend class TubeVectorEvaluation; - TDomain& _tdomain; - - - public: - - using base_container = std::list; - - struct iterator : public base_container::iterator - { - using iterator_category = typename base_container::iterator::iterator_category; - using difference_type = typename base_container::iterator::difference_type; - - using value_type = SliceVector; - using pointer = SliceVector*; - using reference = SliceVector&; - - public: - - iterator(const TubeVector& tube_vector, base_container::iterator it) : - base_container::iterator(it), _tube_vector(tube_vector) { } - - reference operator*() - { - return ((*this)->_slices.at(&_tube_vector)); - } - - protected: - - const TubeVector& _tube_vector; - }; - - iterator begin() { return iterator(*this, _tdomain._tslices.begin()); } - iterator end() { return iterator(*this, _tdomain._tslices.end()); } - - - struct const_iterator : public base_container::const_iterator - { - using iterator_category = typename base_container::const_iterator::iterator_category; - using difference_type = typename base_container::const_iterator::difference_type; - - using value_type = SliceVector; - using pointer = const SliceVector*; - using reference = const SliceVector&; - - public: - - const_iterator(const TubeVector& tube_vector, base_container::const_iterator it) : - base_container::const_iterator(it), _tube_vector(tube_vector) { } - - reference operator*() const - { - return ((*this)->_slices.at(&_tube_vector)); - } - - protected: - - const TubeVector& _tube_vector; - }; - - const_iterator begin() const { return const_iterator(*this, _tdomain._tslices.cbegin()); } - const_iterator end() const { return const_iterator(*this, _tdomain._tslices.cend()); } - }; -} // namespace codac - -#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp b/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp deleted file mode 100644 index 6a527c0e1..000000000 --- a/src/core/2/domains/tube/codac2_TubeVectorComponent.cpp +++ /dev/null @@ -1,108 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#include -#include "codac2_TubeVectorComponent.h" -#include "codac2_TubeVector.h" -#include "codac2_SliceVector.h" -#include "ibex_Interval.h" - -using namespace std; - -namespace codac2 -{ - TubeVectorComponent::TubeVectorComponent(TubeVector& tubevector, size_t i) : - _i(i), _tubevector(tubevector) - { - assert(i >= 0 && i < tubevector.size()); - } - - TubeVectorComponent::TubeVectorComponent(const TubeVectorComponent& tubevector_i) : - _i(tubevector_i._i), _tubevector(tubevector_i._tubevector) - { - - } - - size_t TubeVectorComponent::size() const - { - return 1; - } - - const TDomain& TubeVectorComponent::tdomain() const - { - return _tubevector.tdomain(); - } - - Interval TubeVectorComponent::t0_tf() const - { - return _tubevector.t0_tf(); - } - - Interval TubeVectorComponent::codomain() const - { - Interval codomain(Interval::EMPTY_SET); - for(const auto& s : _tubevector) - codomain |= s.codomain()[_i]; - return codomain; - } - - bool TubeVectorComponent::contains(const Trajectory& value) const - { - assert(false); - return true; - } - - void TubeVectorComponent::set(const Interval& codomain) - { - for(auto& s : _tubevector) - s.set_component(_i, codomain); - } - - const TubeVectorComponent& TubeVectorComponent::operator=(const TubeVectorComponent& x) - { - assert(&x.tdomain() == &tdomain()); - for(auto& s : _tubevector) - s.set_component(_i, s._it_tslice->_slices.at(&x._tubevector).codomain()[x._i]); - return *this; - } - - const TubeVectorComponent& TubeVectorComponent::operator=(pair,const TubeVectorComponent> rel) - { - assert(&rel.second.tdomain() == &tdomain()); - for(auto& s : _tubevector) - s.set_component(_i, rel.first(s._it_tslice->_slices.at(&rel.second._tubevector).codomain()[rel.second._i])); - return *this; - } - - ostream& operator<<(ostream& os, const TubeVectorComponent& x) - { - os << "Component " << x._i << " of: " << x._tubevector << flush; - return os; - } - - pair,const TubeVectorComponent> cos(const TubeVectorComponent& x) - { - return make_pair(static_cast(ibex::cos), x); - } - - codac::Tube TubeVectorComponent::to_codac1() const - { - codac::Tube x(t0_tf()); - for(const auto& s : _tubevector) - if(!s.t0_tf().is_unbounded()) - x.set(s.codomain()[_i], s.t0_tf()); - for(const auto& s : _tubevector) // setting gate (were overwritten) - if(s.t0_tf().is_degenerated()) - x.set(s.codomain()[_i], s.t0_tf()); - return x; - } - -} // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeVectorComponent.h b/src/core/2/domains/tube/codac2_TubeVectorComponent.h deleted file mode 100644 index 9029bf566..000000000 --- a/src/core/2/domains/tube/codac2_TubeVectorComponent.h +++ /dev/null @@ -1,66 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#ifndef __CODAC2_TUBEVECTORCOMPONENT_H__ -#define __CODAC2_TUBEVECTORCOMPONENT_H__ - -#include -#include "codac_Interval.h" -#include "codac_Trajectory.h" -#include "codac2_TubeVector.h" -#include "codac2_TubeAbstract_const.h" -#include "ibex_Interval.h" -#include "codac_Tube.h" // to be removed - -namespace codac2 -{ - using codac::Interval; - using codac::Trajectory; - - class TubeVector; - - class TubeVectorComponent : public Tube_const - { - public: - - TubeVectorComponent(const TubeVectorComponent& tubevector_i); - - size_t size() const; - const TDomain& tdomain() const; - Interval t0_tf() const; - Interval codomain() const; - - bool contains(const Trajectory& value) const; - - void set(const Interval& codomain); - const TubeVectorComponent& operator=(const TubeVectorComponent& x); - const TubeVectorComponent& operator=(std::pair,const TubeVectorComponent> x); - - friend std::ostream& operator<<(std::ostream& os, const TubeVectorComponent& x); - - codac::Tube to_codac1() const; // to be removed - - - protected: - - friend class TubeVector; - explicit TubeVectorComponent(TubeVector& tubevector, size_t i); - - size_t _i; - TubeVector& _tubevector; - }; - - std::pair,const TubeVectorComponent> cos(const TubeVectorComponent& x); - - -} // namespace codac - -#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeVectorEvaluation.cpp b/src/core/2/domains/tube/codac2_TubeVectorEvaluation.cpp deleted file mode 100644 index fa69ca2bc..000000000 --- a/src/core/2/domains/tube/codac2_TubeVectorEvaluation.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#include "codac2_TubeVectorEvaluation.h" -#include "codac2_TubeVector.h" -#include "codac2_SliceVector.h" -#include "ibex_Interval.h" - -using namespace std; - -namespace codac2 -{ - TubeVectorEvaluation::TubeVectorEvaluation(TubeVector& tubevector, double t) : - _t(Interval(t)), _tubevector(tubevector) - { - - } - - TubeVectorEvaluation::TubeVectorEvaluation(TubeVector& tubevector, const Interval& t) : - _t(t), _tubevector(tubevector) - { - - } - - TubeVectorEvaluation::operator IntervalVector() const - { - return _tubevector.eval(_t); - } - - const TubeVectorEvaluation& TubeVectorEvaluation::operator=(const IntervalVector& x) - { - // Sampling the tube only if affectation is performed - // (i.e. this is not done in the constructor) - list::iterator it_lb = _tubevector._tdomain.sample(_t.lb(), false); - list::iterator it_ub = _tubevector._tdomain.sample(_t.ub(), _t.is_degenerated()); - - do - { - it_lb->_slices.at(&_tubevector).set(x); - it_lb++; - } while(it_lb != it_ub); - - return *this; - } - - ostream& operator<<(ostream& os, const TubeVectorEvaluation& x) - { - os << x._tubevector.eval(x._t) << flush; - return os; - } - -} // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeVectorEvaluation.h b/src/core/2/domains/tube/codac2_TubeVectorEvaluation.h deleted file mode 100644 index 3cb63030e..000000000 --- a/src/core/2/domains/tube/codac2_TubeVectorEvaluation.h +++ /dev/null @@ -1,49 +0,0 @@ -/** - * \file - * - * ---------------------------------------------------------------------------- - * \date 2022 - * \author Simon Rohou - * \copyright Copyright 2022 Codac Team - * \license This program is distributed under the terms of - * the GNU Lesser General Public License (LGPL). - */ - -#ifndef __CODAC2_TUBEVECTOREVALUATION_H__ -#define __CODAC2_TUBEVECTOREVALUATION_H__ - -#include -#include "codac_Interval.h" -#include "codac_Trajectory.h" -#include "codac2_TubeVector.h" -#include "ibex_Interval.h" - -namespace codac2 -{ - using codac::Interval; - - class TubeVector; - - class TubeVectorEvaluation - { - public: - - const TubeVectorEvaluation& operator=(const IntervalVector& x); - operator IntervalVector() const; - - friend std::ostream& operator<<(std::ostream& os, const TubeVectorEvaluation& x); - - - protected: - - friend class TubeVector; - explicit TubeVectorEvaluation(TubeVector& tubevector, double t); - explicit TubeVectorEvaluation(TubeVector& tubevector, const Interval& t); - - const Interval _t; - TubeVector& _tubevector; - }; - -} // namespace codac - -#endif \ No newline at end of file diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index e2376f488..777d5cb36 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -155,20 +155,17 @@ ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.h # Files related to codac2 - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_SliceVector.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_SliceVector.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractConstTube.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlice.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlice.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlicedTube.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlicedTube.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_Slice.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TDomain.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TDomain.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeAbstract_const.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeAbstract_const.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVector.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVector.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorComponent.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorComponent.h - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorEvaluation.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeVectorEvaluation.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_Tube.h ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.h ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.cpp diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp index c6f5605ff..4746b869d 100644 --- a/tests/core/tests_codac2_tubes.cpp +++ b/tests/core/tests_codac2_tubes.cpp @@ -7,7 +7,8 @@ #include "codac2_TDomain.h" #include "codac_predef_values.h" -#include "codac2_TubeVector.h" +#include "codac2_Tube.h" +#include "codac2_CtcDiffInclusion.h" using namespace Catch; using namespace Detail; @@ -41,11 +42,11 @@ TEST_CASE("Test codac2::tubes") CHECK(tdomain.iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); CHECK(tdomain.nb_tubes() == 0); - TubeVector x(2, tdomain); // adding a tubevector to the tdomain + Tube x(2, tdomain); // adding a tubevector to the tdomain CHECK(tdomain.nb_tubes() == 1); { // new scope - TubeVector v(3, tdomain); + Tube v(3, tdomain); CHECK(tdomain.nb_tubes() == 2); } // end of scope, auto removing the tube @@ -121,23 +122,77 @@ TEST_CASE("Test codac2::tubes") CHECK(vector_tslices[3].t0_tf() == Interval(10,oo)); } - SECTION("Test basic TubeVector") + SECTION("Test unbounded TDomain") + { + TDomain tdomain; + const list& tslices = tdomain.tslices(); + vector vector_tslices{ + make_move_iterator(tslices.begin()), + make_move_iterator(tslices.end()) }; + CHECK(tdomain.nb_tslices() == 1); + CHECK(vector_tslices.size() == 1); + CHECK(vector_tslices[0].t0_tf() == Interval(-oo,oo)); + } + + SECTION("Test TDomain with sampling and values") + { + TDomain tdomain; + CHECK(tdomain.nb_tslices() == 1); + Tube x(1, tdomain); + x.set(Interval(4)); + x(Interval(0,1)) = IntervalVector({{1,2}}); + x(Interval(1,2)) = IntervalVector({{5,6}}); + x(Interval(2,3)) = IntervalVector({{8,9}}); + CHECK(x.codomain() == IntervalVector({{1,9}})); + CHECK(static_cast(x(0.5)) == IntervalVector({{1,2}})); + CHECK(static_cast(x(1.5)) == IntervalVector({{5,6}})); + CHECK(static_cast(x(2.5)) == IntervalVector({{8,9}})); + + const std::shared_ptr> s0 = x.first_slice_ptr(); + CHECK(s0->t0_tf() == Interval(-oo,0)); + CHECK(s0->codomain() == IntervalVector({{4}})); + const std::shared_ptr> s1 = s0->next_slice(); + CHECK(s1->t0_tf() == Interval(0,1)); + CHECK(s1->codomain() == IntervalVector({{1,2}})); + const std::shared_ptr> s2 = s1->next_slice(); + CHECK(s2->t0_tf() == Interval(1,2)); + CHECK(s2->codomain() == IntervalVector({{5,6}})); + const std::shared_ptr> s3 = s2->next_slice(); + CHECK(s3->t0_tf() == Interval(2,3)); + CHECK(s3->codomain() == IntervalVector({{8,9}})); + const std::shared_ptr> s4 = s3->next_slice(); + CHECK(s4->t0_tf() == Interval(3,oo)); + CHECK(s4->codomain() == IntervalVector({{4}})); + + CHECK(tdomain.nb_tslices() == 5); + tdomain.sample(1.3); + CHECK(tdomain.nb_tslices() == 6); + CHECK(s2->t0_tf() == Interval(1,1.3)); + CHECK(s2->codomain() == IntervalVector({{5,6}})); + const std::shared_ptr> s2bis = s2->next_slice(); + CHECK(s2bis->t0_tf() == Interval(1.3,2)); + CHECK(s2bis->codomain() == IntervalVector({{5,6}})); + CHECK(s3->t0_tf() == Interval(2,3)); + CHECK(s3->codomain() == IntervalVector({{8,9}})); + } + + SECTION("Test basic Tube") { TDomain tdomain(Interval(0,1), 0.1, false); - TubeVector x(3, tdomain); + Tube x(3, tdomain); CHECK(x.size() == 3); CHECK(&x.tdomain() == &tdomain); CHECK(x.t0_tf() == Interval(0,1)); CHECK(x.nb_slices() == tdomain.nb_tslices()); CHECK(x.nb_slices() == 12); - CHECK(x.first_slice().t0_tf() == Interval(-oo,0)); - CHECK(x.last_slice().t0_tf() == Interval(1,oo)); + CHECK(x.first_slice_ptr()->t0_tf() == Interval(-oo,0)); + CHECK(x.last_slice_ptr()->t0_tf() == Interval(1,oo)); CHECK(x.codomain() == IntervalVector(3)); x.set(IntervalVector(3, Interval(-10,10))); CHECK(x.codomain() == IntervalVector(3, Interval(-10,10))); - // TubeVectorComponent + // TubeComponent CHECK(x[0].codomain() == Interval(-10,10)); CHECK(x[0].t0_tf() == Interval(0,1)); CHECK(&x[0].tdomain() == &tdomain); @@ -172,21 +227,21 @@ TEST_CASE("Test codac2::tubes") // Iterators tests { - SliceVector* s_ = &x.first_slice(); + shared_ptr> s_ = x.first_slice_ptr(); for(auto& s : x) { - CHECK(&s == s_); + CHECK(&s == &(*s_)); s_ = s_->next_slice(); } } // Iterators tests (const) { - const TubeVector y(x); // copy constructor - const SliceVector* s_ = &x.first_slice(); + const Tube y(x); // copy constructor + shared_ptr> s_ = x.first_slice_ptr(); for(const auto& s : x) { - CHECK(&s == s_); + CHECK(&s == &(*s_)); s_ = s_->next_slice(); } } @@ -195,15 +250,15 @@ TEST_CASE("Test codac2::tubes") SECTION("Test SliceVector") { TDomain tdomain(Interval(0,1), 0.1); - TubeVector x(2, tdomain); + Tube x(2, tdomain); CHECK(x.nb_slices() == 12); - CHECK(&x.first_slice() == &tdomain.iterator_tslice(-oo)->_slices.at(&x)); - CHECK(&x.last_slice() == &tdomain.iterator_tslice(oo)->_slices.at(&x)); + CHECK(x.first_slice_ptr() == tdomain.iterator_tslice(-oo)->_slices.at(&x)); + CHECK(x.last_slice_ptr() == tdomain.iterator_tslice(oo)->_slices.at(&x)); for(auto& s : x) s.set(IntervalVector(2,s.t0_tf())); - vector v; + vector*> v; for(const auto& s : x) v.push_back(&s); @@ -224,4 +279,55 @@ TEST_CASE("Test codac2::tubes") CHECK(v[11]->input_gate() == IntervalVector(2,Interval(1))); CHECK(v[11]->output_gate() == IntervalVector(2,Interval(1,oo))); } + + SECTION("Test again 1") + { + TDomain tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) + Tube x(2, tdomain, + codac::TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); + Tube u(2, tdomain); + + codac::TFunction tf("x[2]", "u[2]", "(sin(x[1]) ; -sin(x[0]))"); + CtcDiffInclusion ctc_diffincl(tf); + ctc_diffincl.contract(x,u); + + //vibes::beginDrawing(); + + codac::TubeVector x_codac1 = x.to_codac1(); // may take time + codac::Tube xi_codac1 = x[1].to_codac1(); // may take time + + //codac::VIBesFigTube fig("Tube"); + //fig.set_properties(100, 100, 600, 300); + //fig.add_tube(&xi_codac1, "x"); + //fig.show(true); + + //vibes::endDrawing(); + } + + SECTION("Test again 2") + { + /*{ + TDomain tdomain(Interval(0,10), 1., false); + Tube x(2, tdomain); + + for(auto& sx : x) + { + if(sx.t0_tf().contains(5.2)) + { + cout << "sample" << endl; + tdomain.sample(5.2); + } + cout << sx << endl; + } + }*/ + + { + codac::TFunction f("x1", "x2", "u1", "u2", "(t+u1+x1;t+u2+x2)"); + IntervalVector x({{2,3},{5,6}}); + IntervalVector u({{0,0.1},{0,0.1}}); + Interval t(5.); + //cout << f.eval_vector(t,x,u) << endl; + CHECK(f.eval_vector(t,x,u) == ApproxIntvVector(IntervalVector({{7, 8.100000000000002},{10, 11.10000000000001}}))); + } + } } \ No newline at end of file From a15c801fcbd8e277143d76daa4bc27b7ff49b4e6 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Fri, 10 Jun 2022 00:16:48 +0200 Subject: [PATCH 023/256] Minor updates in choco package --- packages/choco/codac/codac.nuspec | 4 ++-- packages/choco/codac/tools/chocolateyinstall.ps1 | 4 ++-- packages/choco/codac/tools/chocolateyuninstall.ps1 | 6 +++--- packages/choco/codac/tools/{regKeys.ps1 => sharedVars.ps1} | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) rename packages/choco/codac/tools/{regKeys.ps1 => sharedVars.ps1} (81%) diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index 98ca2ac48..c6620641f 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -21,8 +21,8 @@ Codac is a library providing tools for constraint programming over reals, trajec - Optionally, download and run https://github.com/ENSTABretagneRobotics/VIBES/releases/download/0.2.3/VIBes-0.2.3-win32.exe before running the project, and check that a tube appears in VIBes window. ## Troubleshooting -- Check that all the packages and their dependencies were installed, if one failed (e.g. due to network-related errors) try to reinstall it using --force or try a previous version... -- 32 bit versions of latest Qt Creator do not seem available, if needed use `choco install -y qtcreator --version=4.13.3 --x86 --force` +- Check that all the packages and their dependencies were installed, if one failed (e.g. due to network-related errors) try to reinstall it using `--force` or try a previous version... +- 32 bit versions of Qt Creator do not seem available any more, see https://github.com/AdmiringWorm/chocolatey-packages/issues/362. - If multiple compilers are already installed, Qt Creator might show multiple possibilities in the Configure Project panel, ensure you choose one compatible with https://chocolatey.org/packages/codac#dependencies. https://github.com/codac-team/codac/releases diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index 1f8d009f9..7b030baa2 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -1,7 +1,7 @@ $ErrorActionPreference = 'Stop'; # Stop on all errors. -# Source registry key values which are shared between install and uninstall. -. $PSScriptRoot\regKeys.ps1 +# Source variables which are shared between install and uninstall. +. $PSScriptRoot\sharedVars.ps1 New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$env:ChocolateyPackageFolder\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force diff --git a/packages/choco/codac/tools/chocolateyuninstall.ps1 b/packages/choco/codac/tools/chocolateyuninstall.ps1 index 2bd9f0c14..37cecf4ea 100644 --- a/packages/choco/codac/tools/chocolateyuninstall.ps1 +++ b/packages/choco/codac/tools/chocolateyuninstall.ps1 @@ -1,13 +1,13 @@ $ErrorActionPreference = 'Stop'; # Stop on all errors. -# Source registry key values which are shared between install and uninstall. -. $PSScriptRoot\regKeys.ps1 +# Source variables which are shared between install and uninstall. +. $PSScriptRoot\sharedVars.ps1 #Uninstall-BinFile -Name libcodac-rob.a #Uninstall-BinFile -Name libcodac.a if (Test-Path $CMakeRegistryPath) { - if (Test-Path $CMakeSystemRepositoryPath) { + if (Test-Path $CMakeSystemRepositoryPath\$CMakePackageName) { Remove-Item "$CMakeSystemRepositoryPath\$CMakePackageName" } } diff --git a/packages/choco/codac/tools/regKeys.ps1 b/packages/choco/codac/tools/sharedVars.ps1 similarity index 81% rename from packages/choco/codac/tools/regKeys.ps1 rename to packages/choco/codac/tools/sharedVars.ps1 index bd2b02620..1a1a238d4 100644 --- a/packages/choco/codac/tools/regKeys.ps1 +++ b/packages/choco/codac/tools/sharedVars.ps1 @@ -1,3 +1,3 @@ $CMakeRegistryPath = "HKCU:\SOFTWARE\Kitware\CMake" $CMakeSystemRepositoryPath = "HKLM:\SOFTWARE\Kitware\CMake\Packages" -$CMakePackageName = "Codac" \ No newline at end of file +$CMakePackageName = "Codac" From e6e1448bf253b59e1f8e904996823b5c521cbd85 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 3 Aug 2022 00:30:02 +0200 Subject: [PATCH 024/256] EIGEN3_VERSION should be Eigen3_VERSION --- CMakeLists.txt | 2 +- doc/doc/install/03-start-cpp-project.rst | 2 +- examples/basics/01_arithmetic/CMakeLists.txt | 2 +- examples/basics/02_simple_ctc/CMakeLists.txt | 2 +- examples/basics/03_ivp_msinx/CMakeLists.txt | 2 +- examples/basics/04_simple_eval/CMakeLists.txt | 2 +- examples/basics/05_graphics/CMakeLists.txt | 2 +- examples/basics/06_ctc_comparisons/CMakeLists.txt | 2 +- examples/basics/07_temporal_ctc/CMakeLists.txt | 2 +- examples/basics/08_tube_paving/CMakeLists.txt | 2 +- examples/basics/09_cn_paving/CMakeLists.txt | 2 +- examples/brunovsky/CMakeLists.txt | 2 +- examples/lie_group/05_loc/CMakeLists.txt | 2 +- examples/linobs/01_paper/CMakeLists.txt | 2 +- examples/robotics/01_causal_chain/CMakeLists.txt | 2 +- examples/robotics/03_drifting_clock/CMakeLists.txt | 2 +- examples/robotics/04_redermor_traj/CMakeLists.txt | 2 +- examples/robotics/05_loops_detec/CMakeLists.txt | 2 +- examples/robotics/06_loops_proofs/CMakeLists.txt | 2 +- examples/robotics/07_dynloc/CMakeLists.txt | 2 +- examples/robotics/08_tubepaving/CMakeLists.txt | 2 +- examples/robotics/09_lissajous/CMakeLists.txt | 2 +- examples/robotics/10_datasso/CMakeLists.txt | 2 +- examples/robotics/11_explored_area/CMakeLists.txt | 2 +- examples/robotics/old_ex_02_lowcost_beacons/CMakeLists.txt | 2 +- examples/tuto/01_getting_started/CMakeLists.txt | 2 +- examples/tuto/02_static_rangeonly/CMakeLists.txt | 2 +- examples/tuto/03_static_rangebearing/CMakeLists.txt | 2 +- examples/tuto/04_dyn_rangeonly/CMakeLists.txt | 2 +- examples/tuto/05_dyn_rangebearing/CMakeLists.txt | 2 +- tests/test_codac/CMakeLists.txt | 2 +- 31 files changed, 31 insertions(+), 31 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index bd2086804..af26de3a3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -105,7 +105,7 @@ ################################################################################ find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") add_definitions(${EIGEN3_DEFINITIONS}) include_directories(${EIGEN3_INCLUDE_DIRS}) diff --git a/doc/doc/install/03-start-cpp-project.rst b/doc/doc/install/03-start-cpp-project.rst index b2d469dd2..357004ece 100644 --- a/doc/doc/install/03-start-cpp-project.rst +++ b/doc/doc/install/03-start-cpp-project.rst @@ -56,7 +56,7 @@ For the compilation of your project, you can use CMake with the following file : # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/01_arithmetic/CMakeLists.txt b/examples/basics/01_arithmetic/CMakeLists.txt index 1891afbb6..d6ff347ac 100644 --- a/examples/basics/01_arithmetic/CMakeLists.txt +++ b/examples/basics/01_arithmetic/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/02_simple_ctc/CMakeLists.txt b/examples/basics/02_simple_ctc/CMakeLists.txt index 6c9f32d38..25a26cc1d 100644 --- a/examples/basics/02_simple_ctc/CMakeLists.txt +++ b/examples/basics/02_simple_ctc/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/03_ivp_msinx/CMakeLists.txt b/examples/basics/03_ivp_msinx/CMakeLists.txt index f4d63550d..ee88055de 100644 --- a/examples/basics/03_ivp_msinx/CMakeLists.txt +++ b/examples/basics/03_ivp_msinx/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/04_simple_eval/CMakeLists.txt b/examples/basics/04_simple_eval/CMakeLists.txt index 189540e73..afd4d6846 100644 --- a/examples/basics/04_simple_eval/CMakeLists.txt +++ b/examples/basics/04_simple_eval/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/05_graphics/CMakeLists.txt b/examples/basics/05_graphics/CMakeLists.txt index b03a30669..ce17103b8 100644 --- a/examples/basics/05_graphics/CMakeLists.txt +++ b/examples/basics/05_graphics/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/06_ctc_comparisons/CMakeLists.txt b/examples/basics/06_ctc_comparisons/CMakeLists.txt index 885a8e847..fe609601b 100644 --- a/examples/basics/06_ctc_comparisons/CMakeLists.txt +++ b/examples/basics/06_ctc_comparisons/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/07_temporal_ctc/CMakeLists.txt b/examples/basics/07_temporal_ctc/CMakeLists.txt index acfb11f37..ca6cc42c5 100644 --- a/examples/basics/07_temporal_ctc/CMakeLists.txt +++ b/examples/basics/07_temporal_ctc/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/08_tube_paving/CMakeLists.txt b/examples/basics/08_tube_paving/CMakeLists.txt index a78dc8995..493af73e3 100644 --- a/examples/basics/08_tube_paving/CMakeLists.txt +++ b/examples/basics/08_tube_paving/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/basics/09_cn_paving/CMakeLists.txt b/examples/basics/09_cn_paving/CMakeLists.txt index bdc4b90c6..b41f34686 100644 --- a/examples/basics/09_cn_paving/CMakeLists.txt +++ b/examples/basics/09_cn_paving/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/brunovsky/CMakeLists.txt b/examples/brunovsky/CMakeLists.txt index e4e4bd373..d597134e0 100755 --- a/examples/brunovsky/CMakeLists.txt +++ b/examples/brunovsky/CMakeLists.txt @@ -33,7 +33,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/lie_group/05_loc/CMakeLists.txt b/examples/lie_group/05_loc/CMakeLists.txt index 2be59bfb3..803c4cc82 100644 --- a/examples/lie_group/05_loc/CMakeLists.txt +++ b/examples/lie_group/05_loc/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/linobs/01_paper/CMakeLists.txt b/examples/linobs/01_paper/CMakeLists.txt index 8e7e15165..fa1588248 100644 --- a/examples/linobs/01_paper/CMakeLists.txt +++ b/examples/linobs/01_paper/CMakeLists.txt @@ -32,7 +32,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/01_causal_chain/CMakeLists.txt b/examples/robotics/01_causal_chain/CMakeLists.txt index 5bc663c25..bf6ea5e14 100644 --- a/examples/robotics/01_causal_chain/CMakeLists.txt +++ b/examples/robotics/01_causal_chain/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/03_drifting_clock/CMakeLists.txt b/examples/robotics/03_drifting_clock/CMakeLists.txt index 547b492f9..e209c48fd 100644 --- a/examples/robotics/03_drifting_clock/CMakeLists.txt +++ b/examples/robotics/03_drifting_clock/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/04_redermor_traj/CMakeLists.txt b/examples/robotics/04_redermor_traj/CMakeLists.txt index 48564d05e..40e74c9ac 100644 --- a/examples/robotics/04_redermor_traj/CMakeLists.txt +++ b/examples/robotics/04_redermor_traj/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/05_loops_detec/CMakeLists.txt b/examples/robotics/05_loops_detec/CMakeLists.txt index e87c167a1..7ae0bd07a 100644 --- a/examples/robotics/05_loops_detec/CMakeLists.txt +++ b/examples/robotics/05_loops_detec/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/06_loops_proofs/CMakeLists.txt b/examples/robotics/06_loops_proofs/CMakeLists.txt index a96881fba..1ccc07c8b 100644 --- a/examples/robotics/06_loops_proofs/CMakeLists.txt +++ b/examples/robotics/06_loops_proofs/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/07_dynloc/CMakeLists.txt b/examples/robotics/07_dynloc/CMakeLists.txt index 93be85b80..cfd40c968 100644 --- a/examples/robotics/07_dynloc/CMakeLists.txt +++ b/examples/robotics/07_dynloc/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/08_tubepaving/CMakeLists.txt b/examples/robotics/08_tubepaving/CMakeLists.txt index 68bb93c1b..c6bdde470 100644 --- a/examples/robotics/08_tubepaving/CMakeLists.txt +++ b/examples/robotics/08_tubepaving/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/09_lissajous/CMakeLists.txt b/examples/robotics/09_lissajous/CMakeLists.txt index 58cee6e1d..2a05be0dd 100644 --- a/examples/robotics/09_lissajous/CMakeLists.txt +++ b/examples/robotics/09_lissajous/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/10_datasso/CMakeLists.txt b/examples/robotics/10_datasso/CMakeLists.txt index 94196110d..b6fe31adc 100644 --- a/examples/robotics/10_datasso/CMakeLists.txt +++ b/examples/robotics/10_datasso/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/11_explored_area/CMakeLists.txt b/examples/robotics/11_explored_area/CMakeLists.txt index 02561f5f6..8fa92bfa0 100644 --- a/examples/robotics/11_explored_area/CMakeLists.txt +++ b/examples/robotics/11_explored_area/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/robotics/old_ex_02_lowcost_beacons/CMakeLists.txt b/examples/robotics/old_ex_02_lowcost_beacons/CMakeLists.txt index 15e033f33..01db341ef 100644 --- a/examples/robotics/old_ex_02_lowcost_beacons/CMakeLists.txt +++ b/examples/robotics/old_ex_02_lowcost_beacons/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/tuto/01_getting_started/CMakeLists.txt b/examples/tuto/01_getting_started/CMakeLists.txt index e4c08cf53..962185fbe 100644 --- a/examples/tuto/01_getting_started/CMakeLists.txt +++ b/examples/tuto/01_getting_started/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/tuto/02_static_rangeonly/CMakeLists.txt b/examples/tuto/02_static_rangeonly/CMakeLists.txt index da0ba5d99..65664cbdc 100644 --- a/examples/tuto/02_static_rangeonly/CMakeLists.txt +++ b/examples/tuto/02_static_rangeonly/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/tuto/03_static_rangebearing/CMakeLists.txt b/examples/tuto/03_static_rangebearing/CMakeLists.txt index 5ee96f0dd..1a1c05427 100644 --- a/examples/tuto/03_static_rangebearing/CMakeLists.txt +++ b/examples/tuto/03_static_rangebearing/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/tuto/04_dyn_rangeonly/CMakeLists.txt b/examples/tuto/04_dyn_rangeonly/CMakeLists.txt index 7bae7641b..f9fd5729a 100644 --- a/examples/tuto/04_dyn_rangeonly/CMakeLists.txt +++ b/examples/tuto/04_dyn_rangeonly/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/examples/tuto/05_dyn_rangebearing/CMakeLists.txt b/examples/tuto/05_dyn_rangebearing/CMakeLists.txt index 8b512ca5b..e3984a7f2 100644 --- a/examples/tuto/05_dyn_rangebearing/CMakeLists.txt +++ b/examples/tuto/05_dyn_rangebearing/CMakeLists.txt @@ -22,7 +22,7 @@ # set(CMAKE_PREFIX_PATH "~/eigen/build_install") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac diff --git a/tests/test_codac/CMakeLists.txt b/tests/test_codac/CMakeLists.txt index a58e96bba..2d5ee4323 100644 --- a/tests/test_codac/CMakeLists.txt +++ b/tests/test_codac/CMakeLists.txt @@ -23,7 +23,7 @@ cmake_minimum_required(VERSION 3.0.2) set(CMAKE_PREFIX_PATH "../eigen") find_package(Eigen3 REQUIRED NO_MODULE) - message(STATUS "Found Eigen3 version ${EIGEN3_VERSION}") + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") # Adding Codac From 4c3607a30664e5b8bdf049841525651128ee630a Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 9 Aug 2022 20:34:10 +0200 Subject: [PATCH 025/256] Updated workflows --- .github/workflows/macosmatrix.yml | 1 + .github/workflows/tests.yml | 1 + .github/workflows/unixmatrix.yml | 1 + .github/workflows/vcmatrix.yml | 1 + 4 files changed, 4 insertions(+) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 6f0cb2de2..83953c682 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -13,6 +13,7 @@ jobs: run: shell: ${{ matrix.cfg.shell }} strategy: + fail-fast: false matrix: cfg: # - { os: macos-11, shell: bash, arch: x64, runtime: bigsur, cmake_flags: '-fPIC', cpcfg: '-macosx_11_0_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10' } diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index 3f1c68c34..92b8bbad8 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -9,6 +9,7 @@ jobs: tests: runs-on: ${{ matrix.cfg.os }} strategy: + fail-fast: false matrix: cfg: - { os: ubuntu-18.04, gcc_v: 8, py_v_maj: 3, py_v_min: 6, desc: 'Ubuntu 18.04 GCC 8 Python 3.6 tests' } diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 5fee6b491..e0e2dff2c 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -26,6 +26,7 @@ jobs: run: shell: ${{ matrix.cfg.shell }} strategy: + fail-fast: false matrix: cfg: - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', cmake_config: '--config Release', cmake_codac_config: '--config Debug', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 5830b2afb..91804df75 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -13,6 +13,7 @@ jobs: run: shell: ${{ matrix.cfg.shell }} strategy: + fail-fast: false matrix: cfg: - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x86 Python 3.10' } From b1229aa91481c393ef2235435036785e67a7fb99 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 9 Aug 2022 21:14:08 +0200 Subject: [PATCH 026/256] Updated workflows --- .github/workflows/unixmatrix.yml | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index e0e2dff2c..441e424cf 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -29,12 +29,12 @@ jobs: fail-fast: false matrix: cfg: - - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', cmake_config: '--config Release', cmake_codac_config: '--config Debug', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', cmake_config: '--config Release', cmake_codac_config: '--config Debug', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', cmake_config: '--config Release', cmake_codac_config: '--config Debug', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', cmake_config: '--config Release', cmake_codac_config: '--config Debug', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', cmake_config: '--config Release', cmake_codac_config: '--config Debug', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', cmake_config: '--config Release', cmake_codac_config: '--config Debug', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x86' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x86' } + - { os: windows-2019, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } + - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x86' } + - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } + - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x86' } - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows Qt 5.12.6 MinGW 7.3.0 x86' } @@ -107,13 +107,13 @@ jobs: if: runner.os=='Linux' - run: brew install eigen if: runner.os=='macOS' - - run: git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . ${{ matrix.cfg.cmake_config }} --target install ; cd ../.. + - run: git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. shell: bash if: ((runner.os=='Windows')&&(matrix.cfg.runtime!='mingw8'))||((runner.os!='Windows')&&(runner.os!='Linux')) - run: | mkdir build ; cd build cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" .. - cmake --build . ${{ matrix.cfg.cmake_codac_config }} --target install + cmake --build . --config Debug --target install cd .. shell: bash - run: | @@ -121,7 +121,7 @@ jobs: wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools cp -Rf ../ibex . ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac_standalone ; cd codac_standalone/example cmake ${{ matrix.cfg.cmake_params }} . - cmake --build . ${{ matrix.cfg.cmake_config }} + cmake --build . --config Release ./${{ matrix.cfg.test_config }}my_project cd ../.. shell: bash @@ -156,7 +156,7 @@ jobs: rm -Rf codac cd tests/test_codac cmake ${{ matrix.cfg.cmake_params }} . - cmake --build . ${{ matrix.cfg.cmake_config }} + cmake --build . --config Release ./${{ matrix.cfg.test_config }}my_project shell: bash if: ((runner.os=='Windows')&&(matrix.cfg.runtime=='mingw8'))||(runner.os=='Linux') From 2cebdea03bb58146656238e4201875cc4d66beb6 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Fri, 10 Jun 2022 00:47:35 +0200 Subject: [PATCH 027/256] Updated catch.hpp for C++17 compatibility --- tests/catch/catch.hpp | 368 ++++++++++++++++++++++++++++++------------ 1 file changed, 261 insertions(+), 107 deletions(-) diff --git a/tests/catch/catch.hpp b/tests/catch/catch.hpp index ca410f41a..6bcdd0450 100644 --- a/tests/catch/catch.hpp +++ b/tests/catch/catch.hpp @@ -1,6 +1,6 @@ /* - * Catch v1.5.6 - * Generated: 2016-06-09 19:20:41.460328 + * Catch v1.6.1 + * Generated: 2017-01-20 12:33:53.497767 * ---------------------------------------------------------- * This file has been merged from multiple headers. Please don't edit it directly * Copyright (c) 2012 Two Blue Cubes Ltd. All rights reserved. @@ -60,21 +60,6 @@ // #included from: catch_common.h #define TWOBLUECUBES_CATCH_COMMON_H_INCLUDED -#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line -#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) -#ifdef CATCH_CONFIG_COUNTER -# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ ) -#else -# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ ) -#endif - -#define INTERNAL_CATCH_STRINGIFY2( expr ) #expr -#define INTERNAL_CATCH_STRINGIFY( expr ) INTERNAL_CATCH_STRINGIFY2( expr ) - -#include -#include -#include - // #included from: catch_compiler_capabilities.h #define TWOBLUECUBES_CATCH_COMPILER_CAPABILITIES_HPP_INCLUDED @@ -181,6 +166,7 @@ #if (_MSC_VER >= 1900 ) // (VC++ 13 (VS2015)) #define CATCH_INTERNAL_CONFIG_CPP11_NOEXCEPT #define CATCH_INTERNAL_CONFIG_CPP11_GENERATED_METHODS +#define CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE #endif #endif // _MSC_VER @@ -246,6 +232,9 @@ # if !defined(CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) # define CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR # endif +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE) +# define CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE +# endif #endif // __cplusplus >= 201103L @@ -268,18 +257,24 @@ #if defined(CATCH_INTERNAL_CONFIG_VARIADIC_MACROS) && !defined(CATCH_CONFIG_NO_VARIADIC_MACROS) && !defined(CATCH_CONFIG_VARIADIC_MACROS) # define CATCH_CONFIG_VARIADIC_MACROS #endif -#if defined(CATCH_INTERNAL_CONFIG_CPP11_LONG_LONG) && !defined(CATCH_CONFIG_NO_LONG_LONG) && !defined(CATCH_CONFIG_CPP11_LONG_LONG) && !defined(CATCH_CONFIG_NO_CPP11) +#if defined(CATCH_INTERNAL_CONFIG_CPP11_LONG_LONG) && !defined(CATCH_CONFIG_CPP11_NO_LONG_LONG) && !defined(CATCH_CONFIG_CPP11_LONG_LONG) && !defined(CATCH_CONFIG_NO_CPP11) # define CATCH_CONFIG_CPP11_LONG_LONG #endif -#if defined(CATCH_INTERNAL_CONFIG_CPP11_OVERRIDE) && !defined(CATCH_CONFIG_NO_OVERRIDE) && !defined(CATCH_CONFIG_CPP11_OVERRIDE) && !defined(CATCH_CONFIG_NO_CPP11) +#if defined(CATCH_INTERNAL_CONFIG_CPP11_OVERRIDE) && !defined(CATCH_CONFIG_CPP11_NO_OVERRIDE) && !defined(CATCH_CONFIG_CPP11_OVERRIDE) && !defined(CATCH_CONFIG_NO_CPP11) # define CATCH_CONFIG_CPP11_OVERRIDE #endif -#if defined(CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_NO_UNIQUE_PTR) && !defined(CATCH_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_NO_CPP11) +#if defined(CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_CPP11_NO_UNIQUE_PTR) && !defined(CATCH_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_NO_CPP11) # define CATCH_CONFIG_CPP11_UNIQUE_PTR #endif -#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) +// Use of __COUNTER__ is suppressed if __JETBRAINS_IDE__ is #defined (meaning we're being parsed by a JetBrains IDE for +// analytics) because, at time of writing, __COUNTER__ is not properly handled by it. +// This does not affect compilation +#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) && !defined(__JETBRAINS_IDE__) # define CATCH_CONFIG_COUNTER #endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE) && !defined(CATCH_CONFIG_CPP11_NO_SHUFFLE) && !defined(CATCH_CONFIG_CPP11_SHUFFLE) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_SHUFFLE +#endif #if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) # define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS @@ -315,6 +310,21 @@ # define CATCH_AUTO_PTR( T ) std::auto_ptr #endif +#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line +#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) +#ifdef CATCH_CONFIG_COUNTER +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ ) +#else +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ ) +#endif + +#define INTERNAL_CATCH_STRINGIFY2( expr ) #expr +#define INTERNAL_CATCH_STRINGIFY( expr ) INTERNAL_CATCH_STRINGIFY2( expr ) + +#include +#include +#include + namespace Catch { struct IConfig; @@ -404,9 +414,8 @@ namespace Catch { std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ); // This is just here to avoid compiler warnings with macro constants and boolean literals - inline bool isTrue( bool value ){ return value; } - inline bool alwaysTrue() { return true; } - inline bool alwaysFalse() { return false; } + inline bool alwaysTrue( std::size_t = 0 ) { return true; } + inline bool alwaysFalse( std::size_t = 0 ) { return false; } void throwLogicError( std::string const& message, SourceLineInfo const& locationInfo ); @@ -669,7 +678,7 @@ struct NameAndDesc { void registerTestCase ( ITestCase* testCase, - char const* class_name, + char const* className, NameAndDesc const& nameAndDesc, SourceLineInfo const& lineInfo ); @@ -683,13 +692,13 @@ struct AutoReg { template AutoReg ( void (C::*method)(), - char const* class_name, + char const* className, NameAndDesc const& nameAndDesc, SourceLineInfo const& lineInfo ) { registerTestCase ( new MethodTestCase( method ), - class_name, + className, nameAndDesc, lineInfo ); } @@ -1998,11 +2007,19 @@ namespace Catch { #define TWOBLUECUBES_CATCH_PLATFORM_H_INCLUDED #if defined(__MAC_OS_X_VERSION_MIN_REQUIRED) -#define CATCH_PLATFORM_MAC +# define CATCH_PLATFORM_MAC #elif defined(__IPHONE_OS_VERSION_MIN_REQUIRED) -#define CATCH_PLATFORM_IPHONE +# define CATCH_PLATFORM_IPHONE +#elif defined(linux) || defined(__linux) || defined(__linux__) +# define CATCH_PLATFORM_LINUX #elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) -#define CATCH_PLATFORM_WINDOWS +# define CATCH_PLATFORM_WINDOWS +# if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX) +# define CATCH_DEFINES_NOMINMAX +# endif +# if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN) +# define CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# endif #endif #include @@ -2019,25 +2036,36 @@ namespace Catch{ // http://cocoawithlove.com/2008/03/break-into-debugger.html #ifdef DEBUG #if defined(__ppc64__) || defined(__ppc__) - #define CATCH_BREAK_INTO_DEBUGGER() \ - if( Catch::isDebuggerActive() ) { \ + #define CATCH_TRAP() \ __asm__("li r0, 20\nsc\nnop\nli r0, 37\nli r4, 2\nsc\nnop\n" \ - : : : "memory","r0","r3","r4" ); \ - } + : : : "memory","r0","r3","r4" ) #else - #define CATCH_BREAK_INTO_DEBUGGER() if( Catch::isDebuggerActive() ) {__asm__("int $3\n" : : );} + #define CATCH_TRAP() _asm__("int $3\n" : : ) #endif #endif +#elif defined(CATCH_PLATFORM_LINUX) + // If we can use inline assembler, do it because this allows us to break + // directly at the location of the failing check instead of breaking inside + // raise() called from it, i.e. one stack frame below. + #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64)) + #define CATCH_TRAP() asm volatile ("int $3") + #else // Fall back to the generic way. + #include + + #define CATCH_TRAP() raise(SIGTRAP) + #endif #elif defined(_MSC_VER) - #define CATCH_BREAK_INTO_DEBUGGER() if( Catch::isDebuggerActive() ) { __debugbreak(); } + #define CATCH_TRAP() __debugbreak() #elif defined(__MINGW32__) extern "C" __declspec(dllimport) void __stdcall DebugBreak(); - #define CATCH_BREAK_INTO_DEBUGGER() if( Catch::isDebuggerActive() ) { DebugBreak(); } + #define CATCH_TRAP() DebugBreak() #endif -#ifndef CATCH_BREAK_INTO_DEBUGGER -#define CATCH_BREAK_INTO_DEBUGGER() Catch::alwaysTrue(); +#ifdef CATCH_TRAP + #define CATCH_BREAK_INTO_DEBUGGER() if( Catch::isDebuggerActive() ) { CATCH_TRAP(); } +#else + #define CATCH_BREAK_INTO_DEBUGGER() Catch::alwaysTrue(); #endif // #included from: catch_interfaces_runner.h @@ -2073,7 +2101,7 @@ namespace Catch { __catchResult.useActiveException( Catch::ResultDisposition::Normal ); \ } \ INTERNAL_CATCH_REACT( __catchResult ) \ - } while( Catch::isTrue( false && !!(expr) ) ) // expr here is never evaluated at runtime but it forces the compiler to give it a look + } while( Catch::alwaysFalse( sizeof(expr) ) ) // expr here is never evaluated at runtime but it forces the compiler to give it a look /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_IF( expr, resultDisposition, macroName ) \ @@ -2668,6 +2696,26 @@ namespace Detail { return !operator==( rhs, lhs ); } + friend bool operator <= ( double lhs, Approx const& rhs ) + { + return lhs < rhs.m_value || lhs == rhs; + } + + friend bool operator <= ( Approx const& lhs, double rhs ) + { + return lhs.m_value < rhs || lhs == rhs; + } + + friend bool operator >= ( double lhs, Approx const& rhs ) + { + return lhs > rhs.m_value || lhs == rhs; + } + + friend bool operator >= ( Approx const& lhs, double rhs ) + { + return lhs.m_value > rhs || lhs == rhs; + } + Approx& epsilon( double newEpsilon ) { m_epsilon = newEpsilon; return *this; @@ -2826,7 +2874,7 @@ namespace Catch { }; TestCaseInfo( std::string const& _name, - std::string const& _class_name, + std::string const& _className, std::string const& _description, std::set const& _tags, SourceLineInfo const& _lineInfo ); @@ -2841,7 +2889,7 @@ namespace Catch { bool expectedToFail() const; std::string name; - std::string class_name; + std::string className; std::string description; std::set tags; std::set lcaseTags; @@ -2872,7 +2920,7 @@ namespace Catch { }; TestCase makeTestCase( ITestCase* testCase, - std::string const& class_name, + std::string const& className, std::string const& name, std::string const& description, SourceLineInfo const& lineInfo ); @@ -2964,9 +3012,9 @@ namespace Catch { std::string testCaseName = methodName.substr( 15 ); std::string name = Detail::getAnnotation( cls, "Name", testCaseName ); std::string desc = Detail::getAnnotation( cls, "Description", testCaseName ); - const char* class_name = class_getName( cls ); + const char* className = class_getName( cls ); - getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), class_name, name.c_str(), desc.c_str(), SourceLineInfo() ) ); + getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), className, name.c_str(), desc.c_str(), SourceLineInfo() ) ); noTestMethods++; } } @@ -3223,10 +3271,11 @@ namespace Catch { bool matches( TestCaseInfo const& testCase ) const { // All patterns in a filter must match for the filter to be a match - for( std::vector >::const_iterator it = m_patterns.begin(), itEnd = m_patterns.end(); it != itEnd; ++it ) + for( std::vector >::const_iterator it = m_patterns.begin(), itEnd = m_patterns.end(); it != itEnd; ++it ) { if( !(*it)->matches( testCase ) ) return false; - return true; + } + return true; } }; @@ -3256,11 +3305,12 @@ namespace Catch { namespace Catch { class TestSpecParser { - enum Mode{ None, Name, QuotedName, Tag }; + enum Mode{ None, Name, QuotedName, Tag, EscapedName }; Mode m_mode; bool m_exclusion; std::size_t m_start, m_pos; std::string m_arg; + std::vector m_escapeChars; TestSpec::Filter m_currentFilter; TestSpec m_testSpec; ITagAliasRegistry const* m_tagAliases; @@ -3273,6 +3323,7 @@ namespace Catch { m_exclusion = false; m_start = std::string::npos; m_arg = m_tagAliases->expandAliases( arg ); + m_escapeChars.clear(); for( m_pos = 0; m_pos < m_arg.size(); ++m_pos ) visitChar( m_arg[m_pos] ); if( m_mode == Name ) @@ -3291,6 +3342,7 @@ namespace Catch { case '~': m_exclusion = true; return; case '[': return startNewMode( Tag, ++m_pos ); case '"': return startNewMode( QuotedName, ++m_pos ); + case '\\': return escape(); default: startNewMode( Name, m_pos ); break; } } @@ -3306,7 +3358,11 @@ namespace Catch { addPattern(); startNewMode( Tag, ++m_pos ); } + else if( c == '\\' ) + escape(); } + else if( m_mode == EscapedName ) + m_mode = Name; else if( m_mode == QuotedName && c == '"' ) addPattern(); else if( m_mode == Tag && c == ']' ) @@ -3316,10 +3372,17 @@ namespace Catch { m_mode = mode; m_start = start; } + void escape() { + m_mode = EscapedName; + m_escapeChars.push_back( m_pos ); + } std::string subString() const { return m_arg.substr( m_start, m_pos - m_start ); } template void addPattern() { std::string token = subString(); + for( size_t i = 0; i < m_escapeChars.size(); ++i ) + token = token.substr( 0, m_escapeChars[i] ) + token.substr( m_escapeChars[i]+1 ); + m_escapeChars.clear(); if( startsWith( token, "exclude:" ) ) { m_exclusion = true; token = token.substr( 8 ); @@ -3427,6 +3490,7 @@ namespace Catch { #include #include #include +#include namespace Catch { @@ -3994,9 +4058,12 @@ namespace Clara { inline void convertInto( std::string const& _source, std::string& _dest ) { _dest = _source; } + char toLowerCh(char c) { + return static_cast( ::tolower( c ) ); + } inline void convertInto( std::string const& _source, bool& _dest ) { std::string sourceLC = _source; - std::transform( sourceLC.begin(), sourceLC.end(), sourceLC.begin(), ::tolower ); + std::transform( sourceLC.begin(), sourceLC.end(), sourceLC.begin(), toLowerCh ); if( sourceLC == "y" || sourceLC == "1" || sourceLC == "true" || sourceLC == "yes" || sourceLC == "on" ) _dest = true; else if( sourceLC == "n" || sourceLC == "0" || sourceLC == "false" || sourceLC == "no" || sourceLC == "off" ) @@ -4719,8 +4786,11 @@ namespace Catch { std::string line; while( std::getline( f, line ) ) { line = trim(line); - if( !line.empty() && !startsWith( line, "#" ) ) - addTestOrTags( config, "\"" + line + "\"," ); + if( !line.empty() && !startsWith( line, "#" ) ) { + if( !startsWith( line, "\"" ) ) + line = "\"" + line + "\""; + addTestOrTags( config, line + "," ); + } } } @@ -5368,7 +5438,10 @@ namespace Catch { ++it ) { matchedTests++; TestCaseInfo const& testCaseInfo = it->getTestCaseInfo(); - Catch::cout() << testCaseInfo.name << std::endl; + if( startsWith( testCaseInfo.name, "#" ) ) + Catch::cout() << "\"" << testCaseInfo.name << "\"" << std::endl; + else + Catch::cout() << testCaseInfo.name << std::endl; } return matchedTests; } @@ -6447,18 +6520,14 @@ namespace Catch { #include #include -#ifdef CATCH_CPP14_OR_GREATER -#include -#endif - namespace Catch { struct RandomNumberGenerator { - typedef int result_type; + typedef std::ptrdiff_t result_type; result_type operator()( result_type n ) const { return std::rand() % n; } -#ifdef CATCH_CPP14_OR_GREATER +#ifdef CATCH_CONFIG_CPP11_SHUFFLE static constexpr result_type min() { return 0; } static constexpr result_type max() { return 1000000; } result_type operator()() const { return std::rand() % max(); } @@ -6466,7 +6535,7 @@ namespace Catch { template static void shuffle( V& vector ) { RandomNumberGenerator rng; -#ifdef CATCH_CPP14_OR_GREATER +#ifdef CATCH_CONFIG_CPP11_SHUFFLE std::shuffle( vector.begin(), vector.end(), rng ); #else std::random_shuffle( vector.begin(), vector.end(), rng ); @@ -6589,16 +6658,16 @@ namespace Catch { }; inline std::string extractClassName( std::string const& classOrQualifiedMethodName ) { - std::string class_name = classOrQualifiedMethodName; - if( startsWith( class_name, "&" ) ) + std::string className = classOrQualifiedMethodName; + if( startsWith( className, "&" ) ) { - std::size_t lastColons = class_name.rfind( "::" ); - std::size_t penultimateColons = class_name.rfind( "::", lastColons-1 ); + std::size_t lastColons = className.rfind( "::" ); + std::size_t penultimateColons = className.rfind( "::", lastColons-1 ); if( penultimateColons == std::string::npos ) penultimateColons = 1; - class_name = class_name.substr( penultimateColons, lastColons-penultimateColons ); + className = className.substr( penultimateColons, lastColons-penultimateColons ); } - return class_name; + return className; } void registerTestCase @@ -6933,6 +7002,11 @@ namespace Catch { Context( Context const& ); void operator=( Context const& ); + public: + virtual ~Context() { + deleteAllValues( m_generatorsByTestName ); + } + public: // IContext virtual IResultCapture* getResultCapture() { return m_resultCapture; @@ -7046,8 +7120,15 @@ namespace Catch { #if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) ///////////////////////////////////////// -#ifndef NOMINMAX -#define NOMINMAX +// #included from: catch_windows_h_proxy.h + +#define TWOBLUECUBES_CATCH_WINDOWS_H_PROXY_H_INCLUDED + +#ifdef CATCH_DEFINES_NOMINMAX +# define NOMINMAX +#endif +#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# define WIN32_LEAN_AND_MEAN #endif #ifdef __AFXDLL @@ -7056,6 +7137,13 @@ namespace Catch { #include #endif +#ifdef CATCH_DEFINES_NOMINMAX +# undef NOMINMAX +#endif +#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# undef WIN32_LEAN_AND_MEAN +#endif + namespace Catch { namespace { @@ -7136,7 +7224,7 @@ namespace { case Colour::White: return setColour( "[0m" ); case Colour::Red: return setColour( "[0;31m" ); case Colour::Green: return setColour( "[0;32m" ); - case Colour::Blue: return setColour( "[0:34m" ); + case Colour::Blue: return setColour( "[0;34m" ); case Colour::Cyan: return setColour( "[0;36m" ); case Colour::Yellow: return setColour( "[0;33m" ); case Colour::Grey: return setColour( "[1;30m" ); @@ -7393,7 +7481,7 @@ namespace Catch { } TestCase makeTestCase( ITestCase* _testCase, - std::string const& _class_name, + std::string const& _className, std::string const& _name, std::string const& _descOrTags, SourceLineInfo const& _lineInfo ) @@ -7433,7 +7521,7 @@ namespace Catch { tags.insert( "." ); } - TestCaseInfo info( _name, _class_name, desc, tags, _lineInfo ); + TestCaseInfo info( _name, _className, desc, tags, _lineInfo ); return TestCase( _testCase, info ); } @@ -7453,12 +7541,12 @@ namespace Catch { } TestCaseInfo::TestCaseInfo( std::string const& _name, - std::string const& _class_name, + std::string const& _className, std::string const& _description, std::set const& _tags, SourceLineInfo const& _lineInfo ) : name( _name ), - class_name( _class_name ), + className( _className ), description( _description ), lineInfo( _lineInfo ), properties( None ) @@ -7468,7 +7556,7 @@ namespace Catch { TestCaseInfo::TestCaseInfo( TestCaseInfo const& other ) : name( other.name ), - class_name( other.class_name ), + className( other.className ), description( other.description ), tags( other.tags ), lcaseTags( other.lcaseTags ), @@ -7506,7 +7594,7 @@ namespace Catch { void TestCase::swap( TestCase& other ) { test.swap( other.test ); name.swap( other.name ); - class_name.swap( other.class_name ); + className.swap( other.className ); description.swap( other.description ); tags.swap( other.tags ); lcaseTags.swap( other.lcaseTags ); @@ -7522,7 +7610,7 @@ namespace Catch { bool TestCase::operator == ( TestCase const& other ) const { return test.get() == other.test.get() && name == other.name && - class_name == other.class_name; + className == other.className; } bool TestCase::operator < ( TestCase const& other ) const { @@ -7571,7 +7659,7 @@ namespace Catch { return os; } - Version libraryVersion( 1, 5, 6, "", 0 ); + Version libraryVersion( 1, 6, 1, "", 0 ); } @@ -7742,7 +7830,6 @@ namespace Catch #endif #ifdef CATCH_PLATFORM_WINDOWS -#include #else #include #endif @@ -7802,8 +7889,11 @@ namespace Catch { bool contains( std::string const& s, std::string const& infix ) { return s.find( infix ) != std::string::npos; } + char toLowerCh(char c) { + return static_cast( ::tolower( c ) ); + } void toLowerInPlace( std::string& s ) { - std::transform( s.begin(), s.end(), s.begin(), ::tolower ); + std::transform( s.begin(), s.end(), s.begin(), toLowerCh ); } std::string toLower( std::string const& s ) { std::string lc = s; @@ -7979,6 +8069,33 @@ namespace Catch { } } // namespace Catch +#elif defined(CATCH_PLATFORM_LINUX) + #include + #include + + namespace Catch{ + // The standard POSIX way of detecting a debugger is to attempt to + // ptrace() the process, but this needs to be done from a child and not + // this process itself to still allow attaching to this process later + // if wanted, so is rather heavy. Under Linux we have the PID of the + // "debugger" (which doesn't need to be gdb, of course, it could also + // be strace, for example) in /proc/$PID/status, so just get it from + // there instead. + bool isDebuggerActive(){ + std::ifstream in("/proc/self/status"); + for( std::string line; std::getline(in, line); ) { + static const int PREFIX_LEN = 11; + if( line.compare(0, PREFIX_LEN, "TracerPid:\t") == 0 ) { + // We're traced if the PID is not 0 and no other PID starts + // with 0 digit, so it's enough to check for just a single + // character. + return line.length() > PREFIX_LEN && line[PREFIX_LEN] != '0'; + } + } + + return false; + } + } // namespace Catch #elif defined(_MSC_VER) extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent(); namespace Catch { @@ -8335,7 +8452,7 @@ namespace Catch { } std::string ResultBuilder::reconstructExpression() const { if( m_exprComponents.op == "" ) - return m_exprComponents.lhs.empty() ? m_assertionInfo.capturedExpression : m_exprComponents.op + m_exprComponents.lhs; + return m_exprComponents.lhs.empty() ? m_assertionInfo.capturedExpression : m_exprComponents.lhs; else if( m_exprComponents.op == "matches" ) return m_exprComponents.lhs + " " + m_exprComponents.rhs; else if( m_exprComponents.op != "!" ) { @@ -8951,9 +9068,10 @@ namespace Catch { break; default: - // Escape control chars - based on contribution by @espenalb in PR #465 - if ( ( c < '\x09' ) || ( c > '\x0D' && c < '\x20') || c=='\x7F' ) - os << "&#x" << std::uppercase << std::hex << static_cast( c ); + // Escape control chars - based on contribution by @espenalb in PR #465 and + // by @mrpi PR #588 + if ( ( c >= 0 && c < '\x09' ) || ( c > '\x0D' && c < '\x20') || c=='\x7F' ) + os << "&#x" << std::uppercase << std::hex << std::setfill('0') << std::setw(2) << static_cast( c ) << ';'; else os << c; } @@ -9008,13 +9126,20 @@ namespace Catch { : m_tagIsOpen( false ), m_needsNewline( false ), m_os( &Catch::cout() ) - {} + { + // We encode control characters, which requires + // XML 1.1 + // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0 + *m_os << "\n"; + } XmlWriter( std::ostream& os ) : m_tagIsOpen( false ), m_needsNewline( false ), m_os( &os ) - {} + { + *m_os << "\n"; + } ~XmlWriter() { while( !m_tags.empty() ) @@ -9148,6 +9273,7 @@ namespace Catch { public: XmlReporter( ReporterConfig const& _config ) : StreamingReporterBase( _config ), + m_xml(_config.stream()), m_sectionDepth( 0 ) { m_reporterPrefs.shouldRedirectStdOut = true; @@ -9167,7 +9293,6 @@ namespace Catch { virtual void testRunStarting( TestRunInfo const& testInfo ) CATCH_OVERRIDE { StreamingReporterBase::testRunStarting( testInfo ); - m_xml.setStream( stream ); m_xml.startElement( "Catch" ); if( !m_config->name().empty() ) m_xml.writeAttribute( "name", m_config->name() ); @@ -9181,7 +9306,7 @@ namespace Catch { virtual void testCaseStarting( TestCaseInfo const& testInfo ) CATCH_OVERRIDE { StreamingReporterBase::testCaseStarting(testInfo); - m_xml.startElement( "TestCase" ).writeAttribute( "name", trim( testInfo.name ) ); + m_xml.startElement( "TestCase" ).writeAttribute( "name", testInfo.name ); if ( m_config->showDurations() == ShowDurations::Always ) m_testCaseTimer.start(); @@ -9243,7 +9368,7 @@ namespace Catch { .writeText( assertionResult.getMessage() ); break; case ResultWas::FatalErrorCondition: - m_xml.scopedElement( "Fatal Error Condition" ) + m_xml.scopedElement( "FatalErrorCondition" ) .writeAttribute( "filename", assertionResult.getSourceInfo().file ) .writeAttribute( "line", assertionResult.getSourceInfo().line ) .writeText( assertionResult.getMessage() ); @@ -9331,6 +9456,35 @@ namespace Catch { namespace Catch { + namespace { + std::string getCurrentTimestamp() { + // Beware, this is not reentrant because of backward compatibility issues + // Also, UTC only, again because of backward compatibility (%z is C++11) + time_t rawtime; + std::time(&rawtime); + const size_t timeStampSize = sizeof("2017-01-16T17:06:45Z"); + +#ifdef CATCH_PLATFORM_WINDOWS + std::tm timeInfo = {}; + gmtime_s(&timeInfo, &rawtime); +#else + std::tm* timeInfo; + timeInfo = std::gmtime(&rawtime); +#endif + + char timeStamp[timeStampSize]; + const char * const fmt = "%Y-%m-%dT%H:%M:%SZ"; + +#ifdef CATCH_PLATFORM_WINDOWS + std::strftime(timeStamp, timeStampSize, fmt, &timeInfo); +#else + std::strftime(timeStamp, timeStampSize, fmt, timeInfo); +#endif + return std::string(timeStamp); + } + + } + class JunitReporter : public CumulativeReporterBase { public: JunitReporter( ReporterConfig const& _config ) @@ -9395,7 +9549,7 @@ namespace Catch { xml.writeAttribute( "time", "" ); else xml.writeAttribute( "time", suiteTime ); - xml.writeAttribute( "timestamp", "tbd" ); // !TBD + xml.writeAttribute( "timestamp", getCurrentTimestamp() ); // Write test cases for( TestGroupNode::ChildNodes::const_iterator @@ -9416,16 +9570,16 @@ namespace Catch { assert( testCaseNode.children.size() == 1 ); SectionNode const& rootSection = *testCaseNode.children.front(); - std::string class_name = stats.testInfo.class_name; + std::string className = stats.testInfo.className; - if( class_name.empty() ) { + if( className.empty() ) { if( rootSection.childSections.empty() ) - class_name = "global"; + className = "global"; } - writeSection( class_name, "", rootSection ); + writeSection( className, "", rootSection ); } - void writeSection( std::string const& class_name, + void writeSection( std::string const& className, std::string const& rootName, SectionNode const& sectionNode ) { std::string name = trim( sectionNode.stats.sectionInfo.name ); @@ -9436,12 +9590,12 @@ namespace Catch { !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty() ) { XmlWriter::ScopedElement e = xml.scopedElement( "testcase" ); - if( class_name.empty() ) { + if( className.empty() ) { xml.writeAttribute( "classname", name ); xml.writeAttribute( "name", "root" ); } else { - xml.writeAttribute( "classname", class_name ); + xml.writeAttribute( "classname", className ); xml.writeAttribute( "name", name ); } xml.writeAttribute( "time", Catch::toString( sectionNode.stats.durationInSeconds ) ); @@ -9458,10 +9612,10 @@ namespace Catch { itEnd = sectionNode.childSections.end(); it != itEnd; ++it ) - if( class_name.empty() ) + if( className.empty() ) writeSection( name, "", **it ); else - writeSection( class_name, name, **it ); + writeSection( className, name, **it ); } void writeAssertions( SectionNode const& sectionNode ) { @@ -10378,12 +10532,12 @@ int main (int argc, char * const argv[]) { #define CATCH_CHECKED_ELSE( expr ) INTERNAL_CATCH_ELSE( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECKED_ELSE" ) #define CATCH_CHECK_NOFAIL( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, "CATCH_CHECK_NOFAIL" ) -#define CATCH_CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THROWS" ) +#define CATCH_CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, "", "CATCH_CHECK_THROWS" ) #define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THROWS_AS" ) #define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, matcher, "CATCH_CHECK_THROWS_WITH" ) #define CATCH_CHECK_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_NOTHROW" ) -#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THAT" ) +#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THAT" ) #define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::Normal, "CATCH_REQUIRE_THAT" ) #define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( msg, "CATCH_INFO" ) @@ -10394,7 +10548,7 @@ int main (int argc, char * const argv[]) { #ifdef CATCH_CONFIG_VARIADIC_MACROS #define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ ) - #define CATCH_TEST_CASE_METHOD( class_name, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, __VA_ARGS__ ) + #define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ ) #define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ ) #define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ ) #define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ ) @@ -10402,7 +10556,7 @@ int main (int argc, char * const argv[]) { #define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "CATCH_SUCCEED", __VA_ARGS__ ) #else #define CATCH_TEST_CASE( name, description ) INTERNAL_CATCH_TESTCASE( name, description ) - #define CATCH_TEST_CASE_METHOD( class_name, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, name, description ) + #define CATCH_TEST_CASE_METHOD( className, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( className, name, description ) #define CATCH_METHOD_AS_TEST_CASE( method, name, description ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, name, description ) #define CATCH_REGISTER_TEST_CASE( function, name, description ) INTERNAL_CATCH_REGISTER_TESTCASE( function, name, description ) #define CATCH_SECTION( name, description ) INTERNAL_CATCH_SECTION( name, description ) @@ -10419,10 +10573,10 @@ int main (int argc, char * const argv[]) { // "BDD-style" convenience wrappers #ifdef CATCH_CONFIG_VARIADIC_MACROS #define CATCH_SCENARIO( ... ) CATCH_TEST_CASE( "Scenario: " __VA_ARGS__ ) -#define CATCH_SCENARIO_METHOD( class_name, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, "Scenario: " __VA_ARGS__ ) +#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ ) #else #define CATCH_SCENARIO( name, tags ) CATCH_TEST_CASE( "Scenario: " name, tags ) -#define CATCH_SCENARIO_METHOD( class_name, name, tags ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, "Scenario: " name, tags ) +#define CATCH_SCENARIO_METHOD( className, name, tags ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " name, tags ) #endif #define CATCH_GIVEN( desc ) CATCH_SECTION( std::string( "Given: ") + desc, "" ) #define CATCH_WHEN( desc ) CATCH_SECTION( std::string( " When: ") + desc, "" ) @@ -10463,7 +10617,7 @@ int main (int argc, char * const argv[]) { #ifdef CATCH_CONFIG_VARIADIC_MACROS #define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ ) - #define TEST_CASE_METHOD( class_name, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, __VA_ARGS__ ) + #define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ ) #define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ ) #define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ ) #define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ ) @@ -10471,7 +10625,7 @@ int main (int argc, char * const argv[]) { #define SUCCEED( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "SUCCEED", __VA_ARGS__ ) #else #define TEST_CASE( name, description ) INTERNAL_CATCH_TESTCASE( name, description ) - #define TEST_CASE_METHOD( class_name, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, name, description ) + #define TEST_CASE_METHOD( className, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( className, name, description ) #define METHOD_AS_TEST_CASE( method, name, description ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, name, description ) #define REGISTER_TEST_CASE( method, name, description ) INTERNAL_CATCH_REGISTER_TESTCASE( method, name, description ) #define SECTION( name, description ) INTERNAL_CATCH_SECTION( name, description ) @@ -10492,10 +10646,10 @@ int main (int argc, char * const argv[]) { // "BDD-style" convenience wrappers #ifdef CATCH_CONFIG_VARIADIC_MACROS #define SCENARIO( ... ) TEST_CASE( "Scenario: " __VA_ARGS__ ) -#define SCENARIO_METHOD( class_name, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, "Scenario: " __VA_ARGS__ ) +#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ ) #else #define SCENARIO( name, tags ) TEST_CASE( "Scenario: " name, tags ) -#define SCENARIO_METHOD( class_name, name, tags ) INTERNAL_CATCH_TEST_CASE_METHOD( class_name, "Scenario: " name, tags ) +#define SCENARIO_METHOD( className, name, tags ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " name, tags ) #endif #define GIVEN( desc ) SECTION( std::string(" Given: ") + desc, "" ) #define WHEN( desc ) SECTION( std::string(" When: ") + desc, "" ) From 995bdf81f40321096507c2ded8165efcab496f30 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 9 Aug 2022 20:46:15 +0200 Subject: [PATCH 028/256] Added more tests --- .github/workflows/macosmatrix.yml | 5 +++-- .github/workflows/unixmatrix.yml | 3 ++- .github/workflows/vcmatrix.yml | 5 +++-- scripts/docker/build_pybinding.sh | 5 ++++- src/unsupported/CMakeLists.txt | 2 +- 5 files changed, 13 insertions(+), 7 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 83953c682..0a51ae7c0 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -46,9 +46,10 @@ jobs: shell: bash - run: | mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D BUILD_TESTS=ON -D WITH_PYTHON=ON .. cmake --build . --config Release --target install - cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py + cmake --build . --config Release --target test -- ARGS="-V --output-on-failure" + cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests cd .. shell: bash - uses: xresloader/upload-to-github-release@v1 diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 441e424cf..161e88a9b 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -112,8 +112,9 @@ jobs: if: ((runner.os=='Windows')&&(matrix.cfg.runtime!='mingw8'))||((runner.os!='Windows')&&(runner.os!='Linux')) - run: | mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D BUILD_TESTS=ON .. cmake --build . --config Debug --target install + cmake --build . --config Debug --target test -- ARGS="-V --output-on-failure" cd .. shell: bash - run: | diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 91804df75..8b465e999 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -59,9 +59,10 @@ jobs: shell: bash - run: | mkdir build ; cd build - cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D BUILD_TESTS=ON -D WITH_PYTHON=ON .. cmake --build . --config Release --target install - cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py + cmake --build . --config Release --target test -- ARGS="-V --output-on-failure" + cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests cd .. shell: bash - uses: xresloader/upload-to-github-release@v1 diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index be0daf235..67f806577 100644 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -15,7 +15,10 @@ for PYBIN in /opt/python/cp3*/bin; do cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON .. make -j2 - make test ARGS="-V"s + make test ARGS="-V --output-on-failure" + echo "start of Testing/Temporary/LastTest.log" + cat Testing/Temporary/LastTest.log + echo "end of Testing/Temporary/LastTest.log" make pip_package echo "copy wheel and clean build_dir" for whl in *.whl; do diff --git a/src/unsupported/CMakeLists.txt b/src/unsupported/CMakeLists.txt index 8d8af4335..758fa4604 100644 --- a/src/unsupported/CMakeLists.txt +++ b/src/unsupported/CMakeLists.txt @@ -66,7 +66,7 @@ ################################################################################ add_library(codac-unsupported ${SRC}) - target_compile_options(codac-unsupported PUBLIC -w) + #target_compile_options(codac-unsupported PUBLIC -w) # todo: find a clean way to access codac header files? set(CODAC_HEADERS_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../include) From b121210b3eb4e84feb101be6308a3bb2f26b73ac Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 9 Aug 2022 22:17:59 +0200 Subject: [PATCH 029/256] Disabled tests for Windows and macOS --- .github/workflows/macosmatrix.yml | 5 ++--- .github/workflows/unixmatrix.yml | 3 +-- .github/workflows/vcmatrix.yml | 5 ++--- 3 files changed, 5 insertions(+), 8 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 0a51ae7c0..83953c682 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -46,10 +46,9 @@ jobs: shell: bash - run: | mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D BUILD_TESTS=ON -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. cmake --build . --config Release --target install - cmake --build . --config Release --target test -- ARGS="-V --output-on-failure" - cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests + cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py cd .. shell: bash - uses: xresloader/upload-to-github-release@v1 diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 161e88a9b..441e424cf 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -112,9 +112,8 @@ jobs: if: ((runner.os=='Windows')&&(matrix.cfg.runtime!='mingw8'))||((runner.os!='Windows')&&(runner.os!='Linux')) - run: | mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D BUILD_TESTS=ON .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" .. cmake --build . --config Debug --target install - cmake --build . --config Debug --target test -- ARGS="-V --output-on-failure" cd .. shell: bash - run: | diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 8b465e999..91804df75 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -59,10 +59,9 @@ jobs: shell: bash - run: | mkdir build ; cd build - cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D BUILD_TESTS=ON -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. cmake --build . --config Release --target install - cmake --build . --config Release --target test -- ARGS="-V --output-on-failure" - cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests + cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py cd .. shell: bash - uses: xresloader/upload-to-github-release@v1 From 1e6be728ea2052626723c61f737a74f573de809c Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 6 Aug 2022 14:34:05 +0200 Subject: [PATCH 030/256] macos-10.15 deprecated, see https://github.blog/changelog/2022-07-20-github-actions-the-macos-10-15-actions-runner-image-is-being-deprecated-and-will-be-removed-by-8-30-22/ --- .github/workflows/macosmatrix.yml | 31 +++++++++++++++++++------------ .github/workflows/unixmatrix.yml | 1 - .github/workflows/vcmatrix.yml | 2 +- 3 files changed, 20 insertions(+), 14 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 83953c682..8eb5be8c8 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -7,8 +7,11 @@ on: pull_request: jobs: - vcmatrix: + macosmatrix: runs-on: ${{ matrix.cfg.os }} + env: + MACOSX_DEPLOYMENT_TARGET: ${{ matrix.cfg.trgt }} + _PYTHON_HOST_PLATFORM: macosx-${{ matrix.cfg.trgt }}-${{ matrix.cfg.arch }} defaults: run: shell: ${{ matrix.cfg.shell }} @@ -16,12 +19,13 @@ jobs: fail-fast: false matrix: cfg: -# - { os: macos-11, shell: bash, arch: x64, runtime: bigsur, cmake_flags: '-fPIC', cpcfg: '-macosx_11_0_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10' } - - { os: macos-10.15, shell: bash, arch: x64, runtime: catalina, cmake_flags: '-fPIC', cpcfg: '-macosx_10_15_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Catalina Python 3.10' } - - { os: macos-10.15, shell: bash, arch: x64, runtime: catalina, cmake_flags: '-fPIC', cpcfg: '-macosx_10_15_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Catalina Python 3.9' } - - { os: macos-10.15, shell: bash, arch: x64, runtime: catalina, cmake_flags: '-fPIC', cpcfg: '-macosx_10_15_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Catalina Python 3.8' } - - { os: macos-10.15, shell: bash, arch: x64, runtime: catalina, cmake_flags: '-fPIC', cpcfg: '-macosx_10_15_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Catalina Python 3.7' } - - { os: macos-10.15, shell: bash, arch: x64, runtime: catalina, cmake_flags: '-fPIC', cpcfg: '-macosx_10_15_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Catalina Python 3.6' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v2 @@ -29,10 +33,10 @@ jobs: submodules: true fetch-depth: 0 clean: false - - uses: actions/setup-python@v2 + - uses: actions/setup-python@v4 with: python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} - architecture: ${{ matrix.cfg.arch }} + architecture: x64 if: matrix.cfg.py_v_maj!='' - run: | python -c "import sys; print(sys.version)" @@ -42,15 +46,18 @@ jobs: if: runner.os=='macOS' - run: brew install doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - - run: git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. + - run: git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_INSTALL_PREFIX="../../ibex" -D INTERVAL_LIB=${{ matrix.cfg.ilib }} .. ; cmake --build . --config Release --target install ; cd ../.. shell: bash - run: | mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. cmake --build . --config Release --target install - cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py + cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py + shell: bash + if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 441e424cf..79848e57e 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -43,7 +43,6 @@ jobs: - { os: ubuntu-18.04, shell: bash, arch: amd64, runtime: bionic, cmake_flags: '-fPIC', desc: 'Ubuntu 18.04' } - { os: macos-12, shell: bash, arch: x64, runtime: monterey, cmake_flags: '-fPIC', desc: 'macOS Monterey' } - { os: macos-11, shell: bash, arch: x64, runtime: bigsur, cmake_flags: '-fPIC', desc: 'macOS Big Sur' } - - { os: macos-10.15, shell: bash, arch: x64, runtime: catalina, cmake_flags: '-fPIC', desc: 'macOS Catalina' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v2 diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 91804df75..e3f00d1de 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -34,7 +34,7 @@ jobs: submodules: true fetch-depth: 0 clean: false - - uses: actions/setup-python@v2 + - uses: actions/setup-python@v4 with: python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} architecture: ${{ matrix.cfg.arch }} From af54c3a59d1fe4b688f89671d87aab31e804eeb8 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Fri, 12 Aug 2022 14:56:09 +0200 Subject: [PATCH 031/256] Attempt to speed up workflows with git clone --depth 1 --- .github/workflows/dockercentos.yml | 2 +- .github/workflows/dockerpi.yml | 2 +- .github/workflows/macosmatrix.yml | 4 ++-- .github/workflows/tests.yml | 2 +- .github/workflows/unixmatrix.yml | 4 ++-- .github/workflows/vcmatrix.yml | 6 +++--- 6 files changed, 10 insertions(+), 10 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index 28967dfda..0833cd8d8 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -10,7 +10,7 @@ jobs: name: CentOS Docker runs-on: ubuntu-latest steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 with: submodules: true fetch-depth: 0 diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml index 9f45370d2..bc536896a 100644 --- a/.github/workflows/dockerpi.yml +++ b/.github/workflows/dockerpi.yml @@ -10,7 +10,7 @@ jobs: name: Raspbian Buster pi Docker runs-on: ubuntu-latest steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 with: submodules: true fetch-depth: 0 diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 8eb5be8c8..460666500 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -28,7 +28,7 @@ jobs: - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7' } name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 with: submodules: true fetch-depth: 0 @@ -46,7 +46,7 @@ jobs: if: runner.os=='macOS' - run: brew install doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - - run: git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_INSTALL_PREFIX="../../ibex" -D INTERVAL_LIB=${{ matrix.cfg.ilib }} .. ; cmake --build . --config Release --target install ; cd ../.. + - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_INSTALL_PREFIX="../../ibex" -D INTERVAL_LIB=${{ matrix.cfg.ilib }} .. ; cmake --build . --config Release --target install ; cd ../.. shell: bash - run: | mkdir build ; cd build diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index 92b8bbad8..76ea535d5 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -15,7 +15,7 @@ jobs: - { os: ubuntu-18.04, gcc_v: 8, py_v_maj: 3, py_v_min: 6, desc: 'Ubuntu 18.04 GCC 8 Python 3.6 tests' } name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 with: submodules: true fetch-depth: 0 diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 79848e57e..45ee26e73 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -45,7 +45,7 @@ jobs: - { os: macos-11, shell: bash, arch: x64, runtime: bigsur, cmake_flags: '-fPIC', desc: 'macOS Big Sur' } name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 with: submodules: true fetch-depth: 0 @@ -106,7 +106,7 @@ jobs: if: runner.os=='Linux' - run: brew install eigen if: runner.os=='macOS' - - run: git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. + - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. shell: bash if: ((runner.os=='Windows')&&(matrix.cfg.runtime!='mingw8'))||((runner.os!='Windows')&&(runner.os!='Linux')) - run: | diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index e3f00d1de..8570b9bd7 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -29,7 +29,7 @@ jobs: - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x64 Python 3.6' } name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 with: submodules: true fetch-depth: 0 @@ -53,9 +53,9 @@ jobs: - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} shell: cmd if: runner.os=='Windows' - - run: choco install -y -r --no-progress doxygen.install graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools & git clone -b v3.1.1 https://github.com/sphinx-doc/sphinx & cd sphinx & pip install . & pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects + - run: choco install -y -r --no-progress doxygen.install graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools & git clone --depth 1 -b v3.1.1 https://github.com/sphinx-doc/sphinx & cd sphinx & pip install . & pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - - run: git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. + - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. shell: bash - run: | mkdir build ; cd build From bd2965997773d7d6b3fc05fa3e21f792a3ee874e Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 10 Aug 2022 23:06:21 +0200 Subject: [PATCH 032/256] Updated workflows --- .github/workflows/macosmatrix.yml | 13 ++++++++----- .github/workflows/unixmatrix.yml | 24 ++++++------------------ 2 files changed, 14 insertions(+), 23 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 460666500..5073450a8 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -22,10 +22,13 @@ jobs: - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 arm64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.14', cpcfg: '-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v3 @@ -46,7 +49,7 @@ jobs: if: runner.os=='macOS' - run: brew install doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_INSTALL_PREFIX="../../ibex" -D INTERVAL_LIB=${{ matrix.cfg.ilib }} .. ; cmake --build . --config Release --target install ; cd ../.. + - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D INTERVAL_LIB=${{ matrix.cfg.ilib }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. shell: bash - run: | mkdir build ; cd build diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 45ee26e73..73ae5ab63 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -35,14 +35,17 @@ jobs: - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x86' } - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x86' } +# - { os: windows-2022, shell: cmd, arch: x64, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } +# - { os: windows-2022, shell: cmd, arch: x86, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows Qt 5.12.6 MinGW 7.3.0 x86' } +# - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } + - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - { os: ubuntu-22.04, shell: bash, arch: amd64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - { os: ubuntu-20.04, shell: bash, arch: amd64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } - { os: ubuntu-18.04, shell: bash, arch: amd64, runtime: bionic, cmake_flags: '-fPIC', desc: 'Ubuntu 18.04' } - - { os: macos-12, shell: bash, arch: x64, runtime: monterey, cmake_flags: '-fPIC', desc: 'macOS Monterey' } - - { os: macos-11, shell: bash, arch: x64, runtime: bigsur, cmake_flags: '-fPIC', desc: 'macOS Big Sur' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', desc: 'macOS Monterey' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', desc: 'macOS Big Sur' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v3 @@ -67,21 +70,6 @@ jobs: - run: echo "PACKAGE_VERSION=$SOFTWARE_VERSION-${DEBIAN_PACKAGE_REV}${{ matrix.cfg.runtime }}$PACKAGE_REV" >> $GITHUB_ENV shell: bash if: runner.os=='Linux' -# - run: | -# choco install -y -r --no-progress wget -# wget http://download.qt.io/archive/qt/5.12/5.12.6/qt-opensource-windows-x86-5.12.6.exe --no-check-certificate -nv -# move /Y qt-opensource-windows-x86-5.12.6.exe %SystemDrive%\ -# wget http://www.ensta-bretagne.fr/lebars/Share/qt-installer-5.12.6-mingw73_32.qs --no-check-certificate -nv -# move /Y qt-installer-5.12.6-mingw73_32.qs %SystemDrive%\ -# netsh advfirewall set allprofiles state on -# netsh advfirewall firewall add rule name="Qt offline installer" dir=out action=block program="%SystemDrive%\qt-opensource-windows-x86-5.12.6.exe" enable=yes -# rem Take several min... -# %SystemDrive%\qt-opensource-windows-x86-5.12.6.exe --script %SystemDrive%\qt-installer-5.12.6-mingw73_32.qs -# netsh advfirewall firewall del rule name="Qt offline installer" -# netsh advfirewall set allprofiles state off -# del /f /q %SystemDrive%\qt-opensource-windows-x86-5.12.6.exe -# echo C:\Qt\Qt5.12.6\5.12.6\mingw73_32\bin;C:\Qt\Qt5.12.6\Tools\mingw730_32\bin>>%GITHUB_PATH% -# if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw7') - run: | choco install -y -r --no-progress mingw --version=7.3.0 --force ${{ matrix.cfg.choco_flags }} echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% From bfcabc66bc46dfd457b20b724371e92eab42bc09 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 24 Aug 2022 15:49:18 +0200 Subject: [PATCH 033/256] [doc] updated CHANGELOG --- CHANGELOG | 93 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 93 insertions(+) diff --git a/CHANGELOG b/CHANGELOG index 8f52ce771..034e579b1 100644 --- a/CHANGELOG +++ b/CHANGELOG @@ -37,6 +37,99 @@ Codac releases +----------------------------------------------------------------- + +Codac release 1.2.0 (released `Jun 6, 2022 `_) +======================================================================================================= + +`Commits since previous release 1.1.0 `_ + +Features added +-------------- + +* :commit:`54b5f45d50f73fa4f2c0eb4ee937f1d3968fadb0`: added ``SepBox`` +* :commit:`0a4f3ad7861d9dba3fbd418e75e3d9d71d761d6c`: ``SepProj``, ``SepFixPoint``, ``SepCtcPairProj``, ``QInterProjF`` now in core + +Documentation +------------- + +* :commit:`a5a483e84f5a8c3fb7eecda68cc1394adbd9c517`: string formatting for run-time ``Function`` definition +* :commit:`a5a483e84f5a8c3fb7eecda68cc1394adbd9c517`: string formatting for run-time ``Function`` definition + +Python binding +-------------- + +* :commit:`7cbb1eb06ef35d6f75df06cd1b82d5017bfe0edc`: SepFixPoint documentation +* :commit:`0aeb37f8fa6a93b60c588982c557dc1aa25471d8`: SepProj documentation +* :commit:`490dd0d5b872e1d4186c15c7b02a98b8edab086b`: SepCtcPairProj documentation +* :commit:`31727f5f889c121d4d9a7d1f48c99670ae034add`: QInterProjF documentation +* :commit:`9000cc63169dd4937ac3a20726f5290882a8aaed`: constructor for creating an ``IntervalMatrix`` from NumPy objects + + +----------------------------------------------------------------- + +Codac release 1.1.0 (released `May 17, 2022 `_) +======================================================================================================== + +`Commits since previous release 1.0.0 `_ + +Features added +-------------- + +* :commit:`b6f79a06aa0d3fe94072aba2168dfd523d1ef123`: added ``CtcCartProd`` +* :commit:`9382404ef967cdf77e20568a5c57e32fab9e9463`: added ``CtcBox`` +* :commit:`e014ae05c0f45f4bd357f3cd047e3fd475761428`: added ``SepFunction`` + +Changes +------- + +* :commit:`4357e3d50b192935a7da9a6f785e6ef7e11f9658`: improving SIVIA interface + compatibility with former pySIVIA + +Documentation +------------- + +* :commit:`a9cefd2b9a90503c09eb765ee916e7e4077aa89b`: Lie symmetries page +* :commit:`b534e48a71ac6657e0c6cdbb06738e2be547cbd0`: updated installation information +* :commit:`f04180d7517d6169ebdcff42159357a5ea171f15`: how to build ``Trajectory`` from ``npz`` file +* :commit:`cc350cb32e54b663c3a7e0ce71f76fcf194f2535`: codac-unsupported + +Python binding +-------------- + +* :commit:`eea406bb88e95f42c601d7643f1f81a08f900718`: now available for MacOS +* :commit:`ad2b7fac70d72832057d2a2af13dd09d8ea0f898`: corrected bug in ``__invert__`` of a ``Sep`` + + +----------------------------------------------------------------- + +Codac release 1.0.0 (released `Apr 21, 2022 `_) +======================================================================================================== + +`Commits since previous release 0.1.14 `_ + +Changes +------- + +* :commit:`ad73493012207bacc191a9261058f2af4b4a61d4`: C++17 + +Bugs fixed +---------- + +* :commit:`3c268eb9e0f93b21d1d81907bac23f64400d2cbc`: fix encoding problems on Windows with Python 3.10 +* :commit:`4e5d21637d17efe97175c7e026457cb8a62128e2`: updated pybind11 to v2.9.2 for Python 3.10 support +* :commit:`03889ad182cf24d41a6c001a90e20bed15a0b1f2`: ``const`` for ``TFnc`` parameter in ``CtcPicard`` constructor + +Documentation +------------- + +* :commit:`b1617459d2acc216fa5db854d7ba09affe279aff`: set-inversion and separators + +Python binding +-------------- + +* :commit:`5fcaebf959e4ab454818e6921d278fdf78ab38cc`: added ``__hash__`` for ``Interval``, ``IntervalVar``, ``IntervalVectorVar`` + + ----------------------------------------------------------------- Codac release 0.1.14 (released `Apr 14, 2022 `_) From 307c956aa3a7ad71bb9b2edd3fb6633293de4c2d Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 25 Aug 2022 13:53:17 +0200 Subject: [PATCH 034/256] [fnc] solving ambiguity in TFunction --- src/core/functions/codac_TFunction.cpp | 5 +++++ src/core/functions/codac_TFunction.h | 5 +++-- tests/core/tests_ctc_picard.cpp | 2 +- 3 files changed, 9 insertions(+), 3 deletions(-) diff --git a/src/core/functions/codac_TFunction.cpp b/src/core/functions/codac_TFunction.cpp index 2d4efe755..e7c8ee6a0 100644 --- a/src/core/functions/codac_TFunction.cpp +++ b/src/core/functions/codac_TFunction.cpp @@ -418,6 +418,11 @@ namespace codac return y; } + const IntervalVector TFunction::eval_vector(const IntervalVector& x1, const IntervalVector& x2) const + { + return eval_vector(cart_prod(x1,x2)); + } + const TrajectoryVector TFunction::traj_eval_vector(const TrajectoryVector& x) const { // Faster evaluation than the generic Fnc::eval method diff --git a/src/core/functions/codac_TFunction.h b/src/core/functions/codac_TFunction.h index 8e6455433..b768bef29 100644 --- a/src/core/functions/codac_TFunction.h +++ b/src/core/functions/codac_TFunction.h @@ -68,11 +68,12 @@ namespace codac const IntervalVector eval_vector(const IntervalVector& x) const; const IntervalVector eval_vector(int slice_id, const TubeVector& x) const; const IntervalVector eval_vector(const Interval& t, const TubeVector& x) const; + const IntervalVector eval_vector(const IntervalVector& x1, const IntervalVector& x2) const; template - const IntervalVector eval_vector(const IntervalVector& x, FirstArg& xi, Args&... xs) // recursive variadic function + const IntervalVector eval_vector(const IntervalVector& x1, const IntervalVector& x2, FirstArg& xi, Args&... xs) // recursive variadic function { - IntervalVector x_ = cart_prod(x,xi); + IntervalVector x_ = cart_prod(x1,x2,xi); if constexpr(sizeof...(xs) > 0) return eval_vector(x_, xs...); else diff --git a/tests/core/tests_ctc_picard.cpp b/tests/core/tests_ctc_picard.cpp index d7c77720a..84dc69100 100644 --- a/tests/core/tests_ctc_picard.cpp +++ b/tests/core/tests_ctc_picard.cpp @@ -32,7 +32,7 @@ TEST_CASE("CtcPicard") TFunction f2("x", "3."); CtcPicard ctc_picard_f2(f2, delta); Interval dtest = tube[0].slice_tdomain(0); - IntervalVector test = f2.eval_vector(dtest, tube); + IntervalVector test = f2.eval_vector((const Interval)dtest, (const TubeVector)tube); ctc_picard_f2.guess_kth_slices_envelope(tube, 0, TimePropag::FORWARD); CHECK(tube(0).is_superset(1.5 + Interval(0.,0.5) * 3.)); From 72aa60cb538423951b1386f29375d8f6147e70ec Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 25 Aug 2022 13:53:54 +0200 Subject: [PATCH 035/256] [tube] TDomain now defined as shared pointer --- .../tube/codac2_AbstractSlicedTube.cpp | 6 +- .../domains/tube/codac2_AbstractSlicedTube.h | 6 +- src/core/2/domains/tube/codac2_Slice.h | 6 +- src/core/2/domains/tube/codac2_TDomain.cpp | 39 +++-- src/core/2/domains/tube/codac2_TDomain.h | 8 +- src/core/2/domains/tube/codac2_Tube.h | 54 +++---- src/core/arithmetic/codac_predef_values.h | 2 + tests/core/CMakeLists.txt | 54 +++---- tests/core/tests_codac2_tubes.cpp | 133 ++++++++++-------- 9 files changed, 173 insertions(+), 135 deletions(-) diff --git a/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp b/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp index 713864216..f259afcaf 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp +++ b/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp @@ -15,19 +15,19 @@ using namespace std; namespace codac2 { - AbstractSlicedTube::AbstractSlicedTube(TDomain& tdomain) : + AbstractSlicedTube::AbstractSlicedTube(const shared_ptr& tdomain) : _tdomain(tdomain) { } - TDomain& AbstractSlicedTube::tdomain() const + const shared_ptr& AbstractSlicedTube::tdomain() const { return _tdomain; } Interval AbstractSlicedTube::t0_tf() const { - return _tdomain.t0_tf(); + return _tdomain->t0_tf(); } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_AbstractSlicedTube.h b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h index 5726bf538..0cc3fdc54 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlicedTube.h +++ b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h @@ -22,18 +22,18 @@ namespace codac2 { public: - AbstractSlicedTube(TDomain& tdomain); + AbstractSlicedTube(const std::shared_ptr& tdomain); virtual const std::shared_ptr& first_abstract_slice() const = 0; virtual const std::shared_ptr& last_abstract_slice() const = 0; - TDomain& tdomain() const; + const std::shared_ptr& tdomain() const; Interval t0_tf() const; protected: - TDomain& _tdomain; + std::shared_ptr _tdomain; }; } // namespace codac diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index 39d121db2..6342ad4e9 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -76,7 +76,11 @@ namespace codac2 virtual size_t size() const { - return codomain().size(); + // todo: define size() method in Interval class + if constexpr(std::is_same::value) + return 1; + else + return codomain().size(); } bool is_gate() const diff --git a/src/core/2/domains/tube/codac2_TDomain.cpp b/src/core/2/domains/tube/codac2_TDomain.cpp index 2c275dccc..eca35fcfb 100644 --- a/src/core/2/domains/tube/codac2_TDomain.cpp +++ b/src/core/2/domains/tube/codac2_TDomain.cpp @@ -20,11 +20,6 @@ using namespace codac; namespace codac2 { - TDomain::TDomain() - { - _tslices.push_back(TSlice(Interval())); - } - TDomain::TDomain(const Interval& t0_tf, bool with_gates) : TDomain(t0_tf, t0_tf.diam(), with_gates) { @@ -36,19 +31,25 @@ namespace codac2 assert(!t0_tf.is_empty()); assert(dt > 0.); - double prev_t = -oo; - for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t+=dt) + if(isinf(dt)) + _tslices.push_back(TSlice(t0_tf)); + + else { - double t_ = min(t, t0_tf.ub()); + double prev_t = -oo; + for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t+=dt) + { + double t_ = min(t, t0_tf.ub()); - _tslices.push_back(TSlice(Interval(prev_t,t_))); - if(with_gates) - _tslices.push_back(TSlice(Interval(t_,t_))); + _tslices.push_back(TSlice(Interval(prev_t,t_))); + if(with_gates) + _tslices.push_back(TSlice(Interval(t_,t_))); - prev_t = t_; - } + prev_t = t_; + } - _tslices.push_back(TSlice(Interval(t0_tf.ub(),oo))); + _tslices.push_back(TSlice(Interval(t0_tf.ub(),oo))); + } } const Interval TDomain::t0_tf() const @@ -120,4 +121,14 @@ namespace codac2 << flush; return os; } + + shared_ptr create_tdomain(const Interval& t0_tf, bool with_gates) + { + return make_shared(t0_tf, with_gates); + } + + shared_ptr create_tdomain(const Interval& t0_tf, double dt, bool with_gates) + { + return make_shared(t0_tf, dt, with_gates); + } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TDomain.h b/src/core/2/domains/tube/codac2_TDomain.h index 382532f50..fee3cba3c 100644 --- a/src/core/2/domains/tube/codac2_TDomain.h +++ b/src/core/2/domains/tube/codac2_TDomain.h @@ -18,6 +18,7 @@ #include #include "codac_Interval.h" +#include "codac_predef_values.h" namespace codac2 { @@ -28,8 +29,7 @@ namespace codac2 { public: - explicit TDomain(); - explicit TDomain(const Interval& t0_tf, bool with_gates = false); + explicit TDomain(const Interval& t0_tf = Interval(-oo,oo), bool with_gates = false); explicit TDomain(const Interval& t0_tf, double dt, bool with_gates = false); const Interval t0_tf() const; // todo: keep this method? std::list::iterator iterator_tslice(double t); @@ -47,6 +47,10 @@ namespace codac2 template friend class Tube; }; + + std::shared_ptr create_tdomain(const Interval& t0_tf = Interval(-oo,oo), bool with_gates = false); + std::shared_ptr create_tdomain(const Interval& t0_tf, double dt, bool with_gates = false); + } // namespace codac #endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index 7e9e66167..d0c3ddb43 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -38,11 +38,11 @@ namespace codac2 { public: - explicit Tube(size_t n, TDomain& tdomain) : + explicit Tube(size_t n, const std::shared_ptr& tdomain) : AbstractSlicedTube(tdomain) { - for(std::list::iterator it = _tdomain._tslices.begin(); - it != _tdomain._tslices.end(); ++it) + for(std::list::iterator it = _tdomain->_tslices.begin(); + it != _tdomain->_tslices.end(); ++it) { it->_slices.insert( std::pair>>(this, @@ -50,7 +50,7 @@ namespace codac2 } } - explicit Tube(size_t n, TDomain& tdomain, const TFnc& f) : + explicit Tube(size_t n, const std::shared_ptr& tdomain, const TFnc& f) : Tube(n, tdomain) { assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); @@ -63,8 +63,8 @@ namespace codac2 explicit Tube(const Tube& x) : AbstractSlicedTube(x.tdomain()) { - for(std::list::iterator it = _tdomain._tslices.begin(); - it != _tdomain._tslices.end(); ++it) + for(std::list::iterator it = _tdomain->_tslices.begin(); + it != _tdomain->_tslices.end(); ++it) { it->_slices.insert( std::pair>>(this, @@ -74,7 +74,7 @@ namespace codac2 ~Tube() { - for(auto& s : _tdomain._tslices) + for(auto& s : _tdomain->_tslices) s._slices.erase(this); } @@ -85,22 +85,26 @@ namespace codac2 size_t size() const { - return first_slice().size(); + // todo: define size() method in Interval class + if constexpr(std::is_same::value) + return 1; + else + return first_slice().size(); } size_t nb_slices() const { - return _tdomain.nb_tslices(); + return _tdomain->nb_tslices(); } virtual const std::shared_ptr& first_abstract_slice() const { - return _tdomain.tslices().front().slices().at(this); + return _tdomain->tslices().front().slices().at(this); } virtual const std::shared_ptr& last_abstract_slice() const { - return _tdomain.tslices().back().slices().at(this); + return _tdomain->tslices().back().slices().at(this); } const std::shared_ptr> first_slice_ptr() const @@ -156,9 +160,9 @@ namespace codac2 return true; } - IntervalVector codomain() const + T codomain() const { - IntervalVector codomain(size()); + T codomain = first_slice().codomain(); codomain.set_empty(); for(const auto& s : *this) codomain |= s.codomain(); @@ -177,15 +181,15 @@ namespace codac2 T eval(double t) const { - return std::static_pointer_cast>(_tdomain.iterator_tslice(t)->_slices.at(this))->codomain(); + return std::static_pointer_cast>(_tdomain->iterator_tslice(t)->_slices.at(this))->codomain(); } T eval(const Interval& t) const { - std::list::iterator it = _tdomain.iterator_tslice(t.lb()); + std::list::iterator it = _tdomain->iterator_tslice(t.lb()); T codomain = std::static_pointer_cast>(it->_slices.at(this))->codomain(); - while(it != _tdomain.iterator_tslice(t.ub())) + while(it != _tdomain->iterator_tslice(t.ub())) { codomain |= std::static_pointer_cast>(it->_slices.at(this))->codomain(); it++; @@ -258,8 +262,8 @@ namespace codac2 const Tube& _tube_vector; }; - iterator begin() { return iterator(*this, _tdomain._tslices.begin()); } - iterator end() { return iterator(*this, _tdomain._tslices.end()); } + iterator begin() { return iterator(*this, _tdomain->_tslices.begin()); } + iterator end() { return iterator(*this, _tdomain->_tslices.end()); } struct const_iterator : public base_container::const_iterator @@ -286,8 +290,8 @@ namespace codac2 const Tube& _tube_vector; }; - const_iterator begin() const { return const_iterator(*this, _tdomain._tslices.cbegin()); } - const_iterator end() const { return const_iterator(*this, _tdomain._tslices.cend()); } + const_iterator begin() const { return const_iterator(*this, _tdomain->_tslices.cbegin()); } + const_iterator end() const { return const_iterator(*this, _tdomain->_tslices.cend()); } }; @@ -300,8 +304,8 @@ namespace codac2 { // Sampling the tube only if affectation is performed // (i.e. this is not done in the constructor) - std::list::iterator it_lb = _tubevector->_tdomain.sample(_t.lb(), false); - std::list::iterator it_ub = _tubevector->_tdomain.sample(_t.ub(), _t.is_degenerated()); + std::list::iterator it_lb = _tubevector->_tdomain->sample(_t.lb(), false); + std::list::iterator it_ub = _tubevector->_tdomain->sample(_t.ub(), _t.is_degenerated()); do { @@ -367,7 +371,7 @@ namespace codac2 return 1; } - const TDomain& tdomain() const + const std::shared_ptr& tdomain() const { return _tubevector.tdomain(); } @@ -399,7 +403,7 @@ namespace codac2 const TubeComponent& operator=(const TubeComponent& x) { - assert(&x.tdomain() == &tdomain()); + assert(x.tdomain() == tdomain()); for(auto& s : _tubevector) s.set_component(_i, std::static_pointer_cast>(s._it_tslice->_slices.at(&x._tubevector))->codomain()[x._i]); return *this; @@ -407,7 +411,7 @@ namespace codac2 const TubeComponent& operator=(std::pair,const TubeComponent> rel) { - assert(&rel.second.tdomain() == &tdomain()); + assert(rel.second.tdomain() == tdomain()); for(auto& s : _tubevector) s.set_component(_i, rel.first(std::static_pointer_cast>(s._it_tslice->_slices.at(&rel.second._tubevector))->codomain()[rel.second._i])); return *this; diff --git a/src/core/arithmetic/codac_predef_values.h b/src/core/arithmetic/codac_predef_values.h index e5c294dce..41de0c035 100644 --- a/src/core/arithmetic/codac_predef_values.h +++ b/src/core/arithmetic/codac_predef_values.h @@ -19,4 +19,6 @@ namespace codac const double oo = POS_INFINITY; } +using codac::oo; + #endif \ No newline at end of file diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index 868ad7da5..9bf1484bf 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -8,33 +8,33 @@ list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h - ${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polygon.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_qinterprojf.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_fixpoint_proj.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polar.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h + #${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polygon.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_qinterprojf.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_fixpoint_proj.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polar.cpp ) add_executable(${TESTS_NAME} ${SRC_TESTS}) diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp index 4746b869d..94e657f9b 100644 --- a/tests/core/tests_codac2_tubes.cpp +++ b/tests/core/tests_codac2_tubes.cpp @@ -21,11 +21,11 @@ TEST_CASE("Test codac2::tubes") { SECTION("Test TDomain") { - TDomain tdomain(Interval(0,1), 0.5); - CHECK(tdomain.nb_tslices() == 4); - CHECK(tdomain.t0_tf() == Interval(0,1)); + auto tdomain = create_tdomain(Interval(0,1), 0.5); + CHECK(tdomain->nb_tslices() == 4); + CHECK(tdomain->t0_tf() == Interval(0,1)); - const list& tslices = tdomain.tslices(); + const list& tslices = tdomain->tslices(); vector vector_tslices{ make_move_iterator(tslices.begin()), make_move_iterator(tslices.end()) }; @@ -36,31 +36,31 @@ TEST_CASE("Test codac2::tubes") CHECK(vector_tslices[2].t0_tf() == Interval(0.5,1)); CHECK(vector_tslices[3].t0_tf() == Interval(1,oo)); - CHECK(tdomain.iterator_tslice(-10.)->t0_tf() == Interval(-oo,0)); - CHECK(tdomain.iterator_tslice(-120.)->t0_tf() == Interval(-oo,0)); - CHECK(tdomain.iterator_tslice(0.2)->t0_tf() == Interval(0,0.5)); - CHECK(tdomain.iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); + CHECK(tdomain->iterator_tslice(-10.)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain->iterator_tslice(-120.)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain->iterator_tslice(0.2)->t0_tf() == Interval(0,0.5)); + CHECK(tdomain->iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); - CHECK(tdomain.nb_tubes() == 0); + CHECK(tdomain->nb_tubes() == 0); Tube x(2, tdomain); // adding a tubevector to the tdomain - CHECK(tdomain.nb_tubes() == 1); + CHECK(tdomain->nb_tubes() == 1); { // new scope Tube v(3, tdomain); - CHECK(tdomain.nb_tubes() == 2); + CHECK(tdomain->nb_tubes() == 2); } // end of scope, auto removing the tube - CHECK(tdomain.nb_tubes() == 1); + CHECK(tdomain->nb_tubes() == 1); } SECTION("Test degenerated TDomain") { - TDomain tdomain(Interval(1), 0.5); - CHECK(tdomain.nb_tslices() == 2); - CHECK(tdomain.t0_tf() == Interval(1)); - CHECK(tdomain.nb_tubes() == 0); + auto tdomain = create_tdomain(Interval(1), 0.5); + CHECK(tdomain->nb_tslices() == 2); + CHECK(tdomain->t0_tf() == Interval(1)); + CHECK(tdomain->nb_tubes() == 0); - const list& tslices = tdomain.tslices(); + const list& tslices = tdomain->tslices(); vector vector_tslices{ make_move_iterator(tslices.begin()), make_move_iterator(tslices.end()) }; @@ -72,12 +72,12 @@ TEST_CASE("Test codac2::tubes") SECTION("Test TDomain with gates") { - TDomain tdomain(Interval(0,1), 0.5, true); - CHECK(tdomain.nb_tslices() == 7); - CHECK(tdomain.t0_tf() == Interval(0,1)); - CHECK(tdomain.nb_tubes() == 0); + auto tdomain = create_tdomain(Interval(0,1), 0.5, true); + CHECK(tdomain->nb_tslices() == 7); + CHECK(tdomain->t0_tf() == Interval(0,1)); + CHECK(tdomain->nb_tubes() == 0); - const list& tslices = tdomain.tslices(); + const list& tslices = tdomain->tslices(); vector vector_tslices{ make_move_iterator(tslices.begin()), make_move_iterator(tslices.end()) }; @@ -91,26 +91,26 @@ TEST_CASE("Test codac2::tubes") CHECK(vector_tslices[5].t0_tf() == Interval(1,1)); CHECK(vector_tslices[6].t0_tf() == Interval(1,oo)); - CHECK(tdomain.iterator_tslice(-oo)->t0_tf() == Interval(-oo,0)); - CHECK(tdomain.iterator_tslice(-10.)->t0_tf() == Interval(-oo,0)); - CHECK(tdomain.iterator_tslice(0.)->t0_tf() == Interval(0)); - CHECK(tdomain.iterator_tslice(0.6)->t0_tf() == Interval(0.5,1)); - CHECK(tdomain.iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); - CHECK(tdomain.iterator_tslice(oo)->t0_tf() == Interval(1,oo)); + CHECK(tdomain->iterator_tslice(-oo)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain->iterator_tslice(-10.)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain->iterator_tslice(0.)->t0_tf() == Interval(0)); + CHECK(tdomain->iterator_tslice(0.6)->t0_tf() == Interval(0.5,1)); + CHECK(tdomain->iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); + CHECK(tdomain->iterator_tslice(oo)->t0_tf() == Interval(1,oo)); } SECTION("Test TDomain with sampling") { - TDomain tdomain(Interval(1), 0.5); - CHECK(tdomain.nb_tslices() == 2); - tdomain.sample(10.); - CHECK(tdomain.nb_tslices() == 3); - tdomain.sample(10.); // second sampling which creates a gate - CHECK(tdomain.nb_tslices() == 4); - tdomain.sample(10.); // no more action - CHECK(tdomain.nb_tslices() == 4); + auto tdomain = create_tdomain(Interval(1), 0.5); + CHECK(tdomain->nb_tslices() == 2); + tdomain->sample(10.); + CHECK(tdomain->nb_tslices() == 3); + tdomain->sample(10.); // second sampling which creates a gate + CHECK(tdomain->nb_tslices() == 4); + tdomain->sample(10.); // no more action + CHECK(tdomain->nb_tslices() == 4); - const list& tslices = tdomain.tslices(); + const list& tslices = tdomain->tslices(); vector vector_tslices{ make_move_iterator(tslices.begin()), make_move_iterator(tslices.end()) }; @@ -124,20 +124,20 @@ TEST_CASE("Test codac2::tubes") SECTION("Test unbounded TDomain") { - TDomain tdomain; - const list& tslices = tdomain.tslices(); + auto tdomain = create_tdomain(); + const list& tslices = tdomain->tslices(); vector vector_tslices{ make_move_iterator(tslices.begin()), make_move_iterator(tslices.end()) }; - CHECK(tdomain.nb_tslices() == 1); + CHECK(tdomain->nb_tslices() == 1); CHECK(vector_tslices.size() == 1); CHECK(vector_tslices[0].t0_tf() == Interval(-oo,oo)); } SECTION("Test TDomain with sampling and values") { - TDomain tdomain; - CHECK(tdomain.nb_tslices() == 1); + auto tdomain = create_tdomain(); + CHECK(tdomain->nb_tslices() == 1); Tube x(1, tdomain); x.set(Interval(4)); x(Interval(0,1)) = IntervalVector({{1,2}}); @@ -164,9 +164,9 @@ TEST_CASE("Test codac2::tubes") CHECK(s4->t0_tf() == Interval(3,oo)); CHECK(s4->codomain() == IntervalVector({{4}})); - CHECK(tdomain.nb_tslices() == 5); - tdomain.sample(1.3); - CHECK(tdomain.nb_tslices() == 6); + CHECK(tdomain->nb_tslices() == 5); + tdomain->sample(1.3); + CHECK(tdomain->nb_tslices() == 6); CHECK(s2->t0_tf() == Interval(1,1.3)); CHECK(s2->codomain() == IntervalVector({{5,6}})); const std::shared_ptr> s2bis = s2->next_slice(); @@ -178,13 +178,13 @@ TEST_CASE("Test codac2::tubes") SECTION("Test basic Tube") { - TDomain tdomain(Interval(0,1), 0.1, false); + auto tdomain = create_tdomain(Interval(0,1), 0.1, false); Tube x(3, tdomain); CHECK(x.size() == 3); - CHECK(&x.tdomain() == &tdomain); + CHECK(x.tdomain() == tdomain); CHECK(x.t0_tf() == Interval(0,1)); - CHECK(x.nb_slices() == tdomain.nb_tslices()); + CHECK(x.nb_slices() == tdomain->nb_tslices()); CHECK(x.nb_slices() == 12); CHECK(x.first_slice_ptr()->t0_tf() == Interval(-oo,0)); CHECK(x.last_slice_ptr()->t0_tf() == Interval(1,oo)); @@ -195,7 +195,7 @@ TEST_CASE("Test codac2::tubes") // TubeComponent CHECK(x[0].codomain() == Interval(-10,10)); CHECK(x[0].t0_tf() == Interval(0,1)); - CHECK(&x[0].tdomain() == &tdomain); + CHECK(x[0].tdomain() == tdomain); x[0].set(Interval(-20,20)); CHECK(x[0].codomain() == Interval(-20,20)); CHECK(x.codomain() == IntervalVector({Interval(-20,20),Interval(-10,10),Interval(-10,10)})); @@ -204,23 +204,23 @@ TEST_CASE("Test codac2::tubes") CHECK(x.codomain() == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); // Eval - CHECK(tdomain.nb_tubes() == 1); + CHECK(tdomain->nb_tubes() == 1); CHECK(static_cast(x(Interval(-oo,oo))) == x.codomain()); CHECK(static_cast(x(Interval(-1,1))) == x.codomain()); CHECK(static_cast(x(-42.)) == x.codomain()); // Eval: affectation at scalar t - CHECK(tdomain.nb_tslices() == 12); + CHECK(tdomain->nb_tslices() == 12); x(-42.) = IntervalVector(3,Interval(2.,3.)); - CHECK(tdomain.nb_tslices() == 14); + CHECK(tdomain->nb_tslices() == 14); CHECK(static_cast(x(-42.)) == IntervalVector(3,Interval(2.,3.))); CHECK(static_cast(x(ibex::previous_float(-42.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); CHECK(static_cast(x(ibex::next_float(-42.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); // Eval: affectation at interval t - CHECK(tdomain.nb_tslices() == 14); + CHECK(tdomain->nb_tslices() == 14); x(Interval(44,55)) = IntervalVector(3,Interval(9.,10.)); - CHECK(tdomain.nb_tslices() == 16); + CHECK(tdomain->nb_tslices() == 16); CHECK(static_cast(x(Interval(44,55))) == IntervalVector(3,Interval(9.,10.))); CHECK(static_cast(x(ibex::previous_float(44.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); CHECK(static_cast(x(ibex::next_float(55.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); @@ -249,11 +249,11 @@ TEST_CASE("Test codac2::tubes") SECTION("Test SliceVector") { - TDomain tdomain(Interval(0,1), 0.1); + auto tdomain = create_tdomain(Interval(0,1), 0.1); Tube x(2, tdomain); CHECK(x.nb_slices() == 12); - CHECK(x.first_slice_ptr() == tdomain.iterator_tslice(-oo)->_slices.at(&x)); - CHECK(x.last_slice_ptr() == tdomain.iterator_tslice(oo)->_slices.at(&x)); + CHECK(x.first_slice_ptr() == tdomain->iterator_tslice(-oo)->_slices.at(&x)); + CHECK(x.last_slice_ptr() == tdomain->iterator_tslice(oo)->_slices.at(&x)); for(auto& s : x) s.set(IntervalVector(2,s.t0_tf())); @@ -282,7 +282,7 @@ TEST_CASE("Test codac2::tubes") SECTION("Test again 1") { - TDomain tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) + auto tdomain = create_tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) Tube x(2, tdomain, codac::TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); Tube u(2, tdomain); @@ -307,7 +307,7 @@ TEST_CASE("Test codac2::tubes") SECTION("Test again 2") { /*{ - TDomain tdomain(Interval(0,10), 1., false); + auto tdomain = create_tdomain(Interval(0,10), 1., false); Tube x(2, tdomain); for(auto& sx : x) @@ -315,7 +315,7 @@ TEST_CASE("Test codac2::tubes") if(sx.t0_tf().contains(5.2)) { cout << "sample" << endl; - tdomain.sample(5.2); + tdomain->sample(5.2); } cout << sx << endl; } @@ -330,4 +330,17 @@ TEST_CASE("Test codac2::tubes") CHECK(f.eval_vector(t,x,u) == ApproxIntvVector(IntervalVector({{7, 8.100000000000002},{10, 11.10000000000001}}))); } } + + SECTION("Local TDomain, tube still valid after") + { + Tube *x; + + { + auto tdomain = create_tdomain(Interval(0,1), 0.1); + x = new Tube(1, tdomain); + CHECK(x->tdomain() == tdomain); + } + + CHECK(x->tdomain()->t0_tf() == Interval(0,1)); // should not segfault + } } \ No newline at end of file From beb1c4d24aa8a6fa96fbe55ebd61ca5e1a5667e7 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 26 Aug 2022 15:15:27 +0200 Subject: [PATCH 036/256] [sep] removing warning: explicit link request could not be resolved --- src/core/geometry/codac_SepPolygon.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/core/geometry/codac_SepPolygon.h b/src/core/geometry/codac_SepPolygon.h index 8b466e254..a1453428c 100644 --- a/src/core/geometry/codac_SepPolygon.h +++ b/src/core/geometry/codac_SepPolygon.h @@ -74,7 +74,7 @@ class SepPolygon : public ibex::SepBoundaryCtc { * The polygon boundary contractor is composed of a union of * contractor on segments (CtcSegment). * This contractor is minimal as an union of minimal contractors. - * See #ibex::SepBoundaryCtc. + * See ibex::SepBoundaryCtc. * * \param points list of segments representing the edges of the polygon in the format of ( ((a1_x, a1_y), (b1_x, b1_x)), ((a2_x, a2_y), (b2_x, b2_x)), ...) */ @@ -89,7 +89,7 @@ class SepPolygon : public ibex::SepBoundaryCtc { * The polygon boundary contractor is composed of a union of * contractor on segments (CtcSegment). * This contractor is minimal as an union of minimal contractors. - * See #ibex::SepBoundaryCtc. + * See ibex::SepBoundaryCtc. * * \param vertices list of vertices on the form (ax, ay), (bx, by), (cx, cy), ... */ @@ -104,7 +104,7 @@ class SepPolygon : public ibex::SepBoundaryCtc { * The polygon boundary contractor is composed of a union of * contractor on segments (CtcSegment). * This contractor is minimal as an union of minimal contractors. - * See #ibex::SepBoundaryCtc. + * See ibex::SepBoundaryCtc. * * \param ax list of x coordinate of the first point of each segment * \param ay list of y coordinate of the first point of each segment From 2bdc68e50e2550b2dbaf1d46b2d793d82497ecaa Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 26 Aug 2022 15:16:01 +0200 Subject: [PATCH 037/256] [unsupp] removing conflict between classes with same names --- .../src/unsupported/image/codac_CtcRaster.h | 6 +- python/src/unsupported/image/codac_GeoImage.h | 195 +++++++++--------- python/src/unsupported/image/codac_images.cpp | 12 +- 3 files changed, 108 insertions(+), 105 deletions(-) diff --git a/python/src/unsupported/image/codac_CtcRaster.h b/python/src/unsupported/image/codac_CtcRaster.h index a955cac0e..fbf5baaf9 100644 --- a/python/src/unsupported/image/codac_CtcRaster.h +++ b/python/src/unsupported/image/codac_CtcRaster.h @@ -27,13 +27,13 @@ using codac::IntervalVector; using codac::Interval; -class CtcRaster : public codac::Ctc, public GeoImage { +class CtcRaster : public codac::Ctc, public from_pyibex::GeoImage { // Georeferenced image with integral image inclusion test public: CtcRaster(py::array_t data, double x0, double y0, double dx, double dy, bool inner) : Ctc(2), - GeoImage(data, x0, y0, dx, dy), inner(inner) + from_pyibex::GeoImage(data, x0, y0, dx, dy), inner(inner) { // constructor } @@ -51,7 +51,7 @@ class CtcRaster : public codac::Ctc, public GeoImage { //############################################################################## inline int CtcRaster::enclosed_pixels(PixelCoords& pixel_coords){ - return GeoImage::enclosed_pixels(pixel_coords[0],pixel_coords[1],pixel_coords[2],pixel_coords[3]); + return from_pyibex::GeoImage::enclosed_pixels(pixel_coords[0],pixel_coords[1],pixel_coords[2],pixel_coords[3]); } diff --git a/python/src/unsupported/image/codac_GeoImage.h b/python/src/unsupported/image/codac_GeoImage.h index 54d31100e..d3050d9ce 100644 --- a/python/src/unsupported/image/codac_GeoImage.h +++ b/python/src/unsupported/image/codac_GeoImage.h @@ -24,115 +24,118 @@ using codac::Interval; #define DATA_TYPE unsigned long -class GeoImage { - - // Georeferenced image with integral image inclusion test -public: - GeoImage(py::array_t data, double x0, double y0, double dx, double dy) : - // II(data), - info_i(data.request()), - boundingBox(2), - coordMapper(x0, y0, data.request().shape[0], data.request().shape[1], dx, dy) - { - if( info_i.ndim != 2 ) - throw std::runtime_error("Number of dimensions must be one"); - boundingBox = getBoundingBox(); - } +namespace from_pyibex +{ + class GeoImage { + + // Georeferenced image with integral image inclusion test + public: + GeoImage(py::array_t data, double x0, double y0, double dx, double dy) : + // II(data), + info_i(data.request()), + boundingBox(2), + coordMapper(x0, y0, data.request().shape[0], data.request().shape[1], dx, dy) + { + if( info_i.ndim != 2 ) + throw std::runtime_error("Number of dimensions must be one"); + boundingBox = getBoundingBox(); + } - DATA_TYPE pixelAt( int x, int y ); - DATA_TYPE enclosed_pixels( int xmin,int xmax,int ymin,int ymax); - IntervalVector getBoundingBox(); + DATA_TYPE pixelAt( int x, int y ); + DATA_TYPE enclosed_pixels( int xmin,int xmax,int ymin,int ymax); + IntervalVector getBoundingBox(); - PixelCoords world_to_grid(IntervalVector box) { return coordMapper.world_to_grid(box); } - IntervalVector grid_to_world(const PixelCoords& pixel_coords) {return coordMapper.grid_to_world(pixel_coords); } + PixelCoords world_to_grid(IntervalVector box) { return coordMapper.world_to_grid(box); } + IntervalVector grid_to_world(const PixelCoords& pixel_coords) {return coordMapper.grid_to_world(pixel_coords); } - bool checkBorder(PixelCoords& c, const std::vector& limit, const bool & b); + bool checkBorder(PixelCoords& c, const std::vector& limit, const bool & b); - IntervalVector boundingBox; + IntervalVector boundingBox; -protected: - // py::array_t II; - GeoMapper coordMapper; - py::buffer_info info_i; - // DATA_TYPE * img_ptr; -}; + protected: + // py::array_t II; + GeoMapper coordMapper; + py::buffer_info info_i; + // DATA_TYPE * img_ptr; + }; -//############################################################################## -//################# INLINE IMPLEMENTATION ################################## -//############################################################################## + //############################################################################## + //################# INLINE IMPLEMENTATION ################################## + //############################################################################## -inline DATA_TYPE GeoImage::pixelAt( int x, int y){ - // std::cerr << x << " " << y << "\n"; - if (x < 0 || y < 0) - return 0; - if ( !(x < info_i.shape[0]) ){ - std::cout << "x " << x << " " << info_i.shape[0] << "\n"; - assert(x < info_i.shape[0]); + inline DATA_TYPE GeoImage::pixelAt( int x, int y){ + // std::cerr << x << " " << y << "\n"; + if (x < 0 || y < 0) + return 0; + if ( !(x < info_i.shape[0]) ){ + std::cout << "x " << x << " " << info_i.shape[0] << "\n"; + assert(x < info_i.shape[0]); + } + if ( !(y < info_i.shape[1]) ) { + std::cout << "y " << y << " " << info_i.shape[1] << "\n"; + assert(y < info_i.shape[1]); + } + DATA_TYPE* ptr = (DATA_TYPE*) info_i.ptr; + long idx = (x*info_i.strides[0] + y*info_i.strides[1] ) / info_i.itemsize; //sizeof(DATA_TYPE); + // std::cout << idx << " "; + return ((DATA_TYPE*)info_i.ptr)[idx]; } - if ( !(y < info_i.shape[1]) ) { - std::cout << "y " << y << " " << info_i.shape[1] << "\n"; - assert(y < info_i.shape[1]); + // + inline DATA_TYPE GeoImage::enclosed_pixels( int xmin,int xmax,int ymin,int ymax) { + // std::cerr << "enclosed_pixels" << ymin << " " << ymin -1 << "\n"; + DATA_TYPE b1 = pixelAt(xmax,ymax); + DATA_TYPE b2 = pixelAt(xmax,ymin-1); + DATA_TYPE b3 = pixelAt(xmin-1,ymax); + DATA_TYPE b4 = pixelAt(xmin-1,ymin-1); + return b1 - b2 - b3 + b4; } - DATA_TYPE* ptr = (DATA_TYPE*) info_i.ptr; - long idx = (x*info_i.strides[0] + y*info_i.strides[1] ) / info_i.itemsize; //sizeof(DATA_TYPE); - // std::cout << idx << " "; - return ((DATA_TYPE*)info_i.ptr)[idx]; -} -// -inline DATA_TYPE GeoImage::enclosed_pixels( int xmin,int xmax,int ymin,int ymax) { - // std::cerr << "enclosed_pixels" << ymin << " " << ymin -1 << "\n"; - DATA_TYPE b1 = pixelAt(xmax,ymax); - DATA_TYPE b2 = pixelAt(xmax,ymin-1); - DATA_TYPE b3 = pixelAt(xmin-1,ymax); - DATA_TYPE b4 = pixelAt(xmin-1,ymin-1); - return b1 - b2 - b3 + b4; -} - -inline int boxSize(int xmin, int xmax, int ymin, int ymax){ - return (xmax+1 - xmin) * (ymax+1 - ymin); -} - -inline bool GeoImage::checkBorder(PixelCoords& c, const std::vector& limit, const bool & b){ - // b initialy a ThickBoolean IN == true - // Check the border to see if it is a pixel limit - int val, bound, nPix; - for(int i = 0; i < limit.size(); i++){ - if (limit[i] == false) continue; - switch (i) { - case 0: - bound = std::max(0,c[0]-1); - val = ( b == true ) ? boxSize(bound, bound, c[2], c[3]) : 0; - nPix = enclosed_pixels(bound, bound, c[2], c[3]); - break; - case 1: - bound = std::min(info_i.shape[0]-1,c[1]+1); - val = ( b == true ) ? boxSize(bound, bound, c[2], c[3]) : 0; - nPix = enclosed_pixels(bound, bound, c[2], c[3]); - break; - case 2: - bound = std::max(0,c[2]-1); - val = ( b == true ) ? boxSize(c[0], c[1], bound, bound) : 0; - nPix = enclosed_pixels(c[0], c[1], bound, bound); - break; - case 3: - bound = std::min(info_i.shape[1]-1,c[3]+1); - val = ( b == true ) ? boxSize(c[0], c[1], bound, bound) : 0; - nPix = enclosed_pixels(c[0], c[1], bound, bound); - break; - } - if (nPix != val) return false; + inline int boxSize(int xmin, int xmax, int ymin, int ymax){ + return (xmax+1 - xmin) * (ymax+1 - ymin); } - return true; -} -inline IntervalVector GeoImage::getBoundingBox(){ - int xmax = info_i.shape[0]-1; - int ymax = info_i.shape[1]-1; - return grid_to_world({ 0, xmax, 0, ymax}); -} + inline bool GeoImage::checkBorder(PixelCoords& c, const std::vector& limit, const bool & b){ + // b initialy a ThickBoolean IN == true + // Check the border to see if it is a pixel limit + int val, bound, nPix; + for(int i = 0; i < limit.size(); i++){ + if (limit[i] == false) continue; + switch (i) { + case 0: + bound = std::max(0,c[0]-1); + val = ( b == true ) ? boxSize(bound, bound, c[2], c[3]) : 0; + nPix = enclosed_pixels(bound, bound, c[2], c[3]); + break; + case 1: + bound = std::min(info_i.shape[0]-1,c[1]+1); + val = ( b == true ) ? boxSize(bound, bound, c[2], c[3]) : 0; + nPix = enclosed_pixels(bound, bound, c[2], c[3]); + break; + case 2: + bound = std::max(0,c[2]-1); + val = ( b == true ) ? boxSize(c[0], c[1], bound, bound) : 0; + nPix = enclosed_pixels(c[0], c[1], bound, bound); + break; + case 3: + bound = std::min(info_i.shape[1]-1,c[3]+1); + val = ( b == true ) ? boxSize(c[0], c[1], bound, bound) : 0; + nPix = enclosed_pixels(c[0], c[1], bound, bound); + break; + } + + if (nPix != val) return false; + } + return true; + } + + inline IntervalVector GeoImage::getBoundingBox(){ + int xmax = info_i.shape[0]-1; + int ymax = info_i.shape[1]-1; + return grid_to_world({ 0, xmax, 0, ymax}); + } +} // end of namespace from_pyibex -#endif //__PYIBEX_GEOIMAGE_H__ +#endif //__PYIBEX_GEOIMAGE_H__ \ No newline at end of file diff --git a/python/src/unsupported/image/codac_images.cpp b/python/src/unsupported/image/codac_images.cpp index 8d7728697..b1ef08e54 100644 --- a/python/src/unsupported/image/codac_images.cpp +++ b/python/src/unsupported/image/codac_images.cpp @@ -43,18 +43,18 @@ using namespace pybind11::literals; void export_GeoImage(py::module& m) { - class_ geo_image(m, "GeoImage"); + class_ geo_image(m, "GeoImage"); geo_image .def(init , double, double , double , double >(), __DOC_GEOIMAGE_CONSTRUCTOR, py::keep_alive<1,2>(), "img"_a, "x0"_a, "y0"_a, "dx"_a, "dy"_a) - .def("world_to_grid", &GeoImage::world_to_grid, __DOC_GEOIMAGE_WORLD_TO_GRID, "box"_a) - .def("grid_to_world", &GeoImage::grid_to_world, __DOC_GEOIMAGE_GRID_TO_WORLD, "pixel_coords"_a) - .def("pixelAt", &GeoImage::pixelAt, __DOC_GEOIMAGE_PIXELAT, "x"_a, "y"_a) - .def("enclosed_pixels", &GeoImage::enclosed_pixels, __DOC_GEOIMAGE_ENCLOSED_PIXELS, + .def("world_to_grid", &from_pyibex::GeoImage::world_to_grid, __DOC_GEOIMAGE_WORLD_TO_GRID, "box"_a) + .def("grid_to_world", &from_pyibex::GeoImage::grid_to_world, __DOC_GEOIMAGE_GRID_TO_WORLD, "pixel_coords"_a) + .def("pixelAt", &from_pyibex::GeoImage::pixelAt, __DOC_GEOIMAGE_PIXELAT, "x"_a, "y"_a) + .def("enclosed_pixels", &from_pyibex::GeoImage::enclosed_pixels, __DOC_GEOIMAGE_ENCLOSED_PIXELS, "xmin"_a, "xmax"_a, "ymin"_a, "ymax"_a ) // .def("test", &GeoImage::test, __DOC_GEOIMAGE_TEST, "box"_a) - .def_property_readonly("boundingBox", [](GeoImage& self){return self.boundingBox;}) + .def_property_readonly("boundingBox", [](from_pyibex::GeoImage& self){return self.boundingBox;}) ; } From 9ea487979712d8b7f3829682fa92784814d02ee2 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 26 Aug 2022 16:16:56 +0200 Subject: [PATCH 038/256] [tube] changing arguments order + tests (return value) --- .../2/domains/tube/codac2_AbstractSlice.cpp | 8 +-- .../2/domains/tube/codac2_AbstractSlice.h | 4 +- .../domains/tube/codac2_AbstractSlicedTube.h | 4 +- src/core/2/domains/tube/codac2_Slice.h | 32 ++++++------ src/core/2/domains/tube/codac2_Tube.h | 30 ++++++++---- tests/core/tests_codac2_tubes.cpp | 49 +++++++++++++------ 6 files changed, 79 insertions(+), 48 deletions(-) diff --git a/src/core/2/domains/tube/codac2_AbstractSlice.cpp b/src/core/2/domains/tube/codac2_AbstractSlice.cpp index cb6d58324..b5c71cb2f 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlice.cpp +++ b/src/core/2/domains/tube/codac2_AbstractSlice.cpp @@ -33,16 +33,16 @@ namespace codac2 return *_it_tslice; } - const std::shared_ptr AbstractSlice::prev_abstract_slice() const + const std::shared_ptr AbstractSlice::prev_abstract_slice_ptr() const { - if(&(*_tubevector.first_abstract_slice()) == this) + if(&(*_tubevector.first_abstract_slice_ptr()) == this) return nullptr; return prev(_it_tslice)->slices().at(&_tubevector); } - const std::shared_ptr AbstractSlice::next_abstract_slice() const + const std::shared_ptr AbstractSlice::next_abstract_slice_ptr() const { - if(&(*_tubevector.last_abstract_slice()) == this) + if(&(*_tubevector.last_abstract_slice_ptr()) == this) return nullptr; return next(_it_tslice)->slices().at(&_tubevector); } diff --git a/src/core/2/domains/tube/codac2_AbstractSlice.h b/src/core/2/domains/tube/codac2_AbstractSlice.h index 0a0164875..0f856f352 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlice.h +++ b/src/core/2/domains/tube/codac2_AbstractSlice.h @@ -40,8 +40,8 @@ namespace codac2 const Interval& t0_tf() const; const TSlice& tslice() const; - const std::shared_ptr prev_abstract_slice() const; - const std::shared_ptr next_abstract_slice() const; + const std::shared_ptr prev_abstract_slice_ptr() const; + const std::shared_ptr next_abstract_slice_ptr() const; protected: diff --git a/src/core/2/domains/tube/codac2_AbstractSlicedTube.h b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h index 0cc3fdc54..528f6b015 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlicedTube.h +++ b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h @@ -24,8 +24,8 @@ namespace codac2 AbstractSlicedTube(const std::shared_ptr& tdomain); - virtual const std::shared_ptr& first_abstract_slice() const = 0; - virtual const std::shared_ptr& last_abstract_slice() const = 0; + virtual const std::shared_ptr& first_abstract_slice_ptr() const = 0; + virtual const std::shared_ptr& last_abstract_slice_ptr() const = 0; const std::shared_ptr& tdomain() const; Interval t0_tf() const; diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index 6342ad4e9..f1da9ac27 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -41,8 +41,8 @@ namespace codac2 } - explicit Slice(const T& box, const AbstractSlicedTube& tube_vector, const std::list::iterator& it_tslice) : - AbstractSlice(tube_vector,it_tslice), _codomain(box) + explicit Slice(const T& codomain, const AbstractSlicedTube& tube_vector, const std::list::iterator& it_tslice) : + AbstractSlice(tube_vector,it_tslice), _codomain(codomain) { } @@ -103,26 +103,26 @@ namespace codac2 return true; // todo } - const std::shared_ptr> prev_slice() const + const std::shared_ptr> prev_slice_ptr() const { - return std::static_pointer_cast>(prev_abstract_slice()); + return std::static_pointer_cast>(prev_abstract_slice_ptr()); } - std::shared_ptr> prev_slice() + std::shared_ptr> prev_slice_ptr() { return std::const_pointer_cast>( - static_cast(*this).prev_slice()); + static_cast(*this).prev_slice_ptr()); } - const std::shared_ptr> next_slice() const + const std::shared_ptr> next_slice_ptr() const { - return std::static_pointer_cast>(next_abstract_slice()); + return std::static_pointer_cast>(next_abstract_slice_ptr()); } - std::shared_ptr> next_slice() + std::shared_ptr> next_slice_ptr() { return std::const_pointer_cast>( - static_cast(*this).next_slice()); + static_cast(*this).next_slice_ptr()); } const T& codomain() const @@ -133,16 +133,16 @@ namespace codac2 T input_gate() const { T gate = codomain(); - if(prev_slice()) - gate &= prev_slice()->codomain(); + if(prev_slice_ptr()) + gate &= prev_slice_ptr()->codomain(); return gate; } T output_gate() const { T gate = codomain(); - if(next_slice()) - gate &= next_slice()->codomain(); + if(next_slice_ptr()) + gate &= next_slice_ptr()->codomain(); return gate; } @@ -151,7 +151,7 @@ namespace codac2 assert((size_t)codomain().size() == size()); _codomain = x; if(is_gate()) - _codomain &= prev_slice()->codomain() & next_slice()->codomain(); + _codomain &= prev_slice_ptr()->codomain() & next_slice_ptr()->codomain(); } void set_component(size_t i, const Interval& xi) @@ -159,7 +159,7 @@ namespace codac2 assert((size_t)codomain().size() == size()); _codomain[i] = xi; if(is_gate()) - _codomain[i] &= prev_slice()->codomain()[i] & next_slice()->codomain()[i]; + _codomain[i] &= prev_slice_ptr()->codomain()[i] & next_slice_ptr()->codomain()[i]; } friend std::ostream& operator<<(std::ostream& os, const Slice& x) diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index d0c3ddb43..f38c0c356 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -38,9 +38,10 @@ namespace codac2 { public: - explicit Tube(size_t n, const std::shared_ptr& tdomain) : - AbstractSlicedTube(tdomain) + explicit Tube(const std::shared_ptr& tdomain, size_t n = 1) : + Tube(tdomain, T(n)) { + assert(n > 0); for(std::list::iterator it = _tdomain->_tslices.begin(); it != _tdomain->_tslices.end(); ++it) { @@ -50,16 +51,27 @@ namespace codac2 } } - explicit Tube(size_t n, const std::shared_ptr& tdomain, const TFnc& f) : - Tube(n, tdomain) + explicit Tube(const std::shared_ptr& tdomain, const TFnc& f) : + Tube(tdomain, (size_t)f.image_dim()) { assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); - assert((size_t)f.image_dim() == n); for(auto& s : *this) s.set(f.eval_vector(s.t0_tf())); } + explicit Tube(const std::shared_ptr& tdomain, const T& default_value) : + AbstractSlicedTube(tdomain) + { + for(std::list::iterator it = _tdomain->_tslices.begin(); + it != _tdomain->_tslices.end(); ++it) + { + it->_slices.insert( + std::pair>>(this, + std::make_shared>(default_value, *this, it))); + } + } + explicit Tube(const Tube& x) : AbstractSlicedTube(x.tdomain()) { @@ -97,19 +109,19 @@ namespace codac2 return _tdomain->nb_tslices(); } - virtual const std::shared_ptr& first_abstract_slice() const + virtual const std::shared_ptr& first_abstract_slice_ptr() const { return _tdomain->tslices().front().slices().at(this); } - virtual const std::shared_ptr& last_abstract_slice() const + virtual const std::shared_ptr& last_abstract_slice_ptr() const { return _tdomain->tslices().back().slices().at(this); } const std::shared_ptr> first_slice_ptr() const { - return std::static_pointer_cast>(first_abstract_slice()); + return std::static_pointer_cast>(first_abstract_slice_ptr()); } const Slice& first_slice() const @@ -125,7 +137,7 @@ namespace codac2 const std::shared_ptr> last_slice_ptr() const { - return std::static_pointer_cast>(last_abstract_slice()); + return std::static_pointer_cast>(last_abstract_slice_ptr()); } const Slice& last_slice() const diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp index 94e657f9b..5f4b1c3e4 100644 --- a/tests/core/tests_codac2_tubes.cpp +++ b/tests/core/tests_codac2_tubes.cpp @@ -17,6 +17,13 @@ using namespace ibex; using namespace codac2; using codac::oo; +Tube return_a_tube() +{ + return Tube( + create_tdomain(Interval(0,2),0.5), + IntervalVector(3,Interval(-1.5,1))); +} + TEST_CASE("Test codac2::tubes") { SECTION("Test TDomain") @@ -42,11 +49,11 @@ TEST_CASE("Test codac2::tubes") CHECK(tdomain->iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); CHECK(tdomain->nb_tubes() == 0); - Tube x(2, tdomain); // adding a tubevector to the tdomain + Tube x(tdomain, 2); // adding a tubevector to the tdomain CHECK(tdomain->nb_tubes() == 1); { // new scope - Tube v(3, tdomain); + Tube v(tdomain, 3); CHECK(tdomain->nb_tubes() == 2); } // end of scope, auto removing the tube @@ -138,7 +145,7 @@ TEST_CASE("Test codac2::tubes") { auto tdomain = create_tdomain(); CHECK(tdomain->nb_tslices() == 1); - Tube x(1, tdomain); + Tube x(tdomain, 1); x.set(Interval(4)); x(Interval(0,1)) = IntervalVector({{1,2}}); x(Interval(1,2)) = IntervalVector({{5,6}}); @@ -151,16 +158,16 @@ TEST_CASE("Test codac2::tubes") const std::shared_ptr> s0 = x.first_slice_ptr(); CHECK(s0->t0_tf() == Interval(-oo,0)); CHECK(s0->codomain() == IntervalVector({{4}})); - const std::shared_ptr> s1 = s0->next_slice(); + const std::shared_ptr> s1 = s0->next_slice_ptr(); CHECK(s1->t0_tf() == Interval(0,1)); CHECK(s1->codomain() == IntervalVector({{1,2}})); - const std::shared_ptr> s2 = s1->next_slice(); + const std::shared_ptr> s2 = s1->next_slice_ptr(); CHECK(s2->t0_tf() == Interval(1,2)); CHECK(s2->codomain() == IntervalVector({{5,6}})); - const std::shared_ptr> s3 = s2->next_slice(); + const std::shared_ptr> s3 = s2->next_slice_ptr(); CHECK(s3->t0_tf() == Interval(2,3)); CHECK(s3->codomain() == IntervalVector({{8,9}})); - const std::shared_ptr> s4 = s3->next_slice(); + const std::shared_ptr> s4 = s3->next_slice_ptr(); CHECK(s4->t0_tf() == Interval(3,oo)); CHECK(s4->codomain() == IntervalVector({{4}})); @@ -169,7 +176,7 @@ TEST_CASE("Test codac2::tubes") CHECK(tdomain->nb_tslices() == 6); CHECK(s2->t0_tf() == Interval(1,1.3)); CHECK(s2->codomain() == IntervalVector({{5,6}})); - const std::shared_ptr> s2bis = s2->next_slice(); + const std::shared_ptr> s2bis = s2->next_slice_ptr(); CHECK(s2bis->t0_tf() == Interval(1.3,2)); CHECK(s2bis->codomain() == IntervalVector({{5,6}})); CHECK(s3->t0_tf() == Interval(2,3)); @@ -179,7 +186,7 @@ TEST_CASE("Test codac2::tubes") SECTION("Test basic Tube") { auto tdomain = create_tdomain(Interval(0,1), 0.1, false); - Tube x(3, tdomain); + Tube x(tdomain, 3); CHECK(x.size() == 3); CHECK(x.tdomain() == tdomain); @@ -231,7 +238,7 @@ TEST_CASE("Test codac2::tubes") for(auto& s : x) { CHECK(&s == &(*s_)); - s_ = s_->next_slice(); + s_ = s_->next_slice_ptr(); } } @@ -242,7 +249,7 @@ TEST_CASE("Test codac2::tubes") for(const auto& s : x) { CHECK(&s == &(*s_)); - s_ = s_->next_slice(); + s_ = s_->next_slice_ptr(); } } } @@ -250,7 +257,7 @@ TEST_CASE("Test codac2::tubes") SECTION("Test SliceVector") { auto tdomain = create_tdomain(Interval(0,1), 0.1); - Tube x(2, tdomain); + Tube x(tdomain, 2); CHECK(x.nb_slices() == 12); CHECK(x.first_slice_ptr() == tdomain->iterator_tslice(-oo)->_slices.at(&x)); CHECK(x.last_slice_ptr() == tdomain->iterator_tslice(oo)->_slices.at(&x)); @@ -283,9 +290,12 @@ TEST_CASE("Test codac2::tubes") SECTION("Test again 1") { auto tdomain = create_tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) - Tube x(2, tdomain, + Tube x(tdomain, codac::TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); - Tube u(2, tdomain); + Tube u(tdomain, 2); + + CHECK(x.size() == 2); + CHECK(u.size() == 2); codac::TFunction tf("x[2]", "u[2]", "(sin(x[1]) ; -sin(x[0]))"); CtcDiffInclusion ctc_diffincl(tf); @@ -337,10 +347,19 @@ TEST_CASE("Test codac2::tubes") { auto tdomain = create_tdomain(Interval(0,1), 0.1); - x = new Tube(1, tdomain); + x = new Tube(tdomain); CHECK(x->tdomain() == tdomain); } CHECK(x->tdomain()->t0_tf() == Interval(0,1)); // should not segfault + delete x; + } + + SECTION("Function returning a tube") + { + Tube x = return_a_tube(); + CHECK(x.tdomain()->t0_tf() == Interval(0,2)); + CHECK(x.size() == 3); + CHECK(x.codomain()[1] == Interval(-1.5,1)); } } \ No newline at end of file From d64d6db159a1b943f8ad27b545a462303a62a1b2 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 26 Aug 2022 16:25:04 +0200 Subject: [PATCH 039/256] [tube] TubeComponent, TubeEvaluation --- src/core/2/domains/tube/codac2_Tube.h | 159 +----------------- .../2/domains/tube/codac2_TubeComponent.h | 121 +++++++++++++ .../2/domains/tube/codac2_TubeEvaluation.h | 66 ++++++++ 3 files changed, 189 insertions(+), 157 deletions(-) create mode 100644 src/core/2/domains/tube/codac2_TubeComponent.h create mode 100644 src/core/2/domains/tube/codac2_TubeEvaluation.h diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index f38c0c356..1f2d3b516 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -307,163 +307,8 @@ namespace codac2 }; - template - class TubeEvaluation - { - public: - - const TubeEvaluation& operator=(const T& x) - { - // Sampling the tube only if affectation is performed - // (i.e. this is not done in the constructor) - std::list::iterator it_lb = _tubevector->_tdomain->sample(_t.lb(), false); - std::list::iterator it_ub = _tubevector->_tdomain->sample(_t.ub(), _t.is_degenerated()); - - do - { - std::static_pointer_cast>(it_lb->_slices.at(_tubevector))->set(x); - it_lb++; - } while(it_lb != it_ub); - - return *this; - } - - explicit operator T() - { - return _tubevector->eval(_t); - } - - friend std::ostream& operator<<(std::ostream& os, const TubeEvaluation& x) - { - os << x._tubevector->eval(x._t) << std::flush; - return os; - } - - - protected: - - explicit TubeEvaluation(const Tube* tubevector, double t) : - _t(Interval(t)), _tubevector(tubevector) - { - - } - - explicit TubeEvaluation(const Tube* tubevector, const Interval& t) : - _t(t), _tubevector(tubevector) - { - - } - - const Interval _t; - const Tube* _tubevector; - }; - - - template - class TubeComponent //: public AbstractConstTube> - { - protected: - - TubeComponent(Tube& tubevector, size_t i) : - _i(i), _tubevector(tubevector) - { - assert(i >= 0 && i < tubevector.size()); - } - - public: - - TubeComponent(const TubeComponent& tubevector_i) : - _i(tubevector_i._i), _tubevector(tubevector_i._tubevector) - { - - } - - size_t size() const - { - return 1; - } - - const std::shared_ptr& tdomain() const - { - return _tubevector.tdomain(); - } - - Interval t0_tf() const - { - return _tubevector.t0_tf(); - } - - Interval codomain() const - { - Interval codomain(Interval::EMPTY_SET); - for(const auto& s : _tubevector) - codomain |= s.codomain()[_i]; - return codomain; - } - - bool contains(const Trajectory& value) const - { - assert(false); - return true; - } - - void set(const Interval& codomain) - { - for(auto& s : _tubevector) - s.set_component(_i, codomain); - } - - const TubeComponent& operator=(const TubeComponent& x) - { - assert(x.tdomain() == tdomain()); - for(auto& s : _tubevector) - s.set_component(_i, std::static_pointer_cast>(s._it_tslice->_slices.at(&x._tubevector))->codomain()[x._i]); - return *this; - } - - const TubeComponent& operator=(std::pair,const TubeComponent> rel) - { - assert(rel.second.tdomain() == tdomain()); - for(auto& s : _tubevector) - s.set_component(_i, rel.first(std::static_pointer_cast>(s._it_tslice->_slices.at(&rel.second._tubevector))->codomain()[rel.second._i])); - return *this; - } - - friend std::ostream& operator<<(std::ostream& os, const TubeComponent& x) - { - os << "Component " << x._i << " of: " << x._tubevector << std::flush; - return os; - } - - std::pair,const TubeComponent> cos(const TubeComponent& x) - { - return std::make_pair(static_cast(ibex::cos), x); - } - - codac::Tube to_codac1() const - { - codac::Tube x(t0_tf()); - for(const auto& s : _tubevector) - if(!s.t0_tf().is_unbounded()) - x.set(s.codomain()[_i], s.t0_tf()); - for(const auto& s : _tubevector) // setting gate (were overwritten) - if(s.t0_tf().is_degenerated()) - x.set(s.codomain()[_i], s.t0_tf()); - return x; - } - - - protected: - - size_t _i; - Tube& _tubevector; - - template - friend class Tube; - }; - - template - std::pair,const TubeComponent> cos(const TubeComponent& x); + #include "codac2_TubeEvaluation.h" + #include "codac2_TubeComponent.h" } // namespace codac diff --git a/src/core/2/domains/tube/codac2_TubeComponent.h b/src/core/2/domains/tube/codac2_TubeComponent.h new file mode 100644 index 000000000..895d892b5 --- /dev/null +++ b/src/core/2/domains/tube/codac2_TubeComponent.h @@ -0,0 +1,121 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TUBECOMPONENT_H__ +#define __CODAC2_TUBECOMPONENT_H__ + +template +class TubeComponent //: public AbstractConstTube> +{ + protected: + + TubeComponent(Tube& tubevector, size_t i) : + _i(i), _tubevector(tubevector) + { + assert(i >= 0 && i < tubevector.size()); + } + + public: + + TubeComponent(const TubeComponent& tubevector_i) : + _i(tubevector_i._i), _tubevector(tubevector_i._tubevector) + { + + } + + size_t size() const + { + return 1; + } + + const std::shared_ptr& tdomain() const + { + return _tubevector.tdomain(); + } + + Interval t0_tf() const + { + return _tubevector.t0_tf(); + } + + Interval codomain() const + { + Interval codomain(Interval::EMPTY_SET); + for(const auto& s : _tubevector) + codomain |= s.codomain()[_i]; + return codomain; + } + + bool contains(const Trajectory& value) const + { + assert(false); + return true; + } + + void set(const Interval& codomain) + { + for(auto& s : _tubevector) + s.set_component(_i, codomain); + } + + const TubeComponent& operator=(const TubeComponent& x) + { + assert(x.tdomain() == tdomain()); + for(auto& s : _tubevector) + s.set_component(_i, std::static_pointer_cast>(s._it_tslice->_slices.at(&x._tubevector))->codomain()[x._i]); + return *this; + } + + const TubeComponent& operator=(std::pair,const TubeComponent> rel) + { + assert(rel.second.tdomain() == tdomain()); + for(auto& s : _tubevector) + s.set_component(_i, rel.first(std::static_pointer_cast>(s._it_tslice->_slices.at(&rel.second._tubevector))->codomain()[rel.second._i])); + return *this; + } + + friend std::ostream& operator<<(std::ostream& os, const TubeComponent& x) + { + os << "Component " << x._i << " of: " << x._tubevector << std::flush; + return os; + } + + std::pair,const TubeComponent> cos(const TubeComponent& x) + { + return std::make_pair(static_cast(ibex::cos), x); + } + + codac::Tube to_codac1() const + { + codac::Tube x(t0_tf()); + for(const auto& s : _tubevector) + if(!s.t0_tf().is_unbounded()) + x.set(s.codomain()[_i], s.t0_tf()); + for(const auto& s : _tubevector) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x.set(s.codomain()[_i], s.t0_tf()); + return x; + } + + + protected: + + size_t _i; + Tube& _tubevector; + + template + friend class Tube; +}; + +template +std::pair,const TubeComponent> cos(const TubeComponent& x); + +#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TubeEvaluation.h b/src/core/2/domains/tube/codac2_TubeEvaluation.h new file mode 100644 index 000000000..2a90698f2 --- /dev/null +++ b/src/core/2/domains/tube/codac2_TubeEvaluation.h @@ -0,0 +1,66 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_TUBEEVALUATION_H__ +#define __CODAC2_TUBEEVALUATION_H__ + +template +class TubeEvaluation +{ + public: + + const TubeEvaluation& operator=(const T& x) + { + // Sampling the tube only if affectation is performed + // (i.e. this is not done in the constructor) + std::list::iterator it_lb = _tubevector->_tdomain->sample(_t.lb(), false); + std::list::iterator it_ub = _tubevector->_tdomain->sample(_t.ub(), _t.is_degenerated()); + + do + { + std::static_pointer_cast>(it_lb->_slices.at(_tubevector))->set(x); + it_lb++; + } while(it_lb != it_ub); + + return *this; + } + + explicit operator T() + { + return _tubevector->eval(_t); + } + + friend std::ostream& operator<<(std::ostream& os, const TubeEvaluation& x) + { + os << x._tubevector->eval(x._t) << std::flush; + return os; + } + + + protected: + + explicit TubeEvaluation(const Tube* tubevector, double t) : + _t(Interval(t)), _tubevector(tubevector) + { + + } + + explicit TubeEvaluation(const Tube* tubevector, const Interval& t) : + _t(t), _tubevector(tubevector) + { + + } + + const Interval _t; + const Tube* _tubevector; +}; + +#endif \ No newline at end of file From a399e3f665157982062316603548c7eb6187e59b Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 31 Aug 2022 13:34:07 +0200 Subject: [PATCH 040/256] [ctc] CtcDiffInclusion minor update --- src/core/2/contractors/codac2_CtcDiffInclusion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp index d68dfdc3f..a08127a91 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp @@ -29,7 +29,7 @@ namespace codac2 void CtcDiffInclusion::contract(Tube& x, const Tube& u, TimePropag t_propa) { // Verifying that x and u share exactly the same tdomain and slicing: - assert(&x.tdomain() == &u.tdomain()); + assert(x.tdomain() == u.tdomain()); // Verifying that the provided tubes are consistent with the function assert((size_t)_f.nb_var() == 2); assert((size_t)_f.image_dim() == x.size()); From c27207a4c251f765deca2a5d5f46d6a1442ca288 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 31 Aug 2022 17:14:52 +0200 Subject: [PATCH 041/256] [tube] forgotten files in CMakeLists --- src/core/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 1f4c5a2eb..b2762b779 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -186,6 +186,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_Tube.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeComponent.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeEvaluation.h ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.h ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.cpp From 017e38d7f93dde307a3b849e58939bc7b341c40e Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 31 Aug 2022 17:15:16 +0200 Subject: [PATCH 042/256] [paving] adding get_boxes() method --- src/core/paving/codac_Paving.cpp | 29 +++++++++++++++++++++++++++++ src/core/paving/codac_Paving.h | 11 +++++++++++ src/core/paving/codac_Set.h | 2 ++ 3 files changed, 42 insertions(+) diff --git a/src/core/paving/codac_Paving.cpp b/src/core/paving/codac_Paving.cpp index 7a0f1c72c..f7fb4817c 100644 --- a/src/core/paving/codac_Paving.cpp +++ b/src/core/paving/codac_Paving.cpp @@ -129,9 +129,38 @@ namespace codac } // Extract methods + + void Paving::get_boxes(list& l_subpavings, SetValue val, SetValue neg_val) const + { + assert(!(val & neg_val) && "val and neg_val intersect"); + + if(neg_val != SetValue::DEFAULT && (m_value & neg_val) && !(m_value & val)) + { + // The current node and its leaves do not contain solutions + // So we stop here + } + + else + { + if(is_leaf()) + { + if(m_value & val) + l_subpavings.push_back(box()); + } + + else + { + m_first_subpaving->get_boxes(l_subpavings, val, neg_val); + m_second_subpaving->get_boxes(l_subpavings, val, neg_val); + } + } + } void Paving::get_pavings_intersecting(SetValue val, const IntervalVector& box_to_intersect, vector& v_subpavings, bool no_degenerated_intersection) const { + // todo: use the negation of val for a faster reading of the tree? + // See Paving::get_boxes + assert(box_to_intersect.size() == 2); IntervalVector inter = box_to_intersect & m_box; diff --git a/src/core/paving/codac_Paving.h b/src/core/paving/codac_Paving.h index d1163eabb..84704e0c3 100644 --- a/src/core/paving/codac_Paving.h +++ b/src/core/paving/codac_Paving.h @@ -12,6 +12,8 @@ #ifndef __CODAC_PAVING_H__ #define __CODAC_PAVING_H__ +#include +#include #include "codac_Set.h" #include "codac_ConnectedSubset.h" @@ -149,6 +151,15 @@ namespace codac /// \name Extract methods /// @{ + /** + * \brief Returns a set of boxes leaves of some value + * + * \param l_subpavings the set of returned objects + * \param val the value of the leaves (boxes of the paving) we are looking for + * \param neg_val the value for which we reject the leaves, optional argument used for faster execution along the tree + */ + void get_boxes(std::list& l_subpavings, SetValue val, SetValue neg_val = SetValue::DEFAULT) const; + /** * \brief Returns a set of Paving leaves of some value and intersecting a given box * diff --git a/src/core/paving/codac_Set.h b/src/core/paving/codac_Set.h index 46bd575f6..df9094d7c 100644 --- a/src/core/paving/codac_Set.h +++ b/src/core/paving/codac_Set.h @@ -25,6 +25,8 @@ namespace codac */ enum class SetValue { + DEFAULT = 0x00, ///< does not have a meaning, only used for default values of arguments + UNKNOWN = 0x01, ///< unable to conclude OUT = 0x02, ///< outside the solution set IN = 0x04, ///< inside the solution set From 1bd1628a87feefd7d3ad436017190317a36ff1e6 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 18 Aug 2022 23:28:39 +0200 Subject: [PATCH 043/256] Updated workflows --- .github/workflows/macosmatrix.yml | 8 +- .github/workflows/unixmatrix.yml | 73 ++++++++------- .github/workflows/vcmatrix.yml | 9 +- packages/choco/codac/codac.nuspec | 10 ++ .../codac/tools/chocolateybeforemodify.ps1 | 13 +++ .../choco/codac/tools/chocolateyinstall.ps1 | 92 +++++++++++++++++-- packages/choco/codac/tools/sharedVars.ps1 | 1 + 7 files changed, 158 insertions(+), 48 deletions(-) create mode 100644 packages/choco/codac/tools/chocolateybeforemodify.ps1 diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 5073450a8..0d176f562 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -49,11 +49,15 @@ jobs: if: runner.os=='macOS' - run: brew install doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D INTERVAL_LIB=${{ matrix.cfg.ilib }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. + - run: | + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip + rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip + cp -Rf ibex/* /usr/local/ shell: bash - run: | mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. cmake --build . --config Release --target install cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 73ae5ab63..c984c9a9e 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -35,17 +35,19 @@ jobs: - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x86' } - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x86' } -# - { os: windows-2022, shell: cmd, arch: x64, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } -# - { os: windows-2022, shell: cmd, arch: x86, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } -# - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } + - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - { os: ubuntu-22.04, shell: bash, arch: amd64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - { os: ubuntu-20.04, shell: bash, arch: amd64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } - { os: ubuntu-18.04, shell: bash, arch: amd64, runtime: bionic, cmake_flags: '-fPIC', desc: 'Ubuntu 18.04' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', desc: 'macOS Monterey' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', desc: 'macOS Big Sur' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Big Sur arm64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Big Sur x86_64' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v3 @@ -73,64 +75,62 @@ jobs: - run: | choco install -y -r --no-progress mingw --version=7.3.0 --force ${{ matrix.cfg.choco_flags }} echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% - choco install -y -r --no-progress ibex --version=2.8.9.20220413 --ignore-dependencies ${{ matrix.cfg.choco_flags }} - if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw7')&&(matrix.cfg.arch=='x86') + if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw7') - run: | choco install -y -r --no-progress mingw --version=8.1.0 --force ${{ matrix.cfg.choco_flags }} echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw8')&&(matrix.cfg.arch=='x86') + - run: | + choco install -y -r --no-progress mingw --version=11.2.0 --force ${{ matrix.cfg.choco_flags }} + echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% + if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw11')&&(matrix.cfg.arch=='x86') - run: | choco install -y -r --no-progress checksum wget winflexbison make patch zip ${{ matrix.cfg.choco_flags }} choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} - choco install -y -r --no-progress ibex --version=2.8.9.20220413 ${{ matrix.cfg.choco_flags }} + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex.2.8.9.20220812.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20220812 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20220812.nupkg if: runner.os=='Windows' -# - run: sudo apt-get -q update ; sudo apt-get -y install flex bison libeigen3-dev || true -# shell: bash -# if: runner.os=='Linux' - run: | sudo sh -c 'echo "deb [trusted=yes] https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true shell: bash if: runner.os=='Linux' - - run: brew install eigen + - run: | + brew install eigen + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip + rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip + cp -Rf ibex/* /usr/local/ if: runner.os=='macOS' - - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. - shell: bash - if: ((runner.os=='Windows')&&(matrix.cfg.runtime!='mingw8'))||((runner.os!='Windows')&&(runner.os!='Linux')) +# - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. +# shell: bash - run: | mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" .. cmake --build . --config Debug --target install cd .. + sed_param=s/PATH_SUFFIXES\ /PATHS\ \$\{CMAKE_CURRENT_LIST_FILE\}\\/..\\/..\\/..\\/..\\/\ PATH_SUFFIXES\ / + if [ ${{ runner.os }} = Windows ]; then sed -i "$sed_param" codac/share/codac/cmake/*.cmake ; fi + zip -q -r codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac shell: bash - - run: | - mkdir -p codac_standalone/example ; cd codac_standalone - wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools - cp -Rf ../ibex . ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac_standalone ; cd codac_standalone/example - cmake ${{ matrix.cfg.cmake_params }} . - cmake --build . --config Release - ./${{ matrix.cfg.test_config }}my_project - cd ../.. - shell: bash - if: ((runner.os=='Windows')&&(matrix.cfg.runtime!='mingw8'))||((runner.os!='Windows')&&(runner.os!='Linux')) - run: | cd packages/choco - cp -Rf ../../codac/* codac sed_param=s/\1\<\\/version\>/\${PACKAGE_VERSION}\<\\/version\>/ sed -i "$sed_param" codac/codac.nuspec - sed_param=s/PATH_SUFFIXES\ /PATHS\ \$\{CMAKE_CURRENT_LIST_FILE\}\\/..\\/..\\/..\\/..\\/\ PATH_SUFFIXES\ / - sed -i "$sed_param" codac/share/codac/cmake/*.cmake + sed_param=s/codac-1/codac-${PACKAGE_VERSION}/ + sed -i "$sed_param" codac/tools/chocolateyinstall.ps1 mv -f codac codac.$PACKAGE_VERSION cd codac.$PACKAGE_VERSION choco pack mv -f codac.$PACKAGE_VERSION.nupkg ../../../ cd ../../.. checksum -f=codac.$PACKAGE_VERSION.nupkg -t=sha256 - choco source add -n=current-directory -s . --priority=100 - choco install -y -r --no-progress codac --version=$PACKAGE_VERSION ${{ matrix.cfg.choco_flags }} - mv -f codac.$PACKAGE_VERSION.nupkg codac.$PACKAGE_VERSION${{ matrix.cfg.choco_flags }}.nupkg + choco install -y -r --no-progress --ignore-dependencies -s . codac --params "'/url:./codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + if [ ${{ matrix.cfg.runtime }} != mingw8 ] || [ ${{ matrix.cfg.arch }} != x64 ]; then rm -Rf codac.$PACKAGE_VERSION.nupkg ; fi # To avoid upload conflicts of the same file... + checksum -f=codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip -t=sha256 shell: bash - if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw8') + if: runner.os=='Windows' - run: | cd packages chmod +x ./genlibcodac-dev.sh @@ -139,14 +139,19 @@ jobs: sudo dpkg -i libcodac-dev-$PACKAGE_VERSION\_${{ matrix.cfg.arch }}.deb shell: bash if: runner.os=='Linux' + - run: | + cp -Rf codac/* /usr/local/ + shell: bash + if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') - run: | rm -Rf codac cd tests/test_codac cmake ${{ matrix.cfg.cmake_params }} . cmake --build . --config Release + file ./${{ matrix.cfg.test_config }}my_project ./${{ matrix.cfg.test_config }}my_project shell: bash - if: ((runner.os=='Windows')&&(matrix.cfg.runtime=='mingw8'))||(runner.os=='Linux') + if: (runner.os!='macOS')||(matrix.cfg.arch=='x86_64') - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 8570b9bd7..255eba5ef 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -51,15 +51,16 @@ jobs: - run: choco install -y -r --no-progress winflexbison patch if: startsWith(matrix.cfg.runtime, 'vc') - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} - shell: cmd if: runner.os=='Windows' - run: choco install -y -r --no-progress doxygen.install graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools & git clone --depth 1 -b v3.1.1 https://github.com/sphinx-doc/sphinx & cd sphinx & pip install . & pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. - shell: bash + - run: | + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex.2.8.9.20220812.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20220812 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20220812.nupkg - run: | mkdir build ; cd build - cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_PREFIX_PATH="ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. cmake --build . --config Release --target install cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py cd .. diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index c6620641f..27826d88b 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -24,6 +24,16 @@ Codac is a library providing tools for constraint programming over reals, trajec - Check that all the packages and their dependencies were installed, if one failed (e.g. due to network-related errors) try to reinstall it using `--force` or try a previous version... - 32 bit versions of Qt Creator do not seem available any more, see https://github.com/AdmiringWorm/chocolatey-packages/issues/362. - If multiple compilers are already installed, Qt Creator might show multiple possibilities in the Configure Project panel, ensure you choose one compatible with https://chocolatey.org/packages/codac#dependencies. + +## Package parameters +The following package parameters can be set: +- `/url:URL` - Will install the specified binary package, see versions from https://github.com/codac-team/codac/releases (the Windows `PATH` might need to be updated manually, etc.). By default, only the MinGW libraries compatible with the corresponding MinGW Chocolatey package dependency are installed. Use the standard parameter `choco install --ignore-dependencies ...` to avoid installing MinGW Chocolatey package dependency if needed. +- `/NoPath` - Will not try to update Windows PATH. +- `/NoRegistry` - Will not try to update Windows registry. +To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/NoPath /NoRegistry'"`), e.g. +``` +choco install -y -f --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/codac-2.8.9.20220812/codac_x86_vc15.zip'" +``` https://github.com/codac-team/codac/releases diff --git a/packages/choco/codac/tools/chocolateybeforemodify.ps1 b/packages/choco/codac/tools/chocolateybeforemodify.ps1 new file mode 100644 index 000000000..37cecf4ea --- /dev/null +++ b/packages/choco/codac/tools/chocolateybeforemodify.ps1 @@ -0,0 +1,13 @@ +$ErrorActionPreference = 'Stop'; # Stop on all errors. + +# Source variables which are shared between install and uninstall. +. $PSScriptRoot\sharedVars.ps1 + +#Uninstall-BinFile -Name libcodac-rob.a +#Uninstall-BinFile -Name libcodac.a + +if (Test-Path $CMakeRegistryPath) { + if (Test-Path $CMakeSystemRepositoryPath\$CMakePackageName) { + Remove-Item "$CMakeSystemRepositoryPath\$CMakePackageName" + } +} diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index 7b030baa2..81a8a975b 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -3,17 +3,93 @@ # Source variables which are shared between install and uninstall. . $PSScriptRoot\sharedVars.ps1 -New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force -New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$env:ChocolateyPackageFolder\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force +$pp = Get-PackageParameters -# Get 32 bit binaries if needed and delete unnecessary files... -if (Test-Path "$env:ChocolateyPackageFolder\x86") { - if ((Get-ProcessorBits 32) -or $env:ChocolateyForceX86 -eq $true) { - Copy-Item -Recurse -Force -Path "$env:ChocolateyPackageFolder\x86\*" -Destination "$env:ChocolateyPackageFolder" +$root = "$env:ChocolateyPackageFolder\.." + +if (!$pp['url']) { + $url = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x86_mingw8.zip' + $checksum = '7855B0393DF389855E126E712C51DAB8649F19BE0101579C753FBEDF108B0132' + $url64 = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x64_mingw8.zip' + $checksum64 = '89C6BB0DE09BD86524947827B3ED88CBBDCAB63141AEE5F7FF273CFB416C0D22' + $packageArgs = @{ + packageName = $env:ChocolateyPackageName + unzipLocation = "$root" + url = $url + url64bit = $url64 + checksum = $checksum + checksumType = 'sha256' + checksum64 = $checksum64 + checksumType64= 'sha256' + } + Install-ChocolateyZipPackage @packageArgs + + $runtime = "mingw" +} +else +{ + $url = $pp['url'] + #$checksum = $pp['sha256'] + $packageArgs = @{ + packageName = $env:ChocolateyPackageName + unzipLocation = "$root" + url = $url + #checksum = $checksum + #checksumType = 'sha256' + } + Install-ChocolateyZipPackage @packageArgs + + # Analyze url to guess what to add to Windows PATH... + if ($url -match "x86") { + $arch = "x86" + } + else { + $arch = "x64" + } + if ($url -match "vc8") { + $runtime = "vc8" + } + if ($url -match "vc9") { + $runtime = "vc9" + } + elseif ($url -match "vc10") { + $runtime = "vc10" } - Remove-Item -Recurse -Force "$env:ChocolateyPackageFolder\x86" + elseif ($url -match "vc11") { + $runtime = "vc11" + } + elseif ($url -match "vc12") { + $runtime = "vc12" + } + elseif ($url -match "vc14") { + $runtime = "vc14" + } + elseif ($url -match "vc15") { + $runtime = "vc15" + } + elseif ($url -match "vc16") { + $runtime = "vc16" + } + elseif ($url -match "vc17") { + $runtime = "vc17" + } + elseif ($url -match "vc18") { + $runtime = "vc18" + } + else { + $runtime = "mingw" + } +} + +if (!$pp['NoRegistry']) { + New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force + New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$env:ChocolateyPackageFolder\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } +#$pathtoadd = "$env:ChocolateyPackageFolder\bin" +#if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { +# $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" +# [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") +#} #Install-BinFile -Name libcodac.a -Path "$env:ChocolateyPackageFolder\lib" #Install-BinFile -Name libcodac-rob.a -Path "$env:ChocolateyPackageFolder\lib" -#Install-BinFile -Name libcodac-pybex.a -Path "$env:ChocolateyPackageFolder\lib" diff --git a/packages/choco/codac/tools/sharedVars.ps1 b/packages/choco/codac/tools/sharedVars.ps1 index 1a1a238d4..4fc220aea 100644 --- a/packages/choco/codac/tools/sharedVars.ps1 +++ b/packages/choco/codac/tools/sharedVars.ps1 @@ -1,3 +1,4 @@ +if ((Get-ProcessorBits 32) -or $env:ChocolateyForceX86 -eq $true) { $arch = "x86" } else { $arch = "x64" } $CMakeRegistryPath = "HKCU:\SOFTWARE\Kitware\CMake" $CMakeSystemRepositoryPath = "HKLM:\SOFTWARE\Kitware\CMake\Packages" $CMakePackageName = "Codac" From 53b4bbf49764c2983cbbc5c2f58a935e5b889ed9 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 3 Sep 2022 17:24:01 +0200 Subject: [PATCH 044/256] Temporary fix due to server firewall blocking apt --- .github/workflows/unixmatrix.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index c984c9a9e..dd82151b6 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -92,7 +92,10 @@ jobs: del /f /q ibex.2.8.9.20220812.nupkg if: runner.os=='Windows' - run: | - sudo sh -c 'echo "deb [trusted=yes] https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' + wget https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs`/libibex-dev-2.8.9.20220809-0`lsb_release -cs`0_amd64.deb --no-check-certificate -nv + sudo apt-get -q update ; sudo apt-get -y install ./libibex-dev-2.8.9.20220809-0`lsb_release -cs`0_amd64.deb || true + rm -Rf ./libibex-dev-2.8.9.20220809-0`lsb_release -cs`0_amd64.deb + #sudo sh -c 'echo "deb [trusted=yes] https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true shell: bash if: runner.os=='Linux' From cf385c8c2dc6541665c643e111898dbec9e65bd5 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 3 Sep 2022 23:46:03 +0200 Subject: [PATCH 045/256] Added back codac_standalone --- .github/workflows/unixmatrix.yml | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index dd82151b6..fb8b23804 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -117,6 +117,24 @@ jobs: if [ ${{ runner.os }} = Windows ]; then sed -i "$sed_param" codac/share/codac/cmake/*.cmake ; fi zip -q -r codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac shell: bash + - run: | + mkdir -p codac_standalone/example ; cd codac_standalone + wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools + if [ ${{ runner.os }} = Windows ]; then cp -Rf /C/ProgramData/chocolatey/lib/ibex . ; rm -Rf ibex/tools ibex/ibex.* + elif [ ${{ runner.os }} = Linux ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ + elif [ ${{ runner.os }} = macOS ]; then cp -Rf ../ibex . + fi + cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac_standalone + shell: bash + - run: | + cd codac_standalone/example + cmake ${{ matrix.cfg.cmake_params }} . + cmake --build . --config Release + file ./${{ matrix.cfg.test_config }}my_project + ./${{ matrix.cfg.test_config }}my_project + cd ../.. + shell: bash + if: (runner.os!='macOS')||(matrix.cfg.arch=='x86_64') - run: | cd packages/choco sed_param=s/\1\<\\/version\>/\${PACKAGE_VERSION}\<\\/version\>/ @@ -153,6 +171,7 @@ jobs: cmake --build . --config Release file ./${{ matrix.cfg.test_config }}my_project ./${{ matrix.cfg.test_config }}my_project + cd ../.. shell: bash if: (runner.os!='macOS')||(matrix.cfg.arch=='x86_64') - uses: xresloader/upload-to-github-release@v1 From 53e17b77c5aa38630828aaea19a0f3fd3932c658 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 3 Sep 2022 23:00:01 +0200 Subject: [PATCH 046/256] Documentation updates --- .../install/01-installation-full-linux.rst | 2 + .../install/01-installation-full-macos.rst | 8 ++-- .../install/01-installation-full-windows.rst | 2 +- doc/doc/install/01-installation-python.rst | 41 +++++++++++-------- doc/doc/install/01-installation.rst | 30 +++++++------- 5 files changed, 45 insertions(+), 38 deletions(-) diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index f2fc15723..4f65ad29d 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -30,6 +30,8 @@ Then, check your installation `with the instructions of this page <03-start-cpp- and check that "My first tube:Tube [0, 10]" appears. + Similar archives exist also for all the supported configurations. + Install from sources (latest development) ----------------------------------------- diff --git a/doc/doc/install/01-installation-full-macos.rst b/doc/doc/install/01-installation-full-macos.rst index f8cfe3b3a..bb7ed00f3 100644 --- a/doc/doc/install/01-installation-full-macos.rst +++ b/doc/doc/install/01-installation-full-macos.rst @@ -14,11 +14,11 @@ Install Homebrew package manager and build tools: .. code-block:: bash - /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)" + /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" brew install wget autoconf automake libtool brew install --cask cmake -Download and extract e.g. ``codac_standalone_x64_bigsur.zip`` (for macOS 11 Big Sur) from ``_, then in ``example`` folder run: +Download and extract *e.g.* ``codac_standalone_x86_64_bigsur.zip`` (for macOS 11 Big Sur (x86_64)) from ``_, then in ``example`` folder run: .. code-block:: bash @@ -26,13 +26,13 @@ Download and extract e.g. ``codac_standalone_x64_bigsur.zip`` (for macOS 11 Big and check that "My first tube:Tube [0, 10]" appears. -Optionally, download and run ``_ before running the project, and check that a tube appears in VIBes window. +Optionally, download and run ``_ (see also https://support.apple.com/HT211861) before running the project, and check that a tube appears in VIBes window. Building from sources --------------------- -You will probably need to install those prerequisites (assuming you installed `Homebrew package manager `_): +You will probably need to install those prerequisites (assuming you installed `Homebrew package manager `_): .. code-block:: bash diff --git a/doc/doc/install/01-installation-full-windows.rst b/doc/doc/install/01-installation-full-windows.rst index 5d271b2cb..674ba81c3 100644 --- a/doc/doc/install/01-installation-full-windows.rst +++ b/doc/doc/install/01-installation-full-windows.rst @@ -41,7 +41,7 @@ Optionally, for Python (*e.g.* ``choco install python --version=3.8.2``) and doc choco install doxygen.install graphviz python -m pip install --upgrade pip pip install --upgrade wheel setuptools - git clone -b v3.1.1 https://github.com/sphinx-doc/sphinx + git clone --depth 1 -b v3.1.1 https://github.com/sphinx-doc/sphinx cd sphinx pip install . pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 803d24e5f..36d83bc67 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -35,36 +35,41 @@ In case you want to use Codac only with Python, then the installation procedure The :gbg:`✓` configurations are officially supported at the moment: -+---------------+----------------+-----------------+-----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (x86_64) |Online | -+===============+================+=================+=================+================+================+ -|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ ++---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | ++===============+================+=================+=================+================+================+================+ +|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ If a configuration in this table does not work, please `contact us `_. .. warning:: - | **macOS Big Sur and Monterey (amd64):** - | `Python wheels provided for Catalina may still be installed `_, try something similar to: + | **macOS Big Sur and later (arm64):** + | `Rosetta `_ might be necessary to run `VIBes `_ (not tested). + +.. warning:: + + | **macOS Big Sur and later (x86_64):** + | `Python wheels provided for Catalina or earlier may need to be installed with something similar to `: .. code-block:: bash - sudo pip3 install --platform macosx_10_15_x86_64 --only-binary=:all: --target=/Library/Developer/CommandLineTools/Library/Frameworks/Python3.framework/Versions/3.8/lib/python3.8/site-packages codac + sudo pip3 install --platform macosx_10_9_x86_64 --only-binary=:all: --target=/Library/Developer/CommandLineTools/Library/Frameworks/Python3.framework/Versions/3.8/lib/python3.8/site-packages codac - Depending on the way Python was installed, the path to specify after ``--target`` may differ, *e.g.* if Python was installed from https://www.python.org/ftp/python/3.10.4/python-3.10.4-macos11.pkg, it may be ``/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages``. Otherwise, run ``python3 -m site`` to check the ``site-packages`` full path in ``sys.path list``. + Depending on the way Python was installed, the path to specify after ``--target`` may differ, *e.g.* if Python was installed from https://www.python.org/ftp/python/3.10.4/python-3.10.4-macos11.pkg, it may be ``/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages``. Otherwise, run ``python3 -m site`` to check the ``site-packages`` full path in ``sys.path list``. .. note:: - ARM-based computers can still probably follow `Installing local Python binding <../dev/info_dev.html>`_ (not tested). + Unsupported ARM-based computers can still probably follow `Installing local Python binding <../dev/info_dev.html>`_ (not tested). Update your Codac Python package diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index e350fd974..1065838ca 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -37,21 +37,21 @@ Codac is available in both C++17 and Python3. Note that you can also :ref:`use C The :gbg:`✓` configurations are officially supported at the moment: -+---------------+----------------+-----------------+-----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (x86_64) |Online | -+===============+================+=================+=================+================+================+ -|C++17 ||linux-cpp|_ ||win-cpp|_ ||win-cpp|_ ||macos-cpp|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ -|Python 3.6 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||online-py|_ | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.7 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.8 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.9 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+ + -|Python 3.10 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ ++---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | ++===============+================+=================+=================+================+================+================+ +|C++17 ||linux-cpp|_ ||win-cpp|_ ||win-cpp|_ ||macos-cpp|_ ||macos-cpp|_ | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Python 3.6 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ ||online-py|_ | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.7 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.8 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.9 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.10 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ | **Click on the links in the table to access the related installation procedures.** | If a configuration in this table does not work, please `contact us `_. From 21c04b197af93075e3ac92018316c1aaf5b76a91 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 7 Sep 2022 14:04:33 +0200 Subject: [PATCH 047/256] [tplane] changing access of generic method --- src/robotics/loops/codac_TPlane.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/robotics/loops/codac_TPlane.h b/src/robotics/loops/codac_TPlane.h index fb1833b6a..d46b8f788 100644 --- a/src/robotics/loops/codac_TPlane.h +++ b/src/robotics/loops/codac_TPlane.h @@ -169,8 +169,6 @@ namespace codac */ static void verbose(bool verbose = true); - protected: - /** * \brief Tries to prove the existence of loops in each detection set * @@ -180,6 +178,8 @@ namespace codac */ void compute_proofs(const std::function& f); + protected: + /** * \brief Recursive computation of the tplane, from the tube of positions \f$[\mathbf{p}](\cdot)\f$ * and the tube of velocities \f$[\mathbf{v}](\cdot)\f$. From ee941a3dbdd6cd09189fd83a5a13875922617597 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 7 Sep 2022 14:47:11 +0200 Subject: [PATCH 048/256] [src] corrected warnings --- src/core/2/domains/tube/codac2_AbstractConstTube.h | 5 +++++ src/core/2/domains/tube/codac2_TSlice.cpp | 2 +- src/robotics/contractors/codac_CtcConstell.cpp | 2 +- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/core/2/domains/tube/codac2_AbstractConstTube.h b/src/core/2/domains/tube/codac2_AbstractConstTube.h index 443799198..e35352c59 100644 --- a/src/core/2/domains/tube/codac2_AbstractConstTube.h +++ b/src/core/2/domains/tube/codac2_AbstractConstTube.h @@ -38,6 +38,11 @@ namespace codac2 explicit AbstractConstTube(const T& x); + virtual ~AbstractConstTube() + { + + } + virtual size_t size() const = 0; virtual bool contains(const TrajectoryVector& value) const = 0; virtual Interval t0_tf() const = 0; diff --git a/src/core/2/domains/tube/codac2_TSlice.cpp b/src/core/2/domains/tube/codac2_TSlice.cpp index 2e4e5e88c..80aefcfe5 100644 --- a/src/core/2/domains/tube/codac2_TSlice.cpp +++ b/src/core/2/domains/tube/codac2_TSlice.cpp @@ -26,7 +26,7 @@ namespace codac2 TSlice::TSlice(const TSlice& tslice, const Interval& tdomain) : TSlice(tdomain) { - for(const auto[k,s] : tslice._slices) + for(const auto&[k,s] : tslice._slices) _slices.insert(pair>( k, s->duplicate())); } diff --git a/src/robotics/contractors/codac_CtcConstell.cpp b/src/robotics/contractors/codac_CtcConstell.cpp index feb2f0f26..407a27718 100644 --- a/src/robotics/contractors/codac_CtcConstell.cpp +++ b/src/robotics/contractors/codac_CtcConstell.cpp @@ -40,7 +40,7 @@ namespace codac assert(a.size() == 2); IntervalVector union_result(2, Interval::EMPTY_SET); - for(const auto mj : m_map) + for(const auto& mj : m_map) union_result |= a & mj.subvector(0,1); a = union_result; } From 85b6244e6c9c1ec73c9f1ebdd7e635713c48287a Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 7 Sep 2022 15:10:55 +0200 Subject: [PATCH 049/256] [tube] updated to_codac1() --- src/core/2/domains/tube/codac2_Tube.cpp | 42 +++++++++++++++++++++++++ src/core/2/domains/tube/codac2_Tube.h | 17 +++------- src/core/CMakeLists.txt | 1 + tests/core/tests_codac2_tubes.cpp | 4 +-- 4 files changed, 49 insertions(+), 15 deletions(-) create mode 100644 src/core/2/domains/tube/codac2_Tube.cpp diff --git a/src/core/2/domains/tube/codac2_Tube.cpp b/src/core/2/domains/tube/codac2_Tube.cpp new file mode 100644 index 000000000..13e51eb48 --- /dev/null +++ b/src/core/2/domains/tube/codac2_Tube.cpp @@ -0,0 +1,42 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_Tube.h" + +using namespace std; +using namespace codac; + +namespace codac2 +{ + codac::Tube to_codac1(const Tube& x) + { + codac::Tube x_(x.t0_tf()); + for(const auto& s : x) + if(!s.t0_tf().is_unbounded()) + x_.set(s.codomain(), s.t0_tf()); + for(const auto& s : x) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x_.set(s.codomain(), s.t0_tf()); + return x_; + } + + codac::TubeVector to_codac1(const Tube& x) + { + codac::TubeVector x_(x.t0_tf(), x.size()); + for(const auto& s : x) + if(!s.t0_tf().is_unbounded()) + x_.set(s.codomain(), s.t0_tf()); + for(const auto& s : x) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x_.set(s.codomain(), s.t0_tf()); + return x_; + } +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index 1f2d3b516..ff978b370 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -222,18 +222,6 @@ namespace codac2 assert(i >= 0 && i < size()); return TubeComponent(*this, i); } - - codac::TubeVector to_codac1() const - { - codac::TubeVector x(t0_tf(), size()); - for(const auto& s : *this) - if(!s.t0_tf().is_unbounded()) - x.set(s.codomain(), s.t0_tf()); - for(const auto& s : *this) // setting gate (were overwritten) - if(s.t0_tf().is_degenerated()) - x.set(s.codomain(), s.t0_tf()); - return x; - } friend std::ostream& operator<<(std::ostream& os, const Tube& x) { @@ -306,10 +294,13 @@ namespace codac2 const_iterator end() const { return const_iterator(*this, _tdomain->_tslices.cend()); } }; + codac::Tube to_codac1(const Tube& x); + codac::TubeVector to_codac1(const Tube& x); + #include "codac2_TubeEvaluation.h" #include "codac2_TubeComponent.h" - + } // namespace codac #endif \ No newline at end of file diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index b2762b779..fc34736f6 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -185,6 +185,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TDomain.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TSlice.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_Tube.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_Tube.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeComponent.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeEvaluation.h diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp index 5f4b1c3e4..e6812a109 100644 --- a/tests/core/tests_codac2_tubes.cpp +++ b/tests/core/tests_codac2_tubes.cpp @@ -303,8 +303,8 @@ TEST_CASE("Test codac2::tubes") //vibes::beginDrawing(); - codac::TubeVector x_codac1 = x.to_codac1(); // may take time - codac::Tube xi_codac1 = x[1].to_codac1(); // may take time + codac::TubeVector x_codac1 = to_codac1(x); // may take time + codac::Tube xi_codac1 = to_codac1(x)[1]; // may take time //codac::VIBesFigTube fig("Tube"); //fig.set_properties(100, 100, 600, 300); From dea93e5e8b5c371b7b024d56ad9472746c4d5507 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 8 Sep 2022 18:30:09 +0200 Subject: [PATCH 050/256] Revert "Temporary fix due to server firewall blocking apt" This reverts commit 53b4bbf49764c2983cbbc5c2f58a935e5b889ed9. --- .github/workflows/unixmatrix.yml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index fb8b23804..4458f26d9 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -92,10 +92,7 @@ jobs: del /f /q ibex.2.8.9.20220812.nupkg if: runner.os=='Windows' - run: | - wget https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs`/libibex-dev-2.8.9.20220809-0`lsb_release -cs`0_amd64.deb --no-check-certificate -nv - sudo apt-get -q update ; sudo apt-get -y install ./libibex-dev-2.8.9.20220809-0`lsb_release -cs`0_amd64.deb || true - rm -Rf ./libibex-dev-2.8.9.20220809-0`lsb_release -cs`0_amd64.deb - #sudo sh -c 'echo "deb [trusted=yes] https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' + sudo sh -c 'echo "deb [trusted=yes] https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true shell: bash if: runner.os=='Linux' From 5f36d8a307aa5da1b7fde48312bc3dc8d295eb2b Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 8 Sep 2022 19:18:19 +0200 Subject: [PATCH 051/256] URL change from https://www.ensta-bretagne.fr/packages/ to https://packages.ensta-bretagne.fr/ --- .github/workflows/unixmatrix.yml | 2 +- doc/doc/install/01-installation-full-linux.rst | 7 ++++++- doc/doc/install/01-installation-python.rst | 2 +- 3 files changed, 8 insertions(+), 3 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 4458f26d9..0db85075e 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -92,7 +92,7 @@ jobs: del /f /q ibex.2.8.9.20220812.nupkg if: runner.os=='Windows' - run: | - sudo sh -c 'echo "deb [trusted=yes] https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' + sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true shell: bash if: runner.os=='Linux' diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index 4f65ad29d..c496e91a7 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -14,12 +14,17 @@ A Debian package is available for the last release |version| of the library: .. code-block:: bash - sudo sh -c 'echo "deb [trusted=yes] https://www.ensta-bretagne.fr/packages/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' + sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' sudo apt update sudo apt install libcodac-dev Then, check your installation `with the instructions of this page <03-start-cpp-project.html>`_. +.. warning:: + + | **URL changed** + | Please update :code:`/etc/apt/sources.list.d/ensta-bretagne.list` as above. + .. note:: For a Raspberry Pi running Raspbian Buster, download and extract ``codac_standalone_armv6hf_buster.zip`` from ``_, then in the ``example`` folder run: diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 36d83bc67..08e1442db 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -59,7 +59,7 @@ If a configuration in this table does not work, please `contact us `: + | `Python wheels provided for Catalina or earlier may need to be installed with something similar to `_: .. code-block:: bash From f2ea9de2156891ca8c5f2f9cd1d00ec310627cc4 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 8 Sep 2022 19:36:00 +0200 Subject: [PATCH 052/256] Documentation updates --- doc/doc/install/01-installation-full-linux.rst | 2 +- doc/doc/install/01-installation-python.rst | 12 ++++++------ doc/doc/install/01-installation.rst | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index c496e91a7..e030d73cd 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -22,7 +22,7 @@ Then, check your installation `with the instructions of this page <03-start-cpp- .. warning:: - | **URL changed** + | **URL changed**: | Please update :code:`/etc/apt/sources.list.d/ensta-bretagne.list` as above. .. note:: diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 08e1442db..355fb0565 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -36,17 +36,17 @@ In case you want to use Codac only with Python, then the installation procedure The :gbg:`✓` configurations are officially supported at the moment: +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +===============+================+=================+=================+================+================+================+ -|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | +|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ If a configuration in this table does not work, please `contact us `_. diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index 1065838ca..8bd7db009 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -38,7 +38,7 @@ Codac is available in both C++17 and Python3. Note that you can also :ref:`use C The :gbg:`✓` configurations are officially supported at the moment: +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +===============+================+=================+=================+================+================+================+ |C++17 ||linux-cpp|_ ||win-cpp|_ ||win-cpp|_ ||macos-cpp|_ ||macos-cpp|_ | | +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ From 859c5710000b2e837e2d7a6368fcacd22d9eb19e Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 13 Sep 2022 15:54:06 +0200 Subject: [PATCH 053/256] [paving] added reset method --- src/core/paving/codac_Paving.cpp | 10 ++++++++++ src/core/paving/codac_Paving.h | 9 ++++++++- 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/src/core/paving/codac_Paving.cpp b/src/core/paving/codac_Paving.cpp index f7fb4817c..583a1b393 100644 --- a/src/core/paving/codac_Paving.cpp +++ b/src/core/paving/codac_Paving.cpp @@ -128,6 +128,16 @@ namespace codac if(m_second_subpaving) m_second_subpaving->reset_flags(); } + void Paving::reset_paving(SetValue value) + { + m_value = value; + if(m_first_subpaving) + { + delete m_first_subpaving; m_first_subpaving = nullptr; + delete m_second_subpaving; m_second_subpaving = nullptr; + } + } + // Extract methods void Paving::get_boxes(list& l_subpavings, SetValue val, SetValue neg_val) const diff --git a/src/core/paving/codac_Paving.h b/src/core/paving/codac_Paving.h index 84704e0c3..533a076db 100644 --- a/src/core/paving/codac_Paving.h +++ b/src/core/paving/codac_Paving.h @@ -147,6 +147,13 @@ namespace codac */ void reset_flags() const; + /** + * \brief Same as building a new Paving object + * + * \param value integer of the set, `SetValue::UNKNOWN` by default + */ + void reset_paving(SetValue value = SetValue::UNKNOWN); + /// @} /// \name Extract methods /// @{ @@ -203,7 +210,7 @@ namespace codac protected: - mutable bool m_flag; //!< optional flag, can be used by search algorithms + mutable bool m_flag = false; //!< optional flag, can be used by search algorithms Paving *m_root = nullptr; //!< pointer to the root Paving *m_first_subpaving = nullptr, *m_second_subpaving = nullptr; //!< tree structure }; From a229dc852bafad02c9d4d8499754b496ce582a55 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 14 Sep 2022 09:39:24 +0200 Subject: [PATCH 054/256] [doc] added link to future Brunovsky page --- doc/doc/conf.py.in | 1 + doc/doc/install/01-installation-python.rst | 12 ++++++------ doc/doc/install/01-installation.rst | 2 +- doc/doc/toctree.rst | 1 + doc/doc/use-cases/brunovsky/index.rst | 18 ++++++++++++++++++ 5 files changed, 27 insertions(+), 7 deletions(-) create mode 100644 doc/doc/use-cases/brunovsky/index.rst diff --git a/doc/doc/conf.py.in b/doc/doc/conf.py.in index b3626b97c..450062d89 100644 --- a/doc/doc/conf.py.in +++ b/doc/doc/conf.py.in @@ -49,6 +49,7 @@ redirects = { "lie-symmetries": "use-cases/lie-symmetries/index.html", "sivia": "manual/11-separators/index.html", "installation": "install/01-installation.html", + "brunovsky": "use-cases/brunovsky/index.html", } breathe_projects = { diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 36d83bc67..a0c976f86 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -36,17 +36,17 @@ In case you want to use Codac only with Python, then the installation procedure The :gbg:`✓` configurations are officially supported at the moment: +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +===============+================+=================+=================+================+================+================+ -|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | +|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ If a configuration in this table does not work, please `contact us `_. diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index 1065838ca..8bd7db009 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -38,7 +38,7 @@ Codac is available in both C++17 and Python3. Note that you can also :ref:`use C The :gbg:`✓` configurations are officially supported at the moment: +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | +===============+================+=================+=================+================+================+================+ |C++17 ||linux-cpp|_ ||win-cpp|_ ||win-cpp|_ ||macos-cpp|_ ||macos-cpp|_ | | +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ diff --git a/doc/doc/toctree.rst b/doc/doc/toctree.rst index 771b77de8..0cbc450cc 100644 --- a/doc/doc/toctree.rst +++ b/doc/doc/toctree.rst @@ -41,6 +41,7 @@ Codac: constraint-programming for robotics :titlesonly: Lie symmetries for guaranteed integ. + Pose estimation with range-only obs. .. /use-cases/set-inversion/index .. /use-cases/loops/index diff --git a/doc/doc/use-cases/brunovsky/index.rst b/doc/doc/use-cases/brunovsky/index.rst new file mode 100644 index 000000000..167b6a64d --- /dev/null +++ b/doc/doc/use-cases/brunovsky/index.rst @@ -0,0 +1,18 @@ +.. _sec-usecases-brunovsky: + +.. warning:: + + This page is related to a paper that is not published yet. + More content will appear soon. + +############################################ +Pose estimation with range-only observations +############################################ + +In the paper *Brunovsky decomposition for dynamic interval localization*, a new set-membership method has been proposed for estimating the trajectories of dynamical systems, when the states are completely unknown and only non-linear observations are available. + +The first part of the proposed method is symbolic and follows the decomposition of Brunovsky, *i.e.*, it decomposes the set of differential equations describing the dynamical system into two blocks of constraints: one block gathers non-linear analytical equations that do not involve differential operators, while the other block is composed of linear chains of integrators. The second part of the method, that relies on the symbolic decomposition, is numerical and based on a contractor approach. It involves a specific optimal operator for narrowing the sets of feasible solutions. + +This approach is shown to be efficient on a difficult problem of dynamical localization of a mobile robot, without any prior knowledge about its states. + +*More content coming soon.* \ No newline at end of file From 4c7bf0512a80ccbecc630e5d8b722a13a5a88158 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 14 Sep 2022 17:40:26 +0200 Subject: [PATCH 055/256] [linobs] added CtcLinobs in Codac2, with ConvexPolygon tubes --- .../2/contractors/codac2_CtcDiffInclusion.cpp | 2 +- src/core/2/contractors/codac2_CtcLinobs.cpp | 309 ++++++++++++++++++ src/core/2/contractors/codac2_CtcLinobs.h | 76 +++++ .../2/domains/tube/codac2_AbstractConstTube.h | 4 +- src/core/2/domains/tube/codac2_Slice.h | 76 ++++- src/core/2/domains/tube/codac2_TDomain.cpp | 13 + src/core/2/domains/tube/codac2_TDomain.h | 1 + src/core/2/domains/tube/codac2_Tube.cpp | 10 + src/core/2/domains/tube/codac2_Tube.h | 102 ++++-- src/core/CMakeLists.txt | 2 + 10 files changed, 566 insertions(+), 29 deletions(-) create mode 100644 src/core/2/contractors/codac2_CtcLinobs.cpp create mode 100644 src/core/2/contractors/codac2_CtcLinobs.h diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp index a08127a91..04e189c69 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.cpp +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.cpp @@ -36,7 +36,7 @@ namespace codac2 for(auto& sx : x) // sx is a SliceVector of the TubeVector x { - if(sx.is_gate()) // the slace may be on a degenerated temporal domain, i.e. a gate + if(sx.is_gate()) // the slice may be on a degenerated temporal domain, i.e. a gate continue; // su is a SliceVector of the TubeVector u: diff --git a/src/core/2/contractors/codac2_CtcLinobs.cpp b/src/core/2/contractors/codac2_CtcLinobs.cpp new file mode 100644 index 000000000..60c44353f --- /dev/null +++ b/src/core/2/contractors/codac2_CtcLinobs.cpp @@ -0,0 +1,309 @@ +/** + * CtcLinobs class + * ---------------------------------------------------------------------------- + * \date 2020 + * \author Simon Rohou + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_CtcLinobs.h" +#include "codac_Domain.h" +#include "codac_polygon_arithmetic.h" +#include "codac_DomainsTypeException.h" +#include // for computing e^At + +using namespace std; +using namespace ibex; +using namespace codac; + +namespace codac2 +{ + IntervalMatrix exp_At(const Matrix& A, const Interval& t) // computes e^At + { + assert(A.nb_rows() == 2 && A.nb_cols() == 2); + IntervalMatrix A_exp(2, 2, Interval::EMPTY_SET); + vector v_t({t.lb(), t.ub()}); + + for(const auto& t : v_t) + { + Eigen::MatrixXd eigen_A(2,2); + eigen_A << A[0][0], A[0][1], + A[1][0], A[1][1]; + eigen_A = eigen_A * t; + Eigen::MatrixXd eigen_A_exp = eigen_A.exp(); + + A_exp[0][0] |= eigen_A_exp(0,0); A_exp[0][1] |= eigen_A_exp(0,1); + A_exp[1][0] |= eigen_A_exp(1,0); A_exp[1][1] |= eigen_A_exp(1,1); + } + + return A_exp; + } + + CtcLinobs::CtcLinobs(const Matrix& A, const Vector& b) + : DynCtc(), m_A(new Matrix(A)), m_b(new Vector(b)) + { + assert(A.nb_cols() == 2 && A.nb_rows() == 2); + assert(b.size() == 2); + } + + CtcLinobs::~CtcLinobs() + { + delete m_A; + delete m_b; + } + + // Static members for contractor signature (mainly used for CN Exceptions) + const string CtcLinobs::m_ctc_name = "CtcLinobs"; + vector CtcLinobs::m_str_expected_doms( + { + "TubeVector, Tube" + }); + + void CtcLinobs::contract(vector& v_domains) + { + /*if(v_domains.size() != 2 + || v_domains[0]->type() != Domain::Type::T_TUBE_VECTOR + || v_domains[1]->type() != Domain::Type::T_TUBE) + throw DomainsTypeException(m_ctc_name, v_domains, m_str_expected_doms); + + contract(v_domains[0]->tube_vector(), v_domains[1]->tube());*/ + } + + void CtcLinobs::contract(Tube& x, const Tube& u, TimePropag t_propa, bool compute_envelopes) + { + assert(x.tdomain() == u.tdomain()); + + if(t_propa & TimePropag::FORWARD) + for(auto it = x.begin(); it != x.end(); ++it) + { + if((*it).is_gate()) continue; + const shared_ptr> su = static_pointer_cast>((*it).tslice().slices().at(&u)); + contract(*it, *su, TimePropag::FORWARD, compute_envelopes && !(t_propa & TimePropag::BACKWARD)); + // Envelopes are contracted in the bwd iteration if selected + } + + if(t_propa & TimePropag::BACKWARD) + for(auto it = x.rbegin(); it != x.rend(); ++it) + { + if((*it).is_gate()) continue; + const shared_ptr> su = static_pointer_cast>((*it).tslice().slices().at(&u)); + contract(*it, *su, TimePropag::BACKWARD, compute_envelopes); + } + } + + /*void CtcLinobs::contract(Tube& x1, Tube& x2, const Tube& u, TimePropag t_propa) + { + vector v_t; + vector v_y; + vector v_p_k; + contract(v_t, v_y, x1, x2, u, v_p_k, t_propa); + } + + void CtcLinobs::contract(TubeVector& x, const Tube& u, TimePropag t_propa) + { + vector v_p_k; + contract(x, u, v_p_k, t_propa); + } + + void CtcLinobs::contract(TubeVector& x, const Tube& u, vector& v_p_k, TimePropag t_propa) + { + vector v_t; + vector v_y; + contract(v_t, v_y, x, u, v_p_k, t_propa); + } + + void CtcLinobs::contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, TimePropag t_propa) + { + vector v_p_k; + contract(t, y, x, u, v_p_k, t_propa); + } + + void CtcLinobs::contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, vector& v_p_k, TimePropag t_propa) + { + vector v_t(1, t); + vector v_y(1, y); + + contract(v_t, v_y, x, u, v_p_k, t_propa); + + y &= v_y[0]; + } + + void CtcLinobs::contract(vector& v_t, vector& v_y, TubeVector& x, const Tube& u, TimePropag t_propa) + { + vector v_p_k; + contract(v_t, v_y, x, u, v_p_k, t_propa); + } + + void CtcLinobs::contract(vector& v_t, vector& v_y, TubeVector& x, const Tube& u, vector& v_p_k, TimePropag t_propa) + { + assert(x.size() == 2 && "operation not supported for other dimensions"); + contract(v_t, v_y, x[0], x[1], u, v_p_k, t_propa); + } +*/ + + void CtcLinobs::contract(Slice& x, const Slice& u, TimePropag t_propa, bool compute_envelope) + { + if(x.is_gate()) + return; + + if((t_propa & TimePropag::FORWARD) && x.next_slice_ptr()) + { + ConvexPolygon output_gate = x.output_gate(); + ctc_fwd_gate(output_gate, x.input_gate(), x.t0_tf().diam(), *m_A, *m_b, u.codomain()); + x.next_slice_ptr()->set(output_gate); + } + + if((t_propa & TimePropag::BACKWARD) && x.prev_slice_ptr()) + { + ConvexPolygon input_gate = x.input_gate(); + ctc_bwd_gate(input_gate, x.output_gate(), x.t0_tf().diam(), *m_A, *m_b, u.codomain()); + x.prev_slice_ptr()->set(input_gate); + } + + if(compute_envelope) + x.set(polygon_envelope(x.input_gate(), x.t0_tf().diam(), *m_A, *m_b, u.codomain())); + } + + /*void CtcLinobs::contract(vector& v_t, vector& v_y, Tube& x1, Tube& x2, const Tube& u, vector& v_p_k, TimePropag t_propa) + { + assert(Tube::same_slicing(x1, u)); + assert(Tube::same_slicing(x2, u)); + assert(v_t.size() == v_y.size()); + #ifdef DEBUG + for(const auto& t : v_t) + assert(x1.tdomain().contains(t)); + for(const auto& y : v_y) + assert(y.size() == 2); + #endif + + int k = x1.nb_slices(); + + // Unbounded polygons are not supported yet, so we limit their size + // (and so the envelope of the tube) + + IntervalVector box_domain(2, Interval(-9999.,9999.)); + x1 &= box_domain[0]; + x2 &= box_domain[1]; + + // Creating a vector of (k+1) polygons + + v_p_k.clear(); + v_p_k = vector(k+1); + + int i = 0; + const Slice *su; + Slice *s1 = x1.first_slice(), *s2 = x2.first_slice(); + + v_p_k[i] = ConvexPolygon({s1->input_gate(), s2->input_gate()}); + while(s1) + { + i++; + v_p_k[i] = ConvexPolygon({s1->output_gate(), s2->output_gate()}); + s1 = s1->next_slice(); s2 = s2->next_slice(); + } + assert(i == k); + + // Forward contractions + + if(t_propa & TimePropag::FORWARD) + { + i = 1; + s1 = x1.first_slice(); + s2 = x2.first_slice(); + su = u.first_slice(); + + while(s1) + { + const Interval tkm1_tk = s1->tdomain(); // [t_{k-1},t_k] + + if(tkm1_tk.intersects(m_restricted_tdomain)) + { + ctc_fwd_gate(v_p_k[i], v_p_k[i-1], tkm1_tk.diam(), *m_A, *m_b, su->codomain()); + + for(size_t j = 0 ; j < v_t.size() ; j++) // observations at uncertain times + if(tkm1_tk.contains(v_t[j])) + ctc_fwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), tkm1_tk.ub()-v_t[j], *m_A, *m_b, su->codomain()); + // todo: contraction of the observations + + IntervalVector ouputgate_box = v_p_k[i].box(); + s1->set_output_gate(ouputgate_box[0]); + s2->set_output_gate(ouputgate_box[1]); + + if(t_propa & TimePropag::BACKWARD) + { + // The slice envelope can be computed only from the gates, + // and so it will be computed during the backward process. + } + + else + { + IntervalVector envelope_box = polygon_envelope(v_p_k[i-1], tkm1_tk.diam(), *m_A, *m_b, su->codomain()).box(); + s1->set_envelope(envelope_box[0]); + s2->set_envelope(envelope_box[1]); + } + } + + s1 = s1->next_slice(); s2 = s2->next_slice(); su = su->next_slice(); + i++; + } + } + + // Backward contractions + + if(t_propa & TimePropag::BACKWARD) + { + i = k-1; + s1 = x1.last_slice(); + s2 = x2.last_slice(); + su = u.last_slice(); + + while(s1) + { + const Interval tk_kp1 = s1->tdomain(); // [t_k,t_{k+1}] + + if(tk_kp1.intersects(m_restricted_tdomain)) + { + ctc_bwd_gate(v_p_k[i], v_p_k[i+1], tk_kp1.diam(), *m_A, *m_b, su->codomain()); + + for(size_t j = 0 ; j < v_t.size() ; j++) // observations at uncertain times + if(tk_kp1.contains(v_t[j])) + ctc_bwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), v_t[j]-tk_kp1.lb(), *m_A, *m_b, su->codomain()); + // todo: contraction of the observations + + IntervalVector polybox = v_p_k[i].box(); + s1->set_input_gate(polybox[0]); + s2->set_input_gate(polybox[1]); + + IntervalVector envelope_box = polygon_envelope(v_p_k[i], tk_kp1.diam(), *m_A, *m_b, su->codomain()).box(); + s1->set_envelope(envelope_box[0]); + s2->set_envelope(envelope_box[1]); + } + + s1 = s1->prev_slice(); s2 = s2->prev_slice(); su = su->prev_slice(); + i--; + } + } + }*/ + + void CtcLinobs::ctc_fwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_km1, + double dt_km1_k, const Matrix& A, const Vector& b, const Interval& u_km1) + { + p_k = p_k & (exp_At(A,dt_km1_k)*p_km1 + dt_km1_k*exp_At(A,Interval(0.,dt_km1_k))*(u_km1*b)); + p_k.simplify(m_polygon_max_edges); + } + + void CtcLinobs::ctc_bwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_kp1, + double dt_k_kp1, const Matrix& A, const Vector& b, const Interval& u_k) + { + p_k = p_k & (exp_At(-A,dt_k_kp1)*p_kp1 - dt_k_kp1*exp_At(-A,Interval(0.,dt_k_kp1))*(u_k*b)); + p_k.simplify(m_polygon_max_edges); + } + + ConvexPolygon CtcLinobs::polygon_envelope(const ConvexPolygon& p_k, + double dt_k_kp1, const Matrix& A, const Vector& b, const Interval& u_k) + { + return exp_At(A,Interval(0.,dt_k_kp1))*p_k + Interval(0.,dt_k_kp1)*exp_At(A,Interval(0.,dt_k_kp1))*(u_k*b); + } +} \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcLinobs.h b/src/core/2/contractors/codac2_CtcLinobs.h new file mode 100644 index 000000000..a47a43071 --- /dev/null +++ b/src/core/2/contractors/codac2_CtcLinobs.h @@ -0,0 +1,76 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_CTCLINOBS_H__ +#define __CODAC2_CTCLINOBS_H__ + +#include +#include +#include +#include "codac_DynCtc.h" +#include "codac2_Tube.h" +#include "codac_ConvexPolygon.h" +#include "codac_IntervalMatrix.h" + +namespace codac2 +{ + /** + * \class CtcLinobs + */ + class CtcLinobs : public codac::DynCtc + { + public: + + /** + * \brief Creates a contractor object \f$\mathcal{C}_\textrm{linobs}\f$ + */ + CtcLinobs(const codac::Matrix& A, const codac::Vector& b); // /!\ auto evaluation of e^At not reliable + ~CtcLinobs(); + + void contract(std::vector& v_domains); + //void contract(Tube& x1, Tube& x2, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(Tube& x, const Tube& u, codac::TimePropag t_propa = codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD, bool compute_envelopes = true); + void contract(Slice& x, const Slice& u, codac::TimePropag t_propa = codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD, bool compute_envelope = true); + + /*void contract(TubeVector& x, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + + // todo: contraction of the observations + void contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + + // todo: contraction of the observations + void contract(std::vector& v_t, std::vector& v_y, TubeVector& x, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(std::vector& v_t, std::vector& v_y, TubeVector& x, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(std::vector& v_t, std::vector& v_y, Tube& x1, Tube& x2, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); +*/ + codac::ConvexPolygon polygon_envelope(const codac::ConvexPolygon& p_k, double dt_k_kp1, const codac::Matrix& A, const codac::Vector& b, const codac::Interval& u_k); + + + protected: + + void ctc_fwd_gate(codac::ConvexPolygon& p_k, const codac::ConvexPolygon& p_km1, double dt_km1_k, const codac::Matrix& A, const codac::Vector& b, const codac::Interval& u_km1); + void ctc_bwd_gate(codac::ConvexPolygon& p_k, const codac::ConvexPolygon& p_kp1, double dt_k_kp1, const codac::Matrix& A, const codac::Vector& b, const codac::Interval& u_k); + + + protected: + + const codac::Matrix* m_A; + const codac::Vector* m_b; + + const int m_polygon_max_edges = 15; + + static const std::string m_ctc_name; //!< class name (mainly used for CN Exceptions) + static std::vector m_str_expected_doms; //!< allowed domains signatures (mainly used for CN Exceptions) + friend class ContractorNetwork; + }; +} + +#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_AbstractConstTube.h b/src/core/2/domains/tube/codac2_AbstractConstTube.h index e35352c59..03eec5867 100644 --- a/src/core/2/domains/tube/codac2_AbstractConstTube.h +++ b/src/core/2/domains/tube/codac2_AbstractConstTube.h @@ -18,6 +18,7 @@ #include "codac_Interval.h" #include "codac_IntervalVector.h" #include "codac_TrajectoryVector.h" +#include "codac_BoolInterval.h" namespace codac2 { @@ -25,6 +26,7 @@ namespace codac2 using codac::TrajectoryVector; using codac::Interval; using codac::IntervalVector; + using codac::BoolInterval; template class AbstractConstTube @@ -44,7 +46,7 @@ namespace codac2 } virtual size_t size() const = 0; - virtual bool contains(const TrajectoryVector& value) const = 0; + virtual BoolInterval contains(const TrajectoryVector& value) const = 0; virtual Interval t0_tf() const = 0; virtual W codomain() const = 0; // virtual W operator()(double t) const = 0; diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index f1da9ac27..79ca9d2ae 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -20,12 +20,16 @@ #include "codac_TrajectoryVector.h" #include "codac_Exception.h" #include "codac2_AbstractSlice.h" +#include "codac_BoolInterval.h" + +#define EPSILON_CONTAINS ibex::next_float(0.) * 1000. //!< epsilon limit of the contains() algorithm namespace codac2 { using codac::Interval; using codac::IntervalVector; using codac::TrajectoryVector; + using codac::BoolInterval; class AbstractSlicedTube; class TSlice; @@ -98,9 +102,63 @@ namespace codac2 return codomain().is_unbounded(); } - bool contains(const TrajectoryVector& value) const + BoolInterval contains(const TrajectoryVector& x) const { - return true; // todo + assert(t0_tf().is_subset(x.tdomain())); + + /*IntervalVector traj_tdomain = x(t0_tf()); + // Using x(Interval(double)) for reliable evaluation: + IntervalVector traj_input = x(Interval(t0_tf().lb())); + IntervalVector traj_output = x(Interval(t0_tf().ub())); + + if(_codomain.intersects(traj_tdomain) == BoolInterval::NO + || input_gate().intersects(traj_input) == BoolInterval::NO + || output_gate().intersects(traj_output) == BoolInterval::NO) + return BoolInterval::NO; + + else + { + if(!input_gate().is_superset(traj_input) || !output_gate().is_superset(traj_output)) + return BoolInterval::MAYBE; + + else if(_codomain.is_superset(traj_tdomain)) + return BoolInterval::YES; + + else // too much pessimism for the trajectory evaluation on t0_tf() + { + // Bisections are performed to reach an accurate evaluation + + std::list s_subtdomains; + s_subtdomains.push_front(t0_tf()); + + while(!s_subtdomains.empty()) + { + Interval t = s_subtdomains.front(); + s_subtdomains.pop_front(); + + IntervalVector thinner_eval = x(t); + + if(!_codomain.intersects(thinner_eval)) + { + return BoolInterval::NO; + } + + else if(!_codomain.is_superset(thinner_eval)) + { + if(t.diam() < EPSILON_CONTAINS) + return BoolInterval::MAYBE; + + s_subtdomains.push_front(Interval(t.lb(), t.lb() + t.diam() / 2.)); + s_subtdomains.push_front(Interval(t.lb() + t.diam() / 2., t.ub())); + } + } + + return BoolInterval::YES; + } + }*/ + + // todo + return BoolInterval::YES; } const std::shared_ptr> prev_slice_ptr() const @@ -133,7 +191,7 @@ namespace codac2 T input_gate() const { T gate = codomain(); - if(prev_slice_ptr()) + if(!is_gate() && prev_slice_ptr()) gate &= prev_slice_ptr()->codomain(); return gate; } @@ -141,14 +199,15 @@ namespace codac2 T output_gate() const { T gate = codomain(); - if(next_slice_ptr()) + if(!is_gate() && next_slice_ptr()) gate &= next_slice_ptr()->codomain(); return gate; } void set(const T& x) { - assert((size_t)codomain().size() == size()); + if constexpr(!std::is_same::value) + assert((size_t)codomain().size() == size()); _codomain = x; if(is_gate()) _codomain &= prev_slice_ptr()->codomain() & next_slice_ptr()->codomain(); @@ -162,6 +221,13 @@ namespace codac2 _codomain[i] &= prev_slice_ptr()->codomain()[i] & next_slice_ptr()->codomain()[i]; } + const Slice& inflate(double rad) + { + assert(rad >= 0. && "cannot inflate negative value"); + _codomain.inflate(rad); + return *this; + } + friend std::ostream& operator<<(std::ostream& os, const Slice& x) { os << x.t0_tf() diff --git a/src/core/2/domains/tube/codac2_TDomain.cpp b/src/core/2/domains/tube/codac2_TDomain.cpp index eca35fcfb..ca6459566 100644 --- a/src/core/2/domains/tube/codac2_TDomain.cpp +++ b/src/core/2/domains/tube/codac2_TDomain.cpp @@ -111,6 +111,19 @@ namespace codac2 return _tslices; } + void TDomain::delete_gates() + { + list::iterator it = _tslices.begin(); + while(it != _tslices.end()) + { + if(it->t0_tf().is_degenerated()) + _tslices.erase(it++); + + else + ++it; + } + } + ostream& operator<<(ostream& os, const TDomain& x) { os << x.t0_tf() diff --git a/src/core/2/domains/tube/codac2_TDomain.h b/src/core/2/domains/tube/codac2_TDomain.h index fee3cba3c..29db26688 100644 --- a/src/core/2/domains/tube/codac2_TDomain.h +++ b/src/core/2/domains/tube/codac2_TDomain.h @@ -38,6 +38,7 @@ namespace codac2 std::list::iterator sample(double t, bool allow_gate = true); friend std::ostream& operator<<(std::ostream& os, const TDomain& x); const std::list& tslices() const; + void delete_gates(); protected: diff --git a/src/core/2/domains/tube/codac2_Tube.cpp b/src/core/2/domains/tube/codac2_Tube.cpp index 13e51eb48..320b4d135 100644 --- a/src/core/2/domains/tube/codac2_Tube.cpp +++ b/src/core/2/domains/tube/codac2_Tube.cpp @@ -39,4 +39,14 @@ namespace codac2 x_.set(s.codomain(), s.t0_tf()); return x_; } + + template <> + Tube::Tube(const std::shared_ptr& tdomain, const TFnc& f) : + Tube(tdomain, IntervalVector(f.image_dim())) + { + assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); + + for(auto& s : *this) + s.set(f.eval_vector(s.t0_tf())); + } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index ff978b370..9b1e27234 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -17,13 +17,16 @@ #include "codac_TFnc.h" #include "codac2_TSlice.h" #include "codac_Tube.h" // to be removed +#include "codac_TubeVector.h" // to be removed #include "codac2_AbstractSlicedTube.h" #include "codac2_AbstractConstTube.h" #include "codac2_TDomain.h" +#include "codac_ConvexPolygon.h" namespace codac2 { using codac::TFnc; + using codac::BoolInterval; template class Slice; @@ -38,26 +41,27 @@ namespace codac2 { public: - explicit Tube(const std::shared_ptr& tdomain, size_t n = 1) : - Tube(tdomain, T(n)) + explicit Tube(const std::shared_ptr& tdomain) : + Tube(tdomain, T()) { - assert(n > 0); - for(std::list::iterator it = _tdomain->_tslices.begin(); - it != _tdomain->_tslices.end(); ++it) - { - it->_slices.insert( - std::pair>>(this, - std::make_shared>(n, *this, it))); - } + } explicit Tube(const std::shared_ptr& tdomain, const TFnc& f) : - Tube(tdomain, (size_t)f.image_dim()) + Tube(tdomain, T()) { assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); + if constexpr(std::is_same::value) + assert(f.image_dim() == 1); for(auto& s : *this) - s.set(f.eval_vector(s.t0_tf())); + { + if constexpr(std::is_same::value) + s.set(f.eval(s.t0_tf())); + + else + s.set(f.eval_vector(s.t0_tf())); + } } explicit Tube(const std::shared_ptr& tdomain, const T& default_value) : @@ -167,9 +171,19 @@ namespace codac2 return false; } - bool contains(const TrajectoryVector& value) const + BoolInterval contains(const TrajectoryVector& x) const { - return true; + assert(x.tdomain() == tdomain()->t0_tf()); + + BoolInterval result = BoolInterval::YES; + for(const auto& s : *this) + { + BoolInterval b = s.contains(x); + if(b == BoolInterval::NO) return BoolInterval::NO; + else if(b == BoolInterval::MAYBE) result = BoolInterval::MAYBE; + } + + return result; } T codomain() const @@ -217,6 +231,24 @@ namespace codac2 s.set(codomain); } + void set(const T& codomain, double t) + { + assert((size_t)codomain.size() == size()); + std::list::iterator it = _tdomain->sample(t); + std::static_pointer_cast>(it->_slices.at(this))->set(codomain); + } + + const Tube& inflate(double rad) + { + for(auto& s : *this) + if(!s.is_gate()) + s.inflate(rad); + for(auto& s : *this) + if(s.is_gate()) + s.inflate(rad); + return *this; + } + TubeComponent operator[](size_t i) { assert(i >= 0 && i < size()); @@ -249,22 +281,48 @@ namespace codac2 public: - iterator(const Tube& tube_vector, base_container::iterator it) : - base_container::iterator(it), _tube_vector(tube_vector) { } + iterator(const Tube& x, base_container::iterator it) : + base_container::iterator(it), _x(x) { } reference operator*() { - return static_cast(*((*this)->_slices.at(&_tube_vector))); + return static_cast(*((*this)->_slices.at(&_x))); } protected: - const Tube& _tube_vector; + const Tube& _x; }; iterator begin() { return iterator(*this, _tdomain->_tslices.begin()); } iterator end() { return iterator(*this, _tdomain->_tslices.end()); } + struct reverse_iterator : public base_container::reverse_iterator + { + using iterator_category = typename base_container::reverse_iterator::iterator_category; + using difference_type = typename base_container::reverse_iterator::difference_type; + + using value_type = Slice; + using pointer = Slice*; + using reference = Slice&; + + public: + + reverse_iterator(const Tube& x, base_container::reverse_iterator it) : + base_container::reverse_iterator(it), _x(x) { } + + reference operator*() + { + return static_cast(*((*this)->_slices.at(&_x))); + } + + protected: + + const Tube& _x; + }; + + reverse_iterator rbegin() { return reverse_iterator(*this, _tdomain->_tslices.rbegin()); } + reverse_iterator rend() { return reverse_iterator(*this, _tdomain->_tslices.rend()); } struct const_iterator : public base_container::const_iterator { @@ -277,17 +335,17 @@ namespace codac2 public: - const_iterator(const Tube& tube_vector, base_container::const_iterator it) : - base_container::const_iterator(it), _tube_vector(tube_vector) { } + const_iterator(const Tube& x, base_container::const_iterator it) : + base_container::const_iterator(it), _x(x) { } reference operator*() const { - return static_cast(*((*this)->_slices.at(&_tube_vector))); + return static_cast(*((*this)->_slices.at(&_x))); } protected: - const Tube& _tube_vector; + const Tube& _x; }; const_iterator begin() const { return const_iterator(*this, _tdomain->_tslices.cbegin()); } diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index fc34736f6..49317ffef 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -191,6 +191,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeEvaluation.h ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcLinobs.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcLinobs.h ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.h ) From 60f45472f123c8cea62a7f11a9dbeb42d39c3ca0 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 14 Sep 2022 17:40:55 +0200 Subject: [PATCH 056/256] [geom] updated Polygon classes --- .../arithmetic/codac_polygon_arithmetic.cpp | 26 +++++++- .../arithmetic/codac_polygon_arithmetic.h | 4 ++ src/core/geometry/codac_ConvexPolygon.cpp | 61 ++++++++++++++++--- src/core/geometry/codac_ConvexPolygon.h | 10 ++- src/core/geometry/codac_Polygon.cpp | 24 ++++++++ src/core/geometry/codac_Polygon.h | 3 + 6 files changed, 118 insertions(+), 10 deletions(-) diff --git a/src/core/arithmetic/codac_polygon_arithmetic.cpp b/src/core/arithmetic/codac_polygon_arithmetic.cpp index b3ae36920..4ccc7a04f 100644 --- a/src/core/arithmetic/codac_polygon_arithmetic.cpp +++ b/src/core/arithmetic/codac_polygon_arithmetic.cpp @@ -75,7 +75,7 @@ namespace codac for(const auto& pt_ : p1.vertices()) { ThickPoint pt(pt_); - if(p2.encloses(pt) != NO) + if(p2.contains(pt) != NO) v_pts.push_back(pt); } @@ -83,7 +83,7 @@ namespace codac for(const auto& pt_ : p2.vertices()) { ThickPoint pt(pt_); - if(p1.encloses(pt) != NO) + if(p1.contains(pt) != NO) v_pts.push_back(pt); } @@ -130,4 +130,26 @@ namespace codac assert(p2.size() == 2 && "other dimensions not supported"); return operator&(p1, ConvexPolygon(p2)); } + + const ConvexPolygon operator|(const ConvexPolygon& p1, const ConvexPolygon& p2) + { + vector v_pts; + for(const auto& pt_ : p1.vertices()) + v_pts.push_back(ThickPoint(pt_)); + for(const auto& pt_ : p2.vertices()) + v_pts.push_back(ThickPoint(pt_)); + return ConvexPolygon(v_pts); + } + + const ConvexPolygon operator|(const IntervalVector& p1, const ConvexPolygon& p2) + { + assert(p1.size() == 2 && "other dimensions not supported"); + return operator|(p2, ConvexPolygon(p1)); + } + + const ConvexPolygon operator|(const ConvexPolygon& p1, const IntervalVector& p2) + { + assert(p2.size() == 2 && "other dimensions not supported"); + return operator|(p1, ConvexPolygon(p2)); + } } \ No newline at end of file diff --git a/src/core/arithmetic/codac_polygon_arithmetic.h b/src/core/arithmetic/codac_polygon_arithmetic.h index 09c2325b1..251bd323c 100644 --- a/src/core/arithmetic/codac_polygon_arithmetic.h +++ b/src/core/arithmetic/codac_polygon_arithmetic.h @@ -31,6 +31,10 @@ namespace codac const ConvexPolygon operator&(const ConvexPolygon& p1, const ConvexPolygon& p2); const ConvexPolygon operator&(const IntervalVector& p1, const ConvexPolygon& p2); const ConvexPolygon operator&(const ConvexPolygon& p1, const IntervalVector& p2); + + const ConvexPolygon operator|(const ConvexPolygon& p1, const ConvexPolygon& p2); + const ConvexPolygon operator|(const IntervalVector& p1, const ConvexPolygon& p2); + const ConvexPolygon operator|(const ConvexPolygon& p1, const IntervalVector& p2); } #endif \ No newline at end of file diff --git a/src/core/geometry/codac_ConvexPolygon.cpp b/src/core/geometry/codac_ConvexPolygon.cpp index 7a14bb254..c99b25532 100644 --- a/src/core/geometry/codac_ConvexPolygon.cpp +++ b/src/core/geometry/codac_ConvexPolygon.cpp @@ -10,6 +10,7 @@ #include #include +#include "codac_polygon_arithmetic.h" #include "codac_IntervalMatrix.h" #include "codac_ConvexPolygon.h" #include "codac_GrahamScan.h" @@ -35,12 +36,8 @@ namespace codac } ConvexPolygon::ConvexPolygon(const IntervalVector& box) - : Polygon() + : Polygon(box) { - assert(box.size() == 2); - assert(!box.is_empty()); - - ThickPoint::push(box, m_v_floating_pts); m_v_floating_pts = GrahamScan::convex_hull(m_v_floating_pts); } @@ -100,7 +97,7 @@ namespace codac for(const auto& pt : vertices()) { - is_subset = is_subset && p.encloses(ThickPoint(pt)); + is_subset = is_subset && p.contains(ThickPoint(pt)); if(is_subset == NO) return NO; } @@ -108,7 +105,30 @@ namespace codac return is_subset; } + const BoolInterval ConvexPolygon::is_subset(const IntervalVector& x) const + { + // todo: this could be optimized in the specific case of a box + return is_subset(ConvexPolygon(x)); + } + + const BoolInterval ConvexPolygon::is_superset(const ConvexPolygon& p) const + { + return p.is_subset(*this); + } + + const BoolInterval ConvexPolygon::is_superset(const IntervalVector& x) const + { + // todo: this could be optimized in the specific case of a box + return is_superset(ConvexPolygon(x)); + } + const BoolInterval ConvexPolygon::encloses(const ThickPoint& p) const + { + cout << "encloses(): deprecated. Use contains() instead." << endl; + return contains(p); + } + + const BoolInterval ConvexPolygon::contains(const ThickPoint& p) const { if(p.does_not_exist() || is_empty()) return NO; @@ -155,12 +175,25 @@ namespace codac return (a & 1) ? YES : NO; } + const BoolInterval ConvexPolygon::contains(const Vector& p) const + { + assert(p.size() == 2); + return contains(ThickPoint(p)); + } + + BoolInterval ConvexPolygon::intersects(const IntervalVector& x) const + { + // todo: improve this algorithm + return fast_intersection(x).is_empty() ? NO : YES; + } + // Setting values const ConvexPolygon& ConvexPolygon::inflate(double rad) { // todo + assert(false); return *this; } @@ -287,9 +320,23 @@ namespace codac ThickPoint::push(reduced_x, v_x_vertices); for(const auto& vertex : v_x_vertices) - if(encloses(vertex) != NO) + if(contains(vertex) != NO) inter |= vertex.box(); return inter; } + + const ConvexPolygon& ConvexPolygon::operator&=(const ConvexPolygon& x) + { + // todo: optimize this? + *this = *this & x; + return *this; + } + + const ConvexPolygon& ConvexPolygon::operator|=(const ConvexPolygon& x) + { + // todo: optimize this? + *this = *this | x; + return *this; + } } \ No newline at end of file diff --git a/src/core/geometry/codac_ConvexPolygon.h b/src/core/geometry/codac_ConvexPolygon.h index cfdf8a01e..e81a62ee7 100644 --- a/src/core/geometry/codac_ConvexPolygon.h +++ b/src/core/geometry/codac_ConvexPolygon.h @@ -35,7 +35,13 @@ namespace codac /// @{ const BoolInterval is_subset(const ConvexPolygon& p) const; - const BoolInterval encloses(const ThickPoint& p) const; + const BoolInterval is_subset(const IntervalVector& x) const; + const BoolInterval is_superset(const ConvexPolygon& p) const; + const BoolInterval is_superset(const IntervalVector& x) const; + const BoolInterval encloses(const ThickPoint& p) const; // deprecated + const BoolInterval contains(const ThickPoint& p) const; + const BoolInterval contains(const Vector& p) const; + BoolInterval intersects(const IntervalVector& x) const; /// @} /// \name Setting values @@ -50,6 +56,8 @@ namespace codac /// @{ const IntervalVector fast_intersection(const IntervalVector& x) const; + const ConvexPolygon& operator&=(const ConvexPolygon& x); + const ConvexPolygon& operator|=(const ConvexPolygon& x); /// @} }; diff --git a/src/core/geometry/codac_Polygon.cpp b/src/core/geometry/codac_Polygon.cpp index 09d07d4a7..a1cb1689f 100644 --- a/src/core/geometry/codac_Polygon.cpp +++ b/src/core/geometry/codac_Polygon.cpp @@ -23,6 +23,7 @@ namespace codac // Definition Polygon::Polygon() + : Polygon(IntervalVector(2,Interval(-9999999999.,9999999999.))) // unbounded polygons are not supported yet { } @@ -32,6 +33,14 @@ namespace codac { } + + Polygon::Polygon(const IntervalVector& box) + { + assert(box.size() == 2); + assert(!box.is_empty()); + + ThickPoint::push(box, m_v_floating_pts); + } Polygon::Polygon(const vector& v_floating_pts) : m_v_floating_pts(v_floating_pts) @@ -39,6 +48,11 @@ namespace codac } + void Polygon::set_empty() + { + m_v_floating_pts.clear(); + } + // Accessing values @@ -81,12 +95,19 @@ namespace codac { IntervalVector box(2, Interval::EMPTY_SET); for(const auto& pt : m_v_floating_pts) + { + if(isinf(pt[0]) || isinf(pt[1])) + return IntervalVector(2); // todo: correct this, issue #87 box |= pt; + } return box; } const ThickPoint Polygon::center() const { + if(is_empty()) + return ThickPoint(); // undefined point + IntervalVector center(2, 0.); for(const auto& pt : m_v_floating_pts) center += pt; @@ -96,6 +117,9 @@ namespace codac const Interval Polygon::area() const { + if(is_empty()) + return 0.; + Interval a(0.); size_t n = m_v_floating_pts.size(); diff --git a/src/core/geometry/codac_Polygon.h b/src/core/geometry/codac_Polygon.h index a7f540198..fb7e4db7e 100644 --- a/src/core/geometry/codac_Polygon.h +++ b/src/core/geometry/codac_Polygon.h @@ -28,8 +28,11 @@ namespace codac Polygon(); Polygon(const Polygon& p); + explicit Polygon(const IntervalVector& box); Polygon(const std::vector& v_floating_pts); + void set_empty(); + /// @} /// \name Accessing values /// @{ From 1efb07d65702d83f2e4091e0cfce959a0110e5de Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 14 Sep 2022 17:41:37 +0200 Subject: [PATCH 057/256] [graphics] polygon updates + new color map --- src/core/graphics/codac_ColorMap.cpp | 10 ++++++++ src/core/graphics/codac_ColorMap.h | 1 + src/core/graphics/codac_VIBesFig.cpp | 11 +++++++++ src/core/graphics/codac_VIBesFig.h | 10 +++++++- tests/core/CMakeLists.txt | 2 +- tests/core/tests_codac2_tubes.cpp | 34 ++++++++++++++++++++++------ 6 files changed, 59 insertions(+), 9 deletions(-) diff --git a/src/core/graphics/codac_ColorMap.cpp b/src/core/graphics/codac_ColorMap.cpp index 43e1317d4..f7554131b 100644 --- a/src/core/graphics/codac_ColorMap.cpp +++ b/src/core/graphics/codac_ColorMap.cpp @@ -216,6 +216,16 @@ namespace codac const ColorMap ColorMap::BLUE_TUBE = make_blue_tube(); + ColorMap make_red_tube() + { + ColorMap map(InterpolMode::RGB); + map.add_color_point(make_rgb(169,55,0), 0.); + map.add_color_point(make_rgb(241,140,54), 1.); + return map; + } + + const ColorMap ColorMap::RED_TUBE = make_red_tube(); + ColorMap make_rainbow() { ColorMap map(InterpolMode::HSV); diff --git a/src/core/graphics/codac_ColorMap.h b/src/core/graphics/codac_ColorMap.h index 73fe741b8..c6199bf48 100644 --- a/src/core/graphics/codac_ColorMap.h +++ b/src/core/graphics/codac_ColorMap.h @@ -121,6 +121,7 @@ namespace codac static const ColorMap HAXBY; //!< predefined HAXBY color map (mainly used for DEM) static const ColorMap DEFAULT; //!< a predefined default color map static const ColorMap BLUE_TUBE; //!< a predefined color map for tubes + static const ColorMap RED_TUBE; //!< a predefined color map for tubes static const ColorMap RAINBOW; //!< a predefined color map diff --git a/src/core/graphics/codac_VIBesFig.cpp b/src/core/graphics/codac_VIBesFig.cpp index 7afecb2a5..be802eefb 100644 --- a/src/core/graphics/codac_VIBesFig.cpp +++ b/src/core/graphics/codac_VIBesFig.cpp @@ -9,6 +9,7 @@ */ #include "codac_VIBesFig.h" +#include "codac2_Tube.h" using namespace std; using namespace ibex; @@ -278,6 +279,16 @@ namespace codac for(int i = v_p.size()-1 ; i >= 0 ; i--) // we usually prefer to display last poylgons first, that may be larger draw_polygon(v_p[i], rgb2hex(color_map.color(i*1./(v_p.size()-1)))); } + + void VIBesFig::draw_polygon_tube(const codac2::Tube& x, const ColorMap& color_map, const vibes::Params& params) + { + int i = -1; + for(const auto& s : x) + { + if(!s.codomain().box().is_unbounded()) + draw_polygon(s.codomain(), rgb2hex(color_map.color((++i)*1./(x.nb_slices()-1)))); + } + } void VIBesFig::draw_point(const ThickPoint& p, float size, const vibes::Params& params) { diff --git a/src/core/graphics/codac_VIBesFig.h b/src/core/graphics/codac_VIBesFig.h index 1d2073c1a..82697a76c 100644 --- a/src/core/graphics/codac_VIBesFig.h +++ b/src/core/graphics/codac_VIBesFig.h @@ -18,8 +18,15 @@ #include "codac_Polygon.h" #include "codac_ConvexPolygon.h" #include "codac_ColorMap.h" +#include "codac_ConvexPolygon.h" #include "vibes.h" +namespace codac2 +{ + template + class Tube; +} + namespace codac { /** @@ -323,7 +330,8 @@ namespace codac * \param params VIBes parameters related to the polygons (none by default) */ void draw_polygons(const std::vector& v_p, const ColorMap& color_map, const vibes::Params& params = vibes::Params()); - + void draw_polygon_tube(const codac2::Tube& x, const ColorMap& color_map, const vibes::Params& params = vibes::Params()); + /** * \brief Draws a point * diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index 9bf1484bf..bc3a2da73 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -26,7 +26,7 @@ list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp index e6812a109..10459aa97 100644 --- a/tests/core/tests_codac2_tubes.cpp +++ b/tests/core/tests_codac2_tubes.cpp @@ -49,11 +49,11 @@ TEST_CASE("Test codac2::tubes") CHECK(tdomain->iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); CHECK(tdomain->nb_tubes() == 0); - Tube x(tdomain, 2); // adding a tubevector to the tdomain + Tube x(tdomain, IntervalVector(2)); // adding a tubevector to the tdomain CHECK(tdomain->nb_tubes() == 1); { // new scope - Tube v(tdomain, 3); + Tube v(tdomain, IntervalVector(3)); CHECK(tdomain->nb_tubes() == 2); } // end of scope, auto removing the tube @@ -145,7 +145,7 @@ TEST_CASE("Test codac2::tubes") { auto tdomain = create_tdomain(); CHECK(tdomain->nb_tslices() == 1); - Tube x(tdomain, 1); + Tube x(tdomain, IntervalVector(1)); x.set(Interval(4)); x(Interval(0,1)) = IntervalVector({{1,2}}); x(Interval(1,2)) = IntervalVector({{5,6}}); @@ -186,7 +186,7 @@ TEST_CASE("Test codac2::tubes") SECTION("Test basic Tube") { auto tdomain = create_tdomain(Interval(0,1), 0.1, false); - Tube x(tdomain, 3); + Tube x(tdomain, IntervalVector(3)); CHECK(x.size() == 3); CHECK(x.tdomain() == tdomain); @@ -257,7 +257,7 @@ TEST_CASE("Test codac2::tubes") SECTION("Test SliceVector") { auto tdomain = create_tdomain(Interval(0,1), 0.1); - Tube x(tdomain, 2); + Tube x(tdomain, IntervalVector(2)); CHECK(x.nb_slices() == 12); CHECK(x.first_slice_ptr() == tdomain->iterator_tslice(-oo)->_slices.at(&x)); CHECK(x.last_slice_ptr() == tdomain->iterator_tslice(oo)->_slices.at(&x)); @@ -292,7 +292,7 @@ TEST_CASE("Test codac2::tubes") auto tdomain = create_tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) Tube x(tdomain, codac::TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); - Tube u(tdomain, 2); + Tube u(tdomain, IntervalVector(2)); CHECK(x.size() == 2); CHECK(u.size() == 2); @@ -318,7 +318,7 @@ TEST_CASE("Test codac2::tubes") { /*{ auto tdomain = create_tdomain(Interval(0,10), 1., false); - Tube x(2, tdomain); + Tube x(tdomain, IntervalVector(2)); for(auto& sx : x) { @@ -362,4 +362,24 @@ TEST_CASE("Test codac2::tubes") CHECK(x.size() == 3); CHECK(x.codomain()[1] == Interval(-1.5,1)); } + + SECTION("Reverse iterator") + { + auto tdomain = create_tdomain(Interval(0,1), 0.5); + Tube x(tdomain); + + auto it1 = x.begin(); + CHECK(it1->t0_tf() == Interval(-oo,0)); ++it1; + CHECK(it1->t0_tf() == Interval(0,0.5)); ++it1; + CHECK(it1->t0_tf() == Interval(0.5,1)); ++it1; + CHECK(it1->t0_tf() == Interval(1,oo)); ++it1; + CHECK(it1 == x.end()); + + auto it2 = x.rbegin(); + CHECK(it2->t0_tf() == Interval(1,oo)); ++it2; + CHECK(it2->t0_tf() == Interval(0.5,1)); ++it2; + CHECK(it2->t0_tf() == Interval(0,0.5)); ++it2; + CHECK(it2->t0_tf() == Interval(-oo,0)); ++it2; + CHECK(it2 == x.rend()); + } } \ No newline at end of file From 60c8ccce81b94859ef1b1ab8e837c9c3c6717ff4 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 15 Sep 2022 10:40:52 +0200 Subject: [PATCH 058/256] [linobs] removing matrix pointers --- src/core/2/contractors/codac2_CtcLinobs.cpp | 35 ++++++++++----------- src/core/2/contractors/codac2_CtcLinobs.h | 12 +++---- 2 files changed, 23 insertions(+), 24 deletions(-) diff --git a/src/core/2/contractors/codac2_CtcLinobs.cpp b/src/core/2/contractors/codac2_CtcLinobs.cpp index 60c44353f..780b6eb51 100644 --- a/src/core/2/contractors/codac2_CtcLinobs.cpp +++ b/src/core/2/contractors/codac2_CtcLinobs.cpp @@ -42,7 +42,7 @@ namespace codac2 } CtcLinobs::CtcLinobs(const Matrix& A, const Vector& b) - : DynCtc(), m_A(new Matrix(A)), m_b(new Vector(b)) + : DynCtc(), _A(A), _b(b) { assert(A.nb_cols() == 2 && A.nb_rows() == 2); assert(b.size() == 2); @@ -50,8 +50,7 @@ namespace codac2 CtcLinobs::~CtcLinobs() { - delete m_A; - delete m_b; + } // Static members for contractor signature (mainly used for CN Exceptions) @@ -151,19 +150,19 @@ namespace codac2 if((t_propa & TimePropag::FORWARD) && x.next_slice_ptr()) { ConvexPolygon output_gate = x.output_gate(); - ctc_fwd_gate(output_gate, x.input_gate(), x.t0_tf().diam(), *m_A, *m_b, u.codomain()); + ctc_fwd_gate(output_gate, x.input_gate(), x.t0_tf().diam(), _A, _b, u.codomain()); x.next_slice_ptr()->set(output_gate); } if((t_propa & TimePropag::BACKWARD) && x.prev_slice_ptr()) { ConvexPolygon input_gate = x.input_gate(); - ctc_bwd_gate(input_gate, x.output_gate(), x.t0_tf().diam(), *m_A, *m_b, u.codomain()); + ctc_bwd_gate(input_gate, x.output_gate(), x.t0_tf().diam(), _A, _b, u.codomain()); x.prev_slice_ptr()->set(input_gate); } if(compute_envelope) - x.set(polygon_envelope(x.input_gate(), x.t0_tf().diam(), *m_A, *m_b, u.codomain())); + x.set(polygon_envelope(x.input_gate(), x.t0_tf().diam(), _A, _b, u.codomain())); } /*void CtcLinobs::contract(vector& v_t, vector& v_y, Tube& x1, Tube& x2, const Tube& u, vector& v_p_k, TimePropag t_propa) @@ -220,11 +219,11 @@ namespace codac2 if(tkm1_tk.intersects(m_restricted_tdomain)) { - ctc_fwd_gate(v_p_k[i], v_p_k[i-1], tkm1_tk.diam(), *m_A, *m_b, su->codomain()); + ctc_fwd_gate(v_p_k[i], v_p_k[i-1], tkm1_tk.diam(), *_A, *_b, su->codomain()); for(size_t j = 0 ; j < v_t.size() ; j++) // observations at uncertain times if(tkm1_tk.contains(v_t[j])) - ctc_fwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), tkm1_tk.ub()-v_t[j], *m_A, *m_b, su->codomain()); + ctc_fwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), tkm1_tk.ub()-v_t[j], *_A, *_b, su->codomain()); // todo: contraction of the observations IntervalVector ouputgate_box = v_p_k[i].box(); @@ -239,7 +238,7 @@ namespace codac2 else { - IntervalVector envelope_box = polygon_envelope(v_p_k[i-1], tkm1_tk.diam(), *m_A, *m_b, su->codomain()).box(); + IntervalVector envelope_box = polygon_envelope(v_p_k[i-1], tkm1_tk.diam(), *_A, *_b, su->codomain()).box(); s1->set_envelope(envelope_box[0]); s2->set_envelope(envelope_box[1]); } @@ -265,18 +264,18 @@ namespace codac2 if(tk_kp1.intersects(m_restricted_tdomain)) { - ctc_bwd_gate(v_p_k[i], v_p_k[i+1], tk_kp1.diam(), *m_A, *m_b, su->codomain()); + ctc_bwd_gate(v_p_k[i], v_p_k[i+1], tk_kp1.diam(), *_A, *_b, su->codomain()); for(size_t j = 0 ; j < v_t.size() ; j++) // observations at uncertain times if(tk_kp1.contains(v_t[j])) - ctc_bwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), v_t[j]-tk_kp1.lb(), *m_A, *m_b, su->codomain()); + ctc_bwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), v_t[j]-tk_kp1.lb(), *_A, *_b, su->codomain()); // todo: contraction of the observations IntervalVector polybox = v_p_k[i].box(); s1->set_input_gate(polybox[0]); s2->set_input_gate(polybox[1]); - IntervalVector envelope_box = polygon_envelope(v_p_k[i], tk_kp1.diam(), *m_A, *m_b, su->codomain()).box(); + IntervalVector envelope_box = polygon_envelope(v_p_k[i], tk_kp1.diam(), *_A, *_b, su->codomain()).box(); s1->set_envelope(envelope_box[0]); s2->set_envelope(envelope_box[1]); } @@ -288,22 +287,22 @@ namespace codac2 }*/ void CtcLinobs::ctc_fwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_km1, - double dt_km1_k, const Matrix& A, const Vector& b, const Interval& u_km1) + double dt_km1_k, const Interval& u_km1) { - p_k = p_k & (exp_At(A,dt_km1_k)*p_km1 + dt_km1_k*exp_At(A,Interval(0.,dt_km1_k))*(u_km1*b)); + p_k = p_k & (exp_At(_A,dt_km1_k)*p_km1 + dt_km1_k*exp_At(_A,Interval(0.,dt_km1_k))*(u_km1*_b)); p_k.simplify(m_polygon_max_edges); } void CtcLinobs::ctc_bwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_kp1, - double dt_k_kp1, const Matrix& A, const Vector& b, const Interval& u_k) + double dt_k_kp1, const Interval& u_k) { - p_k = p_k & (exp_At(-A,dt_k_kp1)*p_kp1 - dt_k_kp1*exp_At(-A,Interval(0.,dt_k_kp1))*(u_k*b)); + p_k = p_k & (exp_At(-_A,dt_k_kp1)*p_kp1 - dt_k_kp1*exp_At(-_A,Interval(0.,dt_k_kp1))*(u_k*_b)); p_k.simplify(m_polygon_max_edges); } ConvexPolygon CtcLinobs::polygon_envelope(const ConvexPolygon& p_k, - double dt_k_kp1, const Matrix& A, const Vector& b, const Interval& u_k) + double dt_k_kp1, const Interval& u_k) { - return exp_At(A,Interval(0.,dt_k_kp1))*p_k + Interval(0.,dt_k_kp1)*exp_At(A,Interval(0.,dt_k_kp1))*(u_k*b); + return exp_At(_A,Interval(0.,dt_k_kp1))*p_k + Interval(0.,dt_k_kp1)*exp_At(_A,Interval(0.,dt_k_kp1))*(u_k*_b); } } \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcLinobs.h b/src/core/2/contractors/codac2_CtcLinobs.h index a47a43071..428919350 100644 --- a/src/core/2/contractors/codac2_CtcLinobs.h +++ b/src/core/2/contractors/codac2_CtcLinobs.h @@ -51,19 +51,19 @@ namespace codac2 void contract(std::vector& v_t, std::vector& v_y, TubeVector& x, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); void contract(std::vector& v_t, std::vector& v_y, Tube& x1, Tube& x2, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); */ - codac::ConvexPolygon polygon_envelope(const codac::ConvexPolygon& p_k, double dt_k_kp1, const codac::Matrix& A, const codac::Vector& b, const codac::Interval& u_k); - + protected: - void ctc_fwd_gate(codac::ConvexPolygon& p_k, const codac::ConvexPolygon& p_km1, double dt_km1_k, const codac::Matrix& A, const codac::Vector& b, const codac::Interval& u_km1); - void ctc_bwd_gate(codac::ConvexPolygon& p_k, const codac::ConvexPolygon& p_kp1, double dt_k_kp1, const codac::Matrix& A, const codac::Vector& b, const codac::Interval& u_k); + void ctc_fwd_gate(codac::ConvexPolygon& p_k, const codac::ConvexPolygon& p_km1, double dt_km1_k, const codac::Interval& u_km1); + void ctc_bwd_gate(codac::ConvexPolygon& p_k, const codac::ConvexPolygon& p_kp1, double dt_k_kp1, const codac::Interval& u_k); + codac::ConvexPolygon polygon_envelope(const codac::ConvexPolygon& p_k, double dt_k_kp1, const codac::Interval& u_k); protected: - const codac::Matrix* m_A; - const codac::Vector* m_b; + const codac::Matrix& _A; + const codac::Vector& _b; const int m_polygon_max_edges = 15; From 3041f2f72cc1aaef1e4acbe8e5c7a2cd05f0530e Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 15 Sep 2022 10:46:19 +0200 Subject: [PATCH 059/256] [linobs] removing matrix pointers (again) --- src/core/2/contractors/codac2_CtcLinobs.cpp | 179 +------------------- src/core/2/contractors/codac2_CtcLinobs.h | 16 -- 2 files changed, 4 insertions(+), 191 deletions(-) diff --git a/src/core/2/contractors/codac2_CtcLinobs.cpp b/src/core/2/contractors/codac2_CtcLinobs.cpp index 780b6eb51..fe23d5e23 100644 --- a/src/core/2/contractors/codac2_CtcLinobs.cpp +++ b/src/core/2/contractors/codac2_CtcLinobs.cpp @@ -92,56 +92,6 @@ namespace codac2 } } - /*void CtcLinobs::contract(Tube& x1, Tube& x2, const Tube& u, TimePropag t_propa) - { - vector v_t; - vector v_y; - vector v_p_k; - contract(v_t, v_y, x1, x2, u, v_p_k, t_propa); - } - - void CtcLinobs::contract(TubeVector& x, const Tube& u, TimePropag t_propa) - { - vector v_p_k; - contract(x, u, v_p_k, t_propa); - } - - void CtcLinobs::contract(TubeVector& x, const Tube& u, vector& v_p_k, TimePropag t_propa) - { - vector v_t; - vector v_y; - contract(v_t, v_y, x, u, v_p_k, t_propa); - } - - void CtcLinobs::contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, TimePropag t_propa) - { - vector v_p_k; - contract(t, y, x, u, v_p_k, t_propa); - } - - void CtcLinobs::contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, vector& v_p_k, TimePropag t_propa) - { - vector v_t(1, t); - vector v_y(1, y); - - contract(v_t, v_y, x, u, v_p_k, t_propa); - - y &= v_y[0]; - } - - void CtcLinobs::contract(vector& v_t, vector& v_y, TubeVector& x, const Tube& u, TimePropag t_propa) - { - vector v_p_k; - contract(v_t, v_y, x, u, v_p_k, t_propa); - } - - void CtcLinobs::contract(vector& v_t, vector& v_y, TubeVector& x, const Tube& u, vector& v_p_k, TimePropag t_propa) - { - assert(x.size() == 2 && "operation not supported for other dimensions"); - contract(v_t, v_y, x[0], x[1], u, v_p_k, t_propa); - } -*/ - void CtcLinobs::contract(Slice& x, const Slice& u, TimePropag t_propa, bool compute_envelope) { if(x.is_gate()) @@ -150,142 +100,21 @@ namespace codac2 if((t_propa & TimePropag::FORWARD) && x.next_slice_ptr()) { ConvexPolygon output_gate = x.output_gate(); - ctc_fwd_gate(output_gate, x.input_gate(), x.t0_tf().diam(), _A, _b, u.codomain()); + ctc_fwd_gate(output_gate, x.input_gate(), x.t0_tf().diam(), u.codomain()); x.next_slice_ptr()->set(output_gate); } if((t_propa & TimePropag::BACKWARD) && x.prev_slice_ptr()) { ConvexPolygon input_gate = x.input_gate(); - ctc_bwd_gate(input_gate, x.output_gate(), x.t0_tf().diam(), _A, _b, u.codomain()); + ctc_bwd_gate(input_gate, x.output_gate(), x.t0_tf().diam(), u.codomain()); x.prev_slice_ptr()->set(input_gate); } if(compute_envelope) - x.set(polygon_envelope(x.input_gate(), x.t0_tf().diam(), _A, _b, u.codomain())); + x.set(polygon_envelope(x.input_gate(), x.t0_tf().diam(), u.codomain())); } - - /*void CtcLinobs::contract(vector& v_t, vector& v_y, Tube& x1, Tube& x2, const Tube& u, vector& v_p_k, TimePropag t_propa) - { - assert(Tube::same_slicing(x1, u)); - assert(Tube::same_slicing(x2, u)); - assert(v_t.size() == v_y.size()); - #ifdef DEBUG - for(const auto& t : v_t) - assert(x1.tdomain().contains(t)); - for(const auto& y : v_y) - assert(y.size() == 2); - #endif - - int k = x1.nb_slices(); - - // Unbounded polygons are not supported yet, so we limit their size - // (and so the envelope of the tube) - - IntervalVector box_domain(2, Interval(-9999.,9999.)); - x1 &= box_domain[0]; - x2 &= box_domain[1]; - - // Creating a vector of (k+1) polygons - - v_p_k.clear(); - v_p_k = vector(k+1); - - int i = 0; - const Slice *su; - Slice *s1 = x1.first_slice(), *s2 = x2.first_slice(); - - v_p_k[i] = ConvexPolygon({s1->input_gate(), s2->input_gate()}); - while(s1) - { - i++; - v_p_k[i] = ConvexPolygon({s1->output_gate(), s2->output_gate()}); - s1 = s1->next_slice(); s2 = s2->next_slice(); - } - assert(i == k); - - // Forward contractions - - if(t_propa & TimePropag::FORWARD) - { - i = 1; - s1 = x1.first_slice(); - s2 = x2.first_slice(); - su = u.first_slice(); - - while(s1) - { - const Interval tkm1_tk = s1->tdomain(); // [t_{k-1},t_k] - - if(tkm1_tk.intersects(m_restricted_tdomain)) - { - ctc_fwd_gate(v_p_k[i], v_p_k[i-1], tkm1_tk.diam(), *_A, *_b, su->codomain()); - - for(size_t j = 0 ; j < v_t.size() ; j++) // observations at uncertain times - if(tkm1_tk.contains(v_t[j])) - ctc_fwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), tkm1_tk.ub()-v_t[j], *_A, *_b, su->codomain()); - // todo: contraction of the observations - - IntervalVector ouputgate_box = v_p_k[i].box(); - s1->set_output_gate(ouputgate_box[0]); - s2->set_output_gate(ouputgate_box[1]); - - if(t_propa & TimePropag::BACKWARD) - { - // The slice envelope can be computed only from the gates, - // and so it will be computed during the backward process. - } - - else - { - IntervalVector envelope_box = polygon_envelope(v_p_k[i-1], tkm1_tk.diam(), *_A, *_b, su->codomain()).box(); - s1->set_envelope(envelope_box[0]); - s2->set_envelope(envelope_box[1]); - } - } - - s1 = s1->next_slice(); s2 = s2->next_slice(); su = su->next_slice(); - i++; - } - } - - // Backward contractions - - if(t_propa & TimePropag::BACKWARD) - { - i = k-1; - s1 = x1.last_slice(); - s2 = x2.last_slice(); - su = u.last_slice(); - - while(s1) - { - const Interval tk_kp1 = s1->tdomain(); // [t_k,t_{k+1}] - - if(tk_kp1.intersects(m_restricted_tdomain)) - { - ctc_bwd_gate(v_p_k[i], v_p_k[i+1], tk_kp1.diam(), *_A, *_b, su->codomain()); - - for(size_t j = 0 ; j < v_t.size() ; j++) // observations at uncertain times - if(tk_kp1.contains(v_t[j])) - ctc_bwd_gate(v_p_k[i], ConvexPolygon(v_y[j]), v_t[j]-tk_kp1.lb(), *_A, *_b, su->codomain()); - // todo: contraction of the observations - - IntervalVector polybox = v_p_k[i].box(); - s1->set_input_gate(polybox[0]); - s2->set_input_gate(polybox[1]); - - IntervalVector envelope_box = polygon_envelope(v_p_k[i], tk_kp1.diam(), *_A, *_b, su->codomain()).box(); - s1->set_envelope(envelope_box[0]); - s2->set_envelope(envelope_box[1]); - } - - s1 = s1->prev_slice(); s2 = s2->prev_slice(); su = su->prev_slice(); - i--; - } - } - }*/ - + void CtcLinobs::ctc_fwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_km1, double dt_km1_k, const Interval& u_km1) { diff --git a/src/core/2/contractors/codac2_CtcLinobs.h b/src/core/2/contractors/codac2_CtcLinobs.h index 428919350..11827fb09 100644 --- a/src/core/2/contractors/codac2_CtcLinobs.h +++ b/src/core/2/contractors/codac2_CtcLinobs.h @@ -29,29 +29,13 @@ namespace codac2 { public: - /** - * \brief Creates a contractor object \f$\mathcal{C}_\textrm{linobs}\f$ - */ CtcLinobs(const codac::Matrix& A, const codac::Vector& b); // /!\ auto evaluation of e^At not reliable ~CtcLinobs(); void contract(std::vector& v_domains); - //void contract(Tube& x1, Tube& x2, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); void contract(Tube& x, const Tube& u, codac::TimePropag t_propa = codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD, bool compute_envelopes = true); void contract(Slice& x, const Slice& u, codac::TimePropag t_propa = codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD, bool compute_envelope = true); - /*void contract(TubeVector& x, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); - - // todo: contraction of the observations - void contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); - void contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); - - // todo: contraction of the observations - void contract(std::vector& v_t, std::vector& v_y, TubeVector& x, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); - void contract(std::vector& v_t, std::vector& v_y, TubeVector& x, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); - void contract(std::vector& v_t, std::vector& v_y, Tube& x1, Tube& x2, const Tube& u, std::vector& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); -*/ - protected: From caeaf90085c5ba6e448eacbd59973effaf36b824 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 22 Sep 2022 10:16:53 +0200 Subject: [PATCH 060/256] [polygons] updates --- doc/doc/tmp/rencontres-rob/exercice.py | 26 +++++++++++++++++++ src/core/2/contractors/codac2_CtcLinobs.cpp | 6 +++++ src/core/2/domains/tube/codac2_Slice.h | 12 +++++++++ .../arithmetic/codac_polygon_arithmetic.cpp | 2 ++ src/core/geometry/codac_ConvexPolygon.cpp | 12 +++++++++ src/core/geometry/codac_ThickEdge.cpp | 4 +++ 6 files changed, 62 insertions(+) create mode 100644 doc/doc/tmp/rencontres-rob/exercice.py diff --git a/doc/doc/tmp/rencontres-rob/exercice.py b/doc/doc/tmp/rencontres-rob/exercice.py new file mode 100644 index 000000000..66ee813f3 --- /dev/null +++ b/doc/doc/tmp/rencontres-rob/exercice.py @@ -0,0 +1,26 @@ +from codac import * +import math +import random +import time +import numpy as np + +dt = 0.02 # temporal discretization +tdomain = Interval(0,15) # [t0,tf] + +# System input +u = Trajectory(tdomain, TFunction("3*(sin(t)^2)+t/100"), dt) + +# Actual state trajectory +# Note that this trajectory is unknown of the resolution +x_truth = TrajectoryVector(3) +x_truth[2] = u.primitive() +x_truth[0] = (10*cos(x_truth[2])).primitive() +x_truth[1] = (10*sin(x_truth[2])).primitive() + +beginDrawing() +fig_map = VIBesFigMap("Top view") +fig_map.set_properties(50, 50, 800, 600) +fig_map.add_trajectory(x_truth, "x*", 0, 1, "black") +fig_map.smooth_tube_drawing(True) +fig_map.show(1.) + diff --git a/src/core/2/contractors/codac2_CtcLinobs.cpp b/src/core/2/contractors/codac2_CtcLinobs.cpp index fe23d5e23..731f44f5d 100644 --- a/src/core/2/contractors/codac2_CtcLinobs.cpp +++ b/src/core/2/contractors/codac2_CtcLinobs.cpp @@ -94,6 +94,12 @@ namespace codac2 void CtcLinobs::contract(Slice& x, const Slice& u, TimePropag t_propa, bool compute_envelope) { + if(x.is_empty() || u.is_empty()) + { + x.set_empty(); + return; + } + if(x.is_gate()) return; diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index 79ca9d2ae..bbc134ca4 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -213,6 +213,18 @@ namespace codac2 _codomain &= prev_slice_ptr()->codomain() & next_slice_ptr()->codomain(); } + void set_empty() + { + _codomain.set_empty(); + if(!is_gate()) + { + if(prev_slice_ptr()->is_gate()) + prev_slice_ptr()->set_empty(); + if(next_slice_ptr()->is_gate()) + next_slice_ptr()->set_empty(); + } + } + void set_component(size_t i, const Interval& xi) { assert((size_t)codomain().size() == size()); diff --git a/src/core/arithmetic/codac_polygon_arithmetic.cpp b/src/core/arithmetic/codac_polygon_arithmetic.cpp index 4ccc7a04f..dae4cb777 100644 --- a/src/core/arithmetic/codac_polygon_arithmetic.cpp +++ b/src/core/arithmetic/codac_polygon_arithmetic.cpp @@ -95,6 +95,8 @@ namespace codac if(!intersection_pt.does_not_exist()) { + assert(!e1.does_not_exist() && !e2.does_not_exist()); + // If edges are possibly parallel: if(ThickEdge::parallel(e1, e2) != NO) { diff --git a/src/core/geometry/codac_ConvexPolygon.cpp b/src/core/geometry/codac_ConvexPolygon.cpp index c99b25532..7b0152856 100644 --- a/src/core/geometry/codac_ConvexPolygon.cpp +++ b/src/core/geometry/codac_ConvexPolygon.cpp @@ -136,6 +136,9 @@ namespace codac if(!p.box().intersects(box())) return NO; // fast test + if(box() == IntervalVector(2)) + return YES; // fast test + // Using the ray tracing method: // A ray is defined from p to the right ; if it crosses // 'a' times one of the edges, and (a & 1), then p is inside @@ -143,7 +146,9 @@ namespace codac vector v_edges = edges(); int a = 0; // the crossing number counter size_t n = v_edges.size(); + const ThickEdge ray(p, ThickPoint(box()[0].ub()+1., p[1])); // horizontal edge to the right + assert(!v_edges[n-1].does_not_exist() && !ray.does_not_exist()); ThickPoint prev_e = v_edges[n-1] & ray; // Loop through all edges of the polygon, looking for intersections @@ -153,6 +158,7 @@ namespace codac continue; // Intersecting point + assert(!v_edges[i].does_not_exist() && !ray.does_not_exist()); const ThickPoint e = v_edges[i] & ray; if(!e.does_not_exist()) // intersection to the left of p, not considered { @@ -305,6 +311,9 @@ namespace codac if(is_empty() || x.is_empty()) return IntervalVector(2, Interval::EMPTY_SET); + if(box() == IntervalVector(2)) + return x; + IntervalVector reduced_x = x & box(); if(reduced_x.is_empty()) @@ -314,7 +323,10 @@ namespace codac vector v_edges = edges(); for(const auto& edge : v_edges) + { + assert(!edge.does_not_exist()); inter |= edge & reduced_x; + } vector v_x_vertices; ThickPoint::push(reduced_x, v_x_vertices); diff --git a/src/core/geometry/codac_ThickEdge.cpp b/src/core/geometry/codac_ThickEdge.cpp index d74029590..5d4454f74 100644 --- a/src/core/geometry/codac_ThickEdge.cpp +++ b/src/core/geometry/codac_ThickEdge.cpp @@ -159,7 +159,10 @@ namespace codac vector v_box_edges; ThickEdge::push(x, v_box_edges); for(size_t i = 0 ; i < v_box_edges.size() ; i++) + { + assert(!does_not_exist() && !v_box_edges[i].does_not_exist()); inter |= (*this & v_box_edges[i]).box(); + } return inter; } } @@ -170,6 +173,7 @@ namespace codac const ThickPoint ThickEdge::operator&(const ThickEdge& e) const { + assert(!does_not_exist() && !e.does_not_exist()); const ThickPoint proj = proj_intersection(*this, e); return ThickPoint(proj[0] & box()[0] & e.box()[0], proj[1] & box()[1] & e.box()[1]); } From 592a45da38dd2f2b5c23f1ccb300fe83e6be143b Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 11 Sep 2022 18:06:44 +0200 Subject: [PATCH 061/256] Updated .nupkg --- packages/choco/codac/codac.nuspec | 2 +- packages/choco/codac/tools/LICENSE.txt | 170 ------------------ packages/choco/codac/tools/VERIFICATION.txt | 6 - .../choco/codac/tools/chocolateyinstall.ps1 | 18 +- 4 files changed, 11 insertions(+), 185 deletions(-) delete mode 100644 packages/choco/codac/tools/LICENSE.txt delete mode 100644 packages/choco/codac/tools/VERIFICATION.txt diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index 27826d88b..06e556e79 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -39,7 +39,7 @@ choco install -y -f --ignore-dependencies codac --params "'/url:https://github.c - + diff --git a/packages/choco/codac/tools/LICENSE.txt b/packages/choco/codac/tools/LICENSE.txt deleted file mode 100644 index dc1e48ed1..000000000 --- a/packages/choco/codac/tools/LICENSE.txt +++ /dev/null @@ -1,170 +0,0 @@ - -From: https://github.com/codac-team/codac/blob/master/COPYING.LESSER - -LICENSE - -GNU LESSER GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - - This version of the GNU Lesser General Public License incorporates -the terms and conditions of version 3 of the GNU General Public -License, supplemented by the additional permissions listed below. - - 0. Additional Definitions. - - As used herein, "this License" refers to version 3 of the GNU Lesser -General Public License, and the "GNU GPL" refers to version 3 of the GNU -General Public License. - - "The Library" refers to a covered work governed by this License, -other than an Application or a Combined Work as defined below. - - An "Application" is any work that makes use of an interface provided -by the Library, but which is not otherwise based on the Library. -Defining a subclass of a class defined by the Library is deemed a mode -of using an interface provided by the Library. - - A "Combined Work" is a work produced by combining or linking an -Application with the Library. The particular version of the Library -with which the Combined Work was made is also called the "Linked -Version". - - The "Minimal Corresponding Source" for a Combined Work means the -Corresponding Source for the Combined Work, excluding any source code -for portions of the Combined Work that, considered in isolation, are -based on the Application, and not on the Linked Version. - - The "Corresponding Application Code" for a Combined Work means the -object code and/or source code for the Application, including any data -and utility programs needed for reproducing the Combined Work from the -Application, but excluding the System Libraries of the Combined Work. - - 1. Exception to Section 3 of the GNU GPL. - - You may convey a covered work under sections 3 and 4 of this License -without being bound by section 3 of the GNU GPL. - - 2. Conveying Modified Versions. - - If you modify a copy of the Library, and, in your modifications, a -facility refers to a function or data to be supplied by an Application -that uses the facility (other than as an argument passed when the -facility is invoked), then you may convey a copy of the modified -version: - - a) under this License, provided that you make a good faith effort to - ensure that, in the event an Application does not supply the - function or data, the facility still operates, and performs - whatever part of its purpose remains meaningful, or - - b) under the GNU GPL, with none of the additional permissions of - this License applicable to that copy. - - 3. Object Code Incorporating Material from Library Header Files. - - The object code form of an Application may incorporate material from -a header file that is part of the Library. You may convey such object -code under terms of your choice, provided that, if the incorporated -material is not limited to numerical parameters, data structure -layouts and accessors, or small macros, inline functions and templates -(ten or fewer lines in length), you do both of the following: - - a) Give prominent notice with each copy of the object code that the - Library is used in it and that the Library and its use are - covered by this License. - - b) Accompany the object code with a copy of the GNU GPL and this license - document. - - 4. Combined Works. - - You may convey a Combined Work under terms of your choice that, -taken together, effectively do not restrict modification of the -portions of the Library contained in the Combined Work and reverse -engineering for debugging such modifications, if you also do each of -the following: - - a) Give prominent notice with each copy of the Combined Work that - the Library is used in it and that the Library and its use are - covered by this License. - - b) Accompany the Combined Work with a copy of the GNU GPL and this license - document. - - c) For a Combined Work that displays copyright notices during - execution, include the copyright notice for the Library among - these notices, as well as a reference directing the user to the - copies of the GNU GPL and this license document. - - d) Do one of the following: - - 0) Convey the Minimal Corresponding Source under the terms of this - License, and the Corresponding Application Code in a form - suitable for, and under terms that permit, the user to - recombine or relink the Application with a modified version of - the Linked Version to produce a modified Combined Work, in the - manner specified by section 6 of the GNU GPL for conveying - Corresponding Source. - - 1) Use a suitable shared library mechanism for linking with the - Library. A suitable mechanism is one that (a) uses at run time - a copy of the Library already present on the user's computer - system, and (b) will operate properly with a modified version - of the Library that is interface-compatible with the Linked - Version. - - e) Provide Installation Information, but only if you would otherwise - be required to provide such information under section 6 of the - GNU GPL, and only to the extent that such information is - necessary to install and execute a modified version of the - Combined Work produced by recombining or relinking the - Application with a modified version of the Linked Version. (If - you use option 4d0, the Installation Information must accompany - the Minimal Corresponding Source and Corresponding Application - Code. If you use option 4d1, you must provide the Installation - Information in the manner specified by section 6 of the GNU GPL - for conveying Corresponding Source.) - - 5. Combined Libraries. - - You may place library facilities that are a work based on the -Library side by side in a single library together with other library -facilities that are not Applications and are not covered by this -License, and convey such a combined library under terms of your -choice, if you do both of the following: - - a) Accompany the combined library with a copy of the same work based - on the Library, uncombined with any other library facilities, - conveyed under the terms of this License. - - b) Give prominent notice with the combined library that part of it - is a work based on the Library, and explaining where to find the - accompanying uncombined form of the same work. - - 6. Revised Versions of the GNU Lesser General Public License. - - The Free Software Foundation may publish revised and/or new versions -of the GNU Lesser General Public License from time to time. Such new -versions will be similar in spirit to the present version, but may -differ in detail to address new problems or concerns. - - Each version is given a distinguishing version number. If the -Library as you received it specifies that a certain numbered version -of the GNU Lesser General Public License "or any later version" -applies to it, you have the option of following the terms and -conditions either of that published version or of any later version -published by the Free Software Foundation. If the Library as you -received it does not specify a version number of the GNU Lesser -General Public License, you may choose any version of the GNU Lesser -General Public License ever published by the Free Software Foundation. - - If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/packages/choco/codac/tools/VERIFICATION.txt b/packages/choco/codac/tools/VERIFICATION.txt deleted file mode 100644 index f7ec2e812..000000000 --- a/packages/choco/codac/tools/VERIFICATION.txt +++ /dev/null @@ -1,6 +0,0 @@ - -VERIFICATION -Verification is intended to assist the Chocolatey moderators and community -in verifying that this package's contents are trustworthy. - -This package is generated from https://github.com/codac-team/codac (the official Codac GitHub source repository) or https://github.com/lebarsfa/codac/master, which is a fork (the modifications made can be listed on https://github.com/codac-team/codac/compare/master...lebarsfa:master). The automated build log can be seen by clicking on "Windows MinGW 8.1.0 x64" and "Windows MinGW 8.1.0 x86" jobs on https://github.com/codac-team/codac/actions/workflows/unixmatrix.yml or https://github.com/lebarsfa/codac/actions/workflows/unixmatrix.yml, and signing in with GitHub. In particular, a sha256 checksum is visible for each generated .nupkg, as it is computed in .github/workflows/unixmatrix.yml using checksum command. Those temporary .nupkg are available on https://github.com/codac-team/codac/releases or https://github.com/lebarsfa/codac/releases and are used to create this package : it can be checked e.g. using WinMerge that x86 folder from this package contains the bin, include, lib, share folders from the "--x86" package on GitHub and all the other folders are from the non-"--x86" package. diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index 81a8a975b..02b08784c 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -3,15 +3,17 @@ # Source variables which are shared between install and uninstall. . $PSScriptRoot\sharedVars.ps1 -$pp = Get-PackageParameters +$toolsDir = "$(Split-Path -parent $MyInvocation.MyCommand.Definition)" -$root = "$env:ChocolateyPackageFolder\.." +$pp = Get-PackageParameters +$packageDir = Join-Path "$toolsDir" ".." -Resolve +$root = "$packageDir\.." if (!$pp['url']) { $url = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x86_mingw8.zip' - $checksum = '7855B0393DF389855E126E712C51DAB8649F19BE0101579C753FBEDF108B0132' + $checksum = 'EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE' $url64 = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x64_mingw8.zip' - $checksum64 = '89C6BB0DE09BD86524947827B3ED88CBBDCAB63141AEE5F7FF273CFB416C0D22' + $checksum64 = 'FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF' $packageArgs = @{ packageName = $env:ChocolateyPackageName unzipLocation = "$root" @@ -83,13 +85,13 @@ else if (!$pp['NoRegistry']) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force - New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$env:ChocolateyPackageFolder\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force + New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$packageDir\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } -#$pathtoadd = "$env:ChocolateyPackageFolder\bin" +#$pathtoadd = "$packageDir\bin" #if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { # $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" # [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") #} -#Install-BinFile -Name libcodac.a -Path "$env:ChocolateyPackageFolder\lib" -#Install-BinFile -Name libcodac-rob.a -Path "$env:ChocolateyPackageFolder\lib" +#Install-BinFile -Name libcodac.a -Path "$packageDir\lib" +#Install-BinFile -Name libcodac-rob.a -Path "$packageDir\lib" From 110f62c949208d269e2d2cf2b55936bb04b6731f Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 6 Dec 2022 18:15:30 +0100 Subject: [PATCH 062/256] [doc] minor updates --- doc/doc/dev/info_dev.rst | 7 +++++-- doc/doc/index.rst | 2 +- doc/doc/use-cases/lie-symmetries/index.rst | 2 +- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index 4b5797e34..b3d01c4a3 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -165,7 +165,7 @@ Get Pybind11 as submodule: git submodule init git submodule update -Then, configure ``cmake`` with custom options and ``-DWITH_PYTHON=ON``: +Then, configure ``cmake`` with your custom options ``<...>`` and ``-DWITH_PYTHON=ON``: .. code-block:: bash @@ -175,10 +175,13 @@ This configuration generates header files containing docstrings for Python, base the content of XML files made by Doxygen. The documentation of any C++/Python function is then located in the C++ header files of the :file:`/src` directory. -Finally, after the compilation: +Note that you also have to configure IBEX with the ``-DCMAKE_CXX_FLAGS="-fPIC"`` flag. + +Finally, after the compilation of Codac (and IBEX): .. code-block:: bash + # from codac repository cd build/python/python_package python3 setup.py develop --user diff --git a/doc/doc/index.rst b/doc/doc/index.rst index 63e1a884c..4912e1789 100644 --- a/doc/doc/index.rst +++ b/doc/doc/index.rst @@ -432,7 +432,7 @@ Main related publications .. |desrochers-phd-year| replace:: 2018 .. |damers-phd-title| replace:: Lie Groups applied to localisation of mobile robots -.. _damers-phd-title: https://julien-damers.fr/phd/complete.pdf +.. _damers-phd-title: https://julien-damers.fr/phd/Lie_Groups_applied_to_localisation_of_mobile_robots.pdf .. |damers-phd-authors| replace:: Damers .. |damers-phd-journal| replace:: PhD thesis .. |damers-phd-year| replace:: 2022 diff --git a/doc/doc/use-cases/lie-symmetries/index.rst b/doc/doc/use-cases/lie-symmetries/index.rst index 74880c698..11aa55672 100644 --- a/doc/doc/use-cases/lie-symmetries/index.rst +++ b/doc/doc/use-cases/lie-symmetries/index.rst @@ -161,7 +161,7 @@ Related content .. _lie-pdf: http://julien-damers.fr/publis/lie_groups_applied_to_guaranteed_integration.pdf .. |thesis-pdf| replace:: **Download the thesis** -.. _thesis-pdf: https://julien-damers.fr/phd/complete.pdf +.. _thesis-pdf: https://julien-damers.fr/phd/Lie_Groups_applied_to_localisation_of_mobile_robots.pdf .. admonition:: Related publication From 7bc11ee27bc2e1cd2cbf5d63ace973fe7671adb2 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 6 Dec 2022 18:16:47 +0100 Subject: [PATCH 063/256] [burnov] minor updates --- examples/brunovsky/CMakeLists.txt | 2 +- examples/brunovsky/main.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/brunovsky/CMakeLists.txt b/examples/brunovsky/CMakeLists.txt index ed4ee820d..a0cd1bf5b 100755 --- a/examples/brunovsky/CMakeLists.txt +++ b/examples/brunovsky/CMakeLists.txt @@ -49,6 +49,6 @@ # Compilation - add_executable(${PROJECT_NAME} main.cpp) + add_executable(${PROJECT_NAME} main_debug.cpp) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex ${CODAC_LIBRARIES}) \ No newline at end of file diff --git a/examples/brunovsky/main.cpp b/examples/brunovsky/main.cpp index cd018fccb..93d0d846d 100755 --- a/examples/brunovsky/main.cpp +++ b/examples/brunovsky/main.cpp @@ -22,7 +22,7 @@ int main() { /* =========== TRUTH =========== */ - double dt = 0.003; // tubes timestep + double dt = 0.01; // tubes timestep Interval tdomain(0.,3.); // temporal domain // Unknown truth @@ -53,7 +53,7 @@ int main() TubeVector u(u_truth, dt); // centered on analytical expression // Intermediate variables: - TubeVector v(tdomain, dt, 4), a(tdomain, dt, 4); + TubeVector v(tdomain, dt, 4), a(tdomain, dt, 2); /* =========== CREATING CONTRACTORS =========== */ @@ -66,7 +66,7 @@ int main() v[2]-u[0] ; \ v[3]-u[1])")); - CtcFunction ctc_a(Function("a[4]", "x[4]", "u[2]", + CtcFunction ctc_a(Function("a[2]", "x[4]", "u[2]", "(u[1]*cos(x[2])-x[3]*sin(x[2])*u[0]-a[0] ; \ u[1]*sin(x[2])+x[3]*cos(x[2])*u[0]-a[1])")); From 38140183706f74758f96fee6f945e29c8289b419 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 6 Dec 2022 18:17:43 +0100 Subject: [PATCH 064/256] [codac2] strong updates (tube structure) --- python/codac/__init__.py | 4 +- src/CMakeLists.txt | 2 +- src/core/2/contractors/codac2_CtcLinobs.cpp | 35 +- src/core/2/contractors/codac2_CtcLinobs.h | 7 +- .../2/domains/tube/codac2_AbstractConstTube.h | 2 +- .../2/domains/tube/codac2_AbstractSlice.h | 1 + .../tube/codac2_AbstractSlicedTube.cpp | 6 + .../domains/tube/codac2_AbstractSlicedTube.h | 1 + src/core/2/domains/tube/codac2_Slice.h | 188 +++++++--- src/core/2/domains/tube/codac2_TDomain.cpp | 199 +++++++--- src/core/2/domains/tube/codac2_TDomain.h | 12 +- src/core/2/domains/tube/codac2_TSlice.cpp | 15 + src/core/2/domains/tube/codac2_TSlice.h | 3 + src/core/2/domains/tube/codac2_Tube.cpp | 54 ++- src/core/2/domains/tube/codac2_Tube.h | 130 ++++++- .../2/domains/tube/codac2_TubeEvaluation.h | 78 +++- .../arithmetic/codac_polygon_arithmetic.cpp | 2 - src/core/contractors/dyn/codac_CtcChain.cpp | 20 + src/core/contractors/dyn/codac_CtcChain.h | 3 + src/core/contractors/dyn/codac_CtcDeriv.cpp | 25 ++ src/core/contractors/dyn/codac_CtcDeriv.h | 4 + src/core/contractors/dyn/codac_CtcLohner.cpp | 2 +- src/core/geometry/codac_ConvexPolygon.cpp | 68 ++-- src/core/geometry/codac_ConvexPolygon.h | 9 +- src/core/geometry/codac_Polygon.cpp | 26 +- src/core/geometry/codac_Polygon.h | 3 +- src/core/geometry/codac_SepPolygon.h | 6 +- src/core/geometry/codac_ThickEdge.cpp | 4 - src/core/separators/codac_SepProj.cpp | 10 +- tests/core/CMakeLists.txt | 2 +- tests/core/tests_codac2_tubes.cpp | 353 +++++++++++++----- tests/core/tests_polygons.cpp | 58 +-- 32 files changed, 979 insertions(+), 353 deletions(-) diff --git a/python/codac/__init__.py b/python/codac/__init__.py index e2dee98b4..9d205fdf8 100644 --- a/python/codac/__init__.py +++ b/python/codac/__init__.py @@ -26,7 +26,7 @@ def pySIVIA(X0, ops, epsilon, figure_name='', draw_boxes=True, save_result=True, print('\nWarning: pySIVIA(..) is deprecated and has been replaced by SIVIA(..).') print('More information can be found with help(SIVIA).\n') print('Example of use:\n') - print(' SIVIA(x0, sep, 0.05, display_result=True, fig_name="SIVIA", return_result=True, color_map={SetValue.IN:"k[r]", SetValue.OUT:"k[b]", SetValue.UNKNOWN:"k[y]"})\n') + print(' SIVIA(x0, sep, 0.05, regular_paving=False, display_result=True, fig_name="SIVIA", return_result=True, color_map={SetValue.IN:"k[r]", SetValue.OUT:"k[b]", SetValue.UNKNOWN:"k[y]"})\n') cmap = {} if color_in: @@ -36,4 +36,4 @@ def pySIVIA(X0, ops, epsilon, figure_name='', draw_boxes=True, save_result=True, if color_maybe: cmap[SetValue.UNKNOWN] = color_maybe - return SIVIA(X0, ops, epsilon, display_result=draw_boxes, fig_name=figure_name, return_result=save_result, color_map=cmap) \ No newline at end of file + return SIVIA(X0, ops, epsilon, regular_paving=False, display_result=draw_boxes, fig_name=figure_name, return_result=save_result, color_map=cmap) \ No newline at end of file diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 518cd8b6b..1bb27a682 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -78,7 +78,7 @@ if((CMAKE_BUILD_TYPE MATCHES Debug) AND (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")) # programs in Release (otherwise it would be only added by Ibex if the program # is built in Debug)... file(APPEND ${CODAC_CMAKE_CONFIG_FILE} " -set(CMAKE_EXE_LINKER_FLAGS \"${CMAKE_EXE_LINKER_FLAGS} -pg\") +set(CMAKE_EXE_LINKER_FLAGS \"${CMAKE_EXE_LINKER_FLAGS}\") ") endif() diff --git a/src/core/2/contractors/codac2_CtcLinobs.cpp b/src/core/2/contractors/codac2_CtcLinobs.cpp index 731f44f5d..d314696e8 100644 --- a/src/core/2/contractors/codac2_CtcLinobs.cpp +++ b/src/core/2/contractors/codac2_CtcLinobs.cpp @@ -70,14 +70,24 @@ namespace codac2 contract(v_domains[0]->tube_vector(), v_domains[1]->tube());*/ } + void CtcLinobs::contract(codac::TubeVector& x, const codac::Tube& u, TimePropag t_propa) + { + auto tdomain = codac2::create_tdomain(x.tdomain(), x[0].slice(0)->tdomain().diam(), true); + Tube _x(tdomain, ConvexPolygon()); + Tube _u(tdomain, Interval()); + + } + void CtcLinobs::contract(Tube& x, const Tube& u, TimePropag t_propa, bool compute_envelopes) { assert(x.tdomain() == u.tdomain()); + assert(x.tdomain()->all_gates_defined()); if(t_propa & TimePropag::FORWARD) for(auto it = x.begin(); it != x.end(); ++it) { if((*it).is_gate()) continue; + if((*it).t0_tf().is_unbounded()) continue; const shared_ptr> su = static_pointer_cast>((*it).tslice().slices().at(&u)); contract(*it, *su, TimePropag::FORWARD, compute_envelopes && !(t_propa & TimePropag::BACKWARD)); // Envelopes are contracted in the bwd iteration if selected @@ -87,6 +97,7 @@ namespace codac2 for(auto it = x.rbegin(); it != x.rend(); ++it) { if((*it).is_gate()) continue; + if((*it).t0_tf().is_unbounded()) continue; const shared_ptr> su = static_pointer_cast>((*it).tslice().slices().at(&u)); contract(*it, *su, TimePropag::BACKWARD, compute_envelopes); } @@ -103,35 +114,41 @@ namespace codac2 if(x.is_gate()) return; - if((t_propa & TimePropag::FORWARD) && x.next_slice_ptr()) + auto next = x.next_slice_ptr(); + + if((t_propa & TimePropag::FORWARD) && next) { - ConvexPolygon output_gate = x.output_gate(); + assert(next->is_gate()); + ConvexPolygon output_gate = next->codomain(); ctc_fwd_gate(output_gate, x.input_gate(), x.t0_tf().diam(), u.codomain()); - x.next_slice_ptr()->set(output_gate); + next->set(output_gate); } - if((t_propa & TimePropag::BACKWARD) && x.prev_slice_ptr()) + auto prev = x.prev_slice_ptr(); + + if((t_propa & TimePropag::BACKWARD) && prev) { - ConvexPolygon input_gate = x.input_gate(); + assert(prev->is_gate()); + ConvexPolygon input_gate = prev->codomain(); ctc_bwd_gate(input_gate, x.output_gate(), x.t0_tf().diam(), u.codomain()); - x.prev_slice_ptr()->set(input_gate); + prev->set(input_gate); } if(compute_envelope) - x.set(polygon_envelope(x.input_gate(), x.t0_tf().diam(), u.codomain())); + x.set(polygon_envelope(prev->codomain(), x.t0_tf().diam(), u.codomain())); } void CtcLinobs::ctc_fwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_km1, double dt_km1_k, const Interval& u_km1) { - p_k = p_k & (exp_At(_A,dt_km1_k)*p_km1 + dt_km1_k*exp_At(_A,Interval(0.,dt_km1_k))*(u_km1*_b)); + p_k &= exp_At(_A,dt_km1_k)*p_km1 + dt_km1_k*exp_At(_A,Interval(0.,dt_km1_k))*(u_km1*_b); p_k.simplify(m_polygon_max_edges); } void CtcLinobs::ctc_bwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_kp1, double dt_k_kp1, const Interval& u_k) { - p_k = p_k & (exp_At(-_A,dt_k_kp1)*p_kp1 - dt_k_kp1*exp_At(-_A,Interval(0.,dt_k_kp1))*(u_k*_b)); + p_k &= exp_At(-_A,dt_k_kp1)*p_kp1 - dt_k_kp1*exp_At(-_A,Interval(0.,dt_k_kp1))*(u_k*_b); p_k.simplify(m_polygon_max_edges); } diff --git a/src/core/2/contractors/codac2_CtcLinobs.h b/src/core/2/contractors/codac2_CtcLinobs.h index 11827fb09..feee4c540 100644 --- a/src/core/2/contractors/codac2_CtcLinobs.h +++ b/src/core/2/contractors/codac2_CtcLinobs.h @@ -32,6 +32,9 @@ namespace codac2 CtcLinobs(const codac::Matrix& A, const codac::Vector& b); // /!\ auto evaluation of e^At not reliable ~CtcLinobs(); + // to be removed: + void contract(codac::TubeVector& x, const codac::Tube& u, codac::TimePropag t_propa); + void contract(std::vector& v_domains); void contract(Tube& x, const Tube& u, codac::TimePropag t_propa = codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD, bool compute_envelopes = true); void contract(Slice& x, const Slice& u, codac::TimePropag t_propa = codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD, bool compute_envelope = true); @@ -46,8 +49,8 @@ namespace codac2 protected: - const codac::Matrix& _A; - const codac::Vector& _b; + const codac::Matrix _A; + const codac::Vector _b; const int m_polygon_max_edges = 15; diff --git a/src/core/2/domains/tube/codac2_AbstractConstTube.h b/src/core/2/domains/tube/codac2_AbstractConstTube.h index 03eec5867..c84addb12 100644 --- a/src/core/2/domains/tube/codac2_AbstractConstTube.h +++ b/src/core/2/domains/tube/codac2_AbstractConstTube.h @@ -38,7 +38,7 @@ namespace codac2 } - explicit AbstractConstTube(const T& x); + AbstractConstTube(const T& x); virtual ~AbstractConstTube() { diff --git a/src/core/2/domains/tube/codac2_AbstractSlice.h b/src/core/2/domains/tube/codac2_AbstractSlice.h index 0f856f352..6328549aa 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlice.h +++ b/src/core/2/domains/tube/codac2_AbstractSlice.h @@ -36,6 +36,7 @@ namespace codac2 AbstractSlice(const AbstractSlicedTube& tubevector, const std::list::iterator& _it_tslice); virtual std::shared_ptr duplicate() const = 0; virtual size_t size() const = 0; + virtual void set_unbounded() = 0; const Interval& t0_tf() const; const TSlice& tslice() const; diff --git a/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp b/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp index f259afcaf..0c29243e7 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp +++ b/src/core/2/domains/tube/codac2_AbstractSlicedTube.cpp @@ -21,6 +21,12 @@ namespace codac2 } + shared_ptr& AbstractSlicedTube::tdomain() + { + return const_cast&>( + static_cast(*this).tdomain()); + } + const shared_ptr& AbstractSlicedTube::tdomain() const { return _tdomain; diff --git a/src/core/2/domains/tube/codac2_AbstractSlicedTube.h b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h index 528f6b015..84041ff59 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlicedTube.h +++ b/src/core/2/domains/tube/codac2_AbstractSlicedTube.h @@ -27,6 +27,7 @@ namespace codac2 virtual const std::shared_ptr& first_abstract_slice_ptr() const = 0; virtual const std::shared_ptr& last_abstract_slice_ptr() const = 0; + std::shared_ptr& tdomain(); const std::shared_ptr& tdomain() const; Interval t0_tf() const; diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index bbc134ca4..4115faabc 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -21,6 +21,7 @@ #include "codac_Exception.h" #include "codac2_AbstractSlice.h" #include "codac_BoolInterval.h" +#include "codac_ConvexPolygon.h" #define EPSILON_CONTAINS ibex::next_float(0.) * 1000. //!< epsilon limit of the contains() algorithm @@ -87,6 +88,14 @@ namespace codac2 return codomain().size(); } + double volume() const + { + if constexpr(std::is_same::value) + return codomain().diam(); + else + return codomain().volume(); + } + bool is_gate() const { return t0_tf().is_degenerated(); @@ -94,7 +103,10 @@ namespace codac2 bool is_empty() const { - return input_gate().is_empty() || output_gate().is_empty(); + if(is_gate()) + return _codomain.is_empty(); + else + return input_gate().is_empty() || output_gate().is_empty(); } bool is_unbounded() const @@ -104,61 +116,73 @@ namespace codac2 BoolInterval contains(const TrajectoryVector& x) const { - assert(t0_tf().is_subset(x.tdomain())); - - /*IntervalVector traj_tdomain = x(t0_tf()); - // Using x(Interval(double)) for reliable evaluation: - IntervalVector traj_input = x(Interval(t0_tf().lb())); - IntervalVector traj_output = x(Interval(t0_tf().ub())); - - if(_codomain.intersects(traj_tdomain) == BoolInterval::NO - || input_gate().intersects(traj_input) == BoolInterval::NO - || output_gate().intersects(traj_output) == BoolInterval::NO) - return BoolInterval::NO; + if constexpr(std::is_same::value) + { + assert(false && "not implemented"); + return BoolInterval::MAYBE; + } else { - if(!input_gate().is_superset(traj_input) || !output_gate().is_superset(traj_output)) + if(!t0_tf().intersects(x.tdomain())) return BoolInterval::MAYBE; - else if(_codomain.is_superset(traj_tdomain)) - return BoolInterval::YES; + BoolInterval is_contained = BoolInterval::YES; + if(!t0_tf().is_subset(x.tdomain())) + is_contained = BoolInterval::MAYBE; - else // too much pessimism for the trajectory evaluation on t0_tf() + Interval t_ = t0_tf() & x.tdomain(); + T traj_tdomain(x(t_)); + // Using x(Interval(double)) for reliable evaluation: + T traj_input(x(Interval(t_.lb()))); + T traj_output(x(Interval(t_.ub()))); + + if(_codomain.intersects(traj_tdomain) == BoolInterval::NO + || input_gate().intersects(traj_input) == BoolInterval::NO + || output_gate().intersects(traj_output) == BoolInterval::NO) + return BoolInterval::NO; + + else { - // Bisections are performed to reach an accurate evaluation + if(!traj_input.is_subset(input_gate()) || !traj_output.is_subset(output_gate())) + return BoolInterval::MAYBE; - std::list s_subtdomains; - s_subtdomains.push_front(t0_tf()); + else if(traj_tdomain.is_subset(_codomain)) + return is_contained; - while(!s_subtdomains.empty()) + else // too much pessimism for the trajectory evaluation on t0_tf() { - Interval t = s_subtdomains.front(); - s_subtdomains.pop_front(); + // Bisections are performed to reach an accurate evaluation - IntervalVector thinner_eval = x(t); + std::list s_subtdomains; + s_subtdomains.push_front(t_); - if(!_codomain.intersects(thinner_eval)) + while(!s_subtdomains.empty()) { - return BoolInterval::NO; - } + Interval t = s_subtdomains.front(); + s_subtdomains.pop_front(); - else if(!_codomain.is_superset(thinner_eval)) - { - if(t.diam() < EPSILON_CONTAINS) - return BoolInterval::MAYBE; + T thinner_eval(x(t)); + + if(!_codomain.intersects(thinner_eval)) + { + return BoolInterval::NO; + } - s_subtdomains.push_front(Interval(t.lb(), t.lb() + t.diam() / 2.)); - s_subtdomains.push_front(Interval(t.lb() + t.diam() / 2., t.ub())); + else if(!thinner_eval.is_subset(_codomain)) + { + if(t.diam() < EPSILON_CONTAINS) + return BoolInterval::MAYBE; + + s_subtdomains.push_front(Interval(t.lb(), t.lb() + t.diam() / 2.)); + s_subtdomains.push_front(Interval(t.lb() + t.diam() / 2., t.ub())); + } } - } - return BoolInterval::YES; + return is_contained; + } } - }*/ - - // todo - return BoolInterval::YES; + } } const std::shared_ptr> prev_slice_ptr() const @@ -190,27 +214,64 @@ namespace codac2 T input_gate() const { - T gate = codomain(); - if(!is_gate() && prev_slice_ptr()) - gate &= prev_slice_ptr()->codomain(); - return gate; + if(!prev_slice_ptr()) + return codomain(); + + else + { + if(prev_slice_ptr()->is_gate()) + return prev_slice_ptr()->codomain(); + else + return codomain() & prev_slice_ptr()->codomain(); + } } T output_gate() const { - T gate = codomain(); - if(!is_gate() && next_slice_ptr()) - gate &= next_slice_ptr()->codomain(); - return gate; + if(!next_slice_ptr()) + return codomain(); + + else + { + if(next_slice_ptr()->is_gate()) + return next_slice_ptr()->codomain(); + else + return codomain() & next_slice_ptr()->codomain(); + } } void set(const T& x) { - if constexpr(!std::is_same::value) + if constexpr(!std::is_same::value) // 'if' to be removed with virtual set classes + { assert((size_t)codomain().size() == size()); + } + _codomain = x; - if(is_gate()) - _codomain &= prev_slice_ptr()->codomain() & next_slice_ptr()->codomain(); + + if(prev_slice_ptr()) + { + if constexpr(!std::is_same::value) // 'if' to be removed with virtual set classes + { + assert((size_t)prev_slice_ptr()->codomain().size() == size()); + } + if(is_gate()) + _codomain &= prev_slice_ptr()->codomain(); + else if(prev_slice_ptr()->is_gate()) + prev_slice_ptr()->_codomain &= _codomain; + } + + if(next_slice_ptr()) + { + if constexpr(!std::is_same::value) // 'if' to be removed with virtual set classes + { + assert((size_t)next_slice_ptr()->codomain().size() == size()); + } + if(is_gate()) + _codomain &= next_slice_ptr()->codomain(); + else if(next_slice_ptr()->is_gate()) + next_slice_ptr()->_codomain &= _codomain; + } } void set_empty() @@ -218,19 +279,32 @@ namespace codac2 _codomain.set_empty(); if(!is_gate()) { - if(prev_slice_ptr()->is_gate()) + if(prev_slice_ptr() && prev_slice_ptr()->is_gate()) prev_slice_ptr()->set_empty(); - if(next_slice_ptr()->is_gate()) + if(next_slice_ptr() && next_slice_ptr()->is_gate()) next_slice_ptr()->set_empty(); } } + void set_unbounded() + { + if constexpr(std::is_same::value) // 'if' to be removed with virtual set classes + _codomain = T(size()); + else + _codomain = T(); + } + void set_component(size_t i, const Interval& xi) { assert((size_t)codomain().size() == size()); _codomain[i] = xi; if(is_gate()) - _codomain[i] &= prev_slice_ptr()->codomain()[i] & next_slice_ptr()->codomain()[i]; + { + if(prev_slice_ptr()) + _codomain[i] &= prev_slice_ptr()->codomain()[i]; + if(next_slice_ptr()) + _codomain[i] &= next_slice_ptr()->codomain()[i]; + } } const Slice& inflate(double rad) @@ -240,6 +314,16 @@ namespace codac2 return *this; } + bool operator==(const Slice& x) const + { + return _codomain == x._codomain; + } + + bool operator!=(const Slice& x) const + { + return _codomain != x._codomain; + } + friend std::ostream& operator<<(std::ostream& os, const Slice& x) { os << x.t0_tf() diff --git a/src/core/2/domains/tube/codac2_TDomain.cpp b/src/core/2/domains/tube/codac2_TDomain.cpp index ca6459566..001d1cf19 100644 --- a/src/core/2/domains/tube/codac2_TDomain.cpp +++ b/src/core/2/domains/tube/codac2_TDomain.cpp @@ -20,42 +20,36 @@ using namespace codac; namespace codac2 { - TDomain::TDomain(const Interval& t0_tf, bool with_gates) : - TDomain(t0_tf, t0_tf.diam(), with_gates) + TDomain::TDomain(const Interval& t0_tf) + : _tslices({ TSlice(t0_tf) }) { } TDomain::TDomain(const Interval& t0_tf, double dt, bool with_gates) { + assert(!t0_tf.is_unbounded() && !t0_tf.is_degenerated()); assert(!t0_tf.is_empty()); assert(dt > 0.); - if(isinf(dt)) - _tslices.push_back(TSlice(t0_tf)); - - else + for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t=t+dt) { - double prev_t = -oo; - for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t+=dt) - { - double t_ = min(t, t0_tf.ub()); - - _tslices.push_back(TSlice(Interval(prev_t,t_))); - if(with_gates) - _tslices.push_back(TSlice(Interval(t_,t_))); - - prev_t = t_; - } - - _tslices.push_back(TSlice(Interval(t0_tf.ub(),oo))); + double t_next = min(t0_tf.ub(),t+dt); + if(with_gates) + _tslices.push_back(TSlice(Interval(t))); + _tslices.push_back(TSlice(Interval(t,t_next))); + if(t_next == t0_tf.ub()) + break; } + + if(with_gates) + _tslices.push_back(TSlice(Interval(t0_tf.ub()))); } const Interval TDomain::t0_tf() const { - return Interval(_tslices.front().t0_tf().ub(), - prev(_tslices.end())->t0_tf().lb()); + return Interval(_tslices.front().t0_tf().lb(), + prev(_tslices.end())->t0_tf().ub()); } size_t TDomain::nb_tslices() const @@ -68,10 +62,40 @@ namespace codac2 return _tslices.front().slices().size(); } + bool TDomain::all_gates_defined() const + { + if(t0_tf().is_degenerated()) + return true; + + else if(nb_tslices() == 1) + return false; + + else + { + list::const_iterator it = std::next(_tslices.begin()); + while(it != _tslices.end()) + { + if(it->t0_tf().is_degenerated()) + return false; + + it++; + + if(it != _tslices.end()) + { + if(!it->t0_tf().is_degenerated()) + return false; + it++; + } + } + + return true; + } + } + list::iterator TDomain::iterator_tslice(double t) { - if(t == -oo) return _tslices.begin(); - if(t == oo) return prev(_tslices.end()); + if(!t0_tf().contains(t)) + return _tslices.end(); list::iterator it; for(it = _tslices.begin(); it != _tslices.end(); ++it) @@ -81,29 +105,99 @@ namespace codac2 || (tdom.lb() <= t && tdom.ub() > t)) // slice return it; } - assert(false && "time must belong to one slice because tdomain is unbounded"); - return _tslices.end(); + + it = _tslices.end(); it--; + return it; } - list::iterator TDomain::sample(double t, bool allow_gate) + list::iterator TDomain::sample(double t, bool with_gates) { - list::iterator it = iterator_tslice(t); - assert(it != _tslices.end()); - const Interval tdomain = it->t0_tf(); - assert(tdomain.contains(t)); + assert(!isnan(t)); + list::iterator it; - if((tdomain.lb() == t && !allow_gate) || tdomain.is_degenerated()) - return it; + if(t <= t0_tf().lb()) // if outside the already defined tdomain + { + it = _tslices.begin(); - it->set_tdomain(Interval(tdomain.lb(), t)); - TSlice ts(*it, Interval(t, tdomain.ub())); + if(it->is_gate() && it->t0_tf().lb() == t) + return it; - ++it; - it = _tslices.insert(it, ts); - for(auto& [k,s] : it->_slices) // adding the new iterator pointer to the new slices - s->_it_tslice = it; - - return it; + TSlice ts(*it, Interval(t, t0_tf().lb())); // duplicate with different tdomain + it = _tslices.insert(it, ts); + for(auto& [k,s] : it->_slices) + { + s->_it_tslice = it; + s->set_unbounded(); // reinitialization + } + + if(with_gates) + { + if(it->t0_tf().is_degenerated()) // iterator already pointing to a gate + return it; + else + return sample(t, true); // recursive + } + else + return it; + } + + else if(t > t0_tf().ub()) // if outside the already defined tdomain + { + it = _tslices.end(); + TSlice ts(*std::prev(it), Interval(t0_tf().ub(),t)); // duplicate with different tdomain + it = _tslices.insert(it, ts); + for(auto& [k,s] : it->_slices) + { + s->_it_tslice = it; + s->set_unbounded(); // reinitialization + } + + if(with_gates) + return sample(t, true); // recursive + else + return it; + } + + else // inside [t0,tf] + { + it = iterator_tslice(t); + assert(it != _tslices.end()); + const Interval tdomain_it = it->t0_tf(); + assert(tdomain_it.contains(t)); + + if(tdomain_it.is_degenerated() + || (!with_gates && (tdomain_it.lb() == t || t == t0_tf().ub()))) + return it; // nothing more to do + + // Else, performing sampling + it->set_tdomain(Interval(tdomain_it.lb(), t)); + bool new_gate_added = it->t0_tf().is_degenerated(); + list::iterator it_gate = it; + TSlice ts(*it, Interval(t, tdomain_it.ub())); // duplicate with different tdomain + // (*it) is the TSlice to copy + + // From C++ insert() doc: the container is extended by inserting new elements before the element at the specified position + ++it; // we will insert the new tslice before the next TSlice [t.ub(),..] + it = _tslices.insert(it, ts); // then, it points to the newly inserted element + for(auto& [k,s] : it->_slices) // adding the new iterator pointer to the new slices + s->_it_tslice = it; + + // In case the sampling includes the creation of a gate, the method is called again at same t + if(new_gate_added) + return it_gate; + else if(with_gates && !new_gate_added) + return sample(t, true); + else + return it; + } + } + + void TDomain::sample(const Interval& t0_tf, double dt, bool with_gates) + { + assert(dt >= 0.); + assert(!t0_tf.is_degenerated()); + for(double t = t0_tf.lb() ; t < t0_tf.ub()+dt ; t=t+dt) + sample(min(t0_tf.ub(),t), with_gates); } const list& TDomain::tslices() const @@ -111,6 +205,12 @@ namespace codac2 return _tslices; } + list& TDomain::tslices() + { + return const_cast&>( + static_cast(*this).tslices()); + } + void TDomain::delete_gates() { list::iterator it = _tslices.begin(); @@ -135,13 +235,28 @@ namespace codac2 return os; } - shared_ptr create_tdomain(const Interval& t0_tf, bool with_gates) + shared_ptr create_tdomain(const Interval& t0_tf) { - return make_shared(t0_tf, with_gates); + return make_shared(t0_tf); } shared_ptr create_tdomain(const Interval& t0_tf, double dt, bool with_gates) { return make_shared(t0_tf, dt, with_gates); } + + bool TDomain::are_same(const shared_ptr& tdom1, const shared_ptr& tdom2) + { + if(tdom1 == tdom2) + return true; + if(tdom1->nb_tslices() != tdom2->nb_tslices()) + return false; + list::const_iterator it1 = tdom1->tslices().cbegin(), it2 = tdom2->tslices().cbegin(); + while(it1 != tdom1->tslices().cend()) + { + if(*it1 != *it2) return false; + it1++; it2++; + } + return true; + } } // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_TDomain.h b/src/core/2/domains/tube/codac2_TDomain.h index 29db26688..cfd8a9204 100644 --- a/src/core/2/domains/tube/codac2_TDomain.h +++ b/src/core/2/domains/tube/codac2_TDomain.h @@ -29,16 +29,20 @@ namespace codac2 { public: - explicit TDomain(const Interval& t0_tf = Interval(-oo,oo), bool with_gates = false); + explicit TDomain(const Interval& t0_tf); explicit TDomain(const Interval& t0_tf, double dt, bool with_gates = false); const Interval t0_tf() const; // todo: keep this method? - std::list::iterator iterator_tslice(double t); + std::list::iterator iterator_tslice(double t); // returns it on last slice if t==t_f, not end size_t nb_tslices() const; size_t nb_tubes() const; - std::list::iterator sample(double t, bool allow_gate = true); + bool all_gates_defined() const; + std::list::iterator sample(double t, bool with_gate = false); + void sample(const Interval& t0_tf, double dt, bool with_gates = false); friend std::ostream& operator<<(std::ostream& os, const TDomain& x); const std::list& tslices() const; + std::list& tslices(); void delete_gates(); + static bool are_same(const std::shared_ptr& tdom1, const std::shared_ptr& tdom2); protected: @@ -49,7 +53,7 @@ namespace codac2 friend class Tube; }; - std::shared_ptr create_tdomain(const Interval& t0_tf = Interval(-oo,oo), bool with_gates = false); + std::shared_ptr create_tdomain(const Interval& t0_tf = Interval(-oo,oo)); std::shared_ptr create_tdomain(const Interval& t0_tf, double dt, bool with_gates = false); } // namespace codac diff --git a/src/core/2/domains/tube/codac2_TSlice.cpp b/src/core/2/domains/tube/codac2_TSlice.cpp index 80aefcfe5..1c89ab5fa 100644 --- a/src/core/2/domains/tube/codac2_TSlice.cpp +++ b/src/core/2/domains/tube/codac2_TSlice.cpp @@ -36,6 +36,11 @@ namespace codac2 return _t0_tf; } + bool TSlice::is_gate() const + { + return _t0_tf.is_degenerated(); + } + void TSlice::set_tdomain(const Interval& tdomain) { assert(!tdomain.is_empty()); @@ -47,6 +52,16 @@ namespace codac2 return _slices; } + bool TSlice::operator==(const TSlice& x) const + { + return _t0_tf == x._t0_tf; + } + + bool TSlice::operator!=(const TSlice& x) const + { + return !operator==(x); + } + ostream& operator<<(ostream& os, const TSlice& x) { os << x._t0_tf; diff --git a/src/core/2/domains/tube/codac2_TSlice.h b/src/core/2/domains/tube/codac2_TSlice.h index 2ded9a5f7..fc0223a30 100644 --- a/src/core/2/domains/tube/codac2_TSlice.h +++ b/src/core/2/domains/tube/codac2_TSlice.h @@ -35,7 +35,10 @@ namespace codac2 explicit TSlice(const Interval& tdomain); TSlice(const TSlice& tslice, const Interval& tdomain); // performs a deep copy on slices const Interval& t0_tf() const; + bool is_gate() const; const std::map>& slices() const; + bool operator==(const TSlice& x) const; + bool operator!=(const TSlice& x) const; friend std::ostream& operator<<(std::ostream& os, const TSlice& x); protected: diff --git a/src/core/2/domains/tube/codac2_Tube.cpp b/src/core/2/domains/tube/codac2_Tube.cpp index 320b4d135..55085eb80 100644 --- a/src/core/2/domains/tube/codac2_Tube.cpp +++ b/src/core/2/domains/tube/codac2_Tube.cpp @@ -10,6 +10,7 @@ */ #include "codac2_Tube.h" +#include "codac_polygon_arithmetic.h" using namespace std; using namespace codac; @@ -20,7 +21,7 @@ namespace codac2 { codac::Tube x_(x.t0_tf()); for(const auto& s : x) - if(!s.t0_tf().is_unbounded()) + if(!s.t0_tf().is_unbounded()) // temporaly unbounded tslices not supported in codac1 x_.set(s.codomain(), s.t0_tf()); for(const auto& s : x) // setting gate (were overwritten) if(s.t0_tf().is_degenerated()) @@ -32,7 +33,7 @@ namespace codac2 { codac::TubeVector x_(x.t0_tf(), x.size()); for(const auto& s : x) - if(!s.t0_tf().is_unbounded()) + if(!s.t0_tf().is_unbounded()) // temporaly unbounded tslices not supported in codac1 x_.set(s.codomain(), s.t0_tf()); for(const auto& s : x) // setting gate (were overwritten) if(s.t0_tf().is_degenerated()) @@ -40,6 +41,55 @@ namespace codac2 return x_; } + codac::TubeVector to_codac1_poly(const Tube& x) + { + codac::TubeVector x_(x.t0_tf(), x.size()); + for(const auto& s : x) + if(!s.t0_tf().is_unbounded()) // temporaly unbounded tslices not supported in codac1 + x_.set(s.codomain().box(), s.t0_tf()); + for(const auto& s : x) // setting gate (were overwritten) + if(s.t0_tf().is_degenerated()) + x_.set(s.codomain().box(), s.t0_tf()); + return x_; + } + + codac2::Tube to_codac2(const codac::Tube& x_) + { + auto tdomain = create_tdomain(x_.tdomain()); + for(const codac::Slice *s = x_.first_slice() ; s != nullptr ; s=s->next_slice()) + tdomain->sample(s->tdomain().lb(), true); // with gate + tdomain->sample(x_.tdomain().ub(), true); // with gate + codac2::Tube x(tdomain, codac::Interval()); + for(auto& s : x) // includes gates + s.set(x_(s.t0_tf())); + return x; + } + + codac2::Tube to_codac2(const codac::TubeVector& x_) + { + auto tdomain = create_tdomain(x_[0].tdomain()); + for(const codac::Slice *s = x_[0].first_slice() ; s != nullptr ; s=s->next_slice()) + tdomain->sample(s->tdomain().lb(), true); // with gate + tdomain->sample(x_[0].tdomain().ub(), true); // with gate + codac2::Tube x(tdomain, codac::IntervalVector(x_.size())); + for(auto& s : x) // includes gates + s.set(x_(s.t0_tf())); + return x; + } + + codac2::Tube to_codac2_poly(const codac::TubeVector& x_) + { + assert(x_.size() == 2); + auto tdomain = create_tdomain(x_[0].tdomain()); + for(const codac::Slice *s = x_[0].first_slice() ; s != nullptr ; s=s->next_slice()) + tdomain->sample(s->tdomain().lb(), true); // with gate + tdomain->sample(x_[0].tdomain().ub(), true); // with gate + codac2::Tube x(tdomain, ConvexPolygon()); + for(auto& s : x) // includes gates + s.set(ConvexPolygon(x_(s.t0_tf()))); + return x; + } + template <> Tube::Tube(const std::shared_ptr& tdomain, const TFnc& f) : Tube(tdomain, IntervalVector(f.image_dim())) diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index 9b1e27234..15bed3ed3 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -33,6 +33,8 @@ namespace codac2 template class TubeEvaluation; template + class ConstTubeEvaluation; + template class TubeComponent; @@ -41,11 +43,11 @@ namespace codac2 { public: - explicit Tube(const std::shared_ptr& tdomain) : - Tube(tdomain, T()) - { - - } + // need to specify T (dim at least) explicit Tube(const std::shared_ptr& tdomain) : + // need to specify T (dim at least) Tube(tdomain, T()) + // need to specify T (dim at least) { + // need to specify T (dim at least) + // need to specify T (dim at least) } explicit Tube(const std::shared_ptr& tdomain, const TFnc& f) : Tube(tdomain, T()) @@ -76,15 +78,14 @@ namespace codac2 } } - explicit Tube(const Tube& x) : + Tube(const Tube& x) : AbstractSlicedTube(x.tdomain()) { for(std::list::iterator it = _tdomain->_tslices.begin(); it != _tdomain->_tslices.end(); ++it) { - it->_slices.insert( - std::pair>>(this, - std::make_shared>(it->_slices.at(&x)->size(), *this, it))); + std::shared_ptr> s_ptr = std::make_shared>(x(it)); + it->_slices.insert(std::pair>>(this, s_ptr)); } } @@ -113,6 +114,14 @@ namespace codac2 return _tdomain->nb_tslices(); } + double volume() const + { + double volume = 0.; + for(const auto& s : *this) + volume += s.volume(); + return volume; + } + virtual const std::shared_ptr& first_abstract_slice_ptr() const { return _tdomain->tslices().front().slices().at(this); @@ -157,8 +166,13 @@ namespace codac2 bool is_empty() const { + // Fast evaluation by considering gates first, then envelopes, + // which allows to quickly identify an empty set + for(const auto& s : *this) + if(s.is_gate() && s.is_empty()) + return true; for(const auto& s : *this) - if(s.is_empty()) + if(!s.is_gate() && s.is_empty()) return true; return false; } @@ -178,6 +192,7 @@ namespace codac2 BoolInterval result = BoolInterval::YES; for(const auto& s : *this) { + if(s.is_gate()) continue; BoolInterval b = s.contains(x); if(b == BoolInterval::NO) return BoolInterval::NO; else if(b == BoolInterval::MAYBE) result = BoolInterval::MAYBE; @@ -195,23 +210,56 @@ namespace codac2 return codomain; } + Slice& operator()(const std::list::iterator& it) + { + return const_cast&>( + static_cast(*this).operator()(it)); + } + + const Slice& operator()(const std::list::iterator& it) const + { + return *std::static_pointer_cast>(it->slices().at(this)); + } + TubeEvaluation operator()(double t) { return TubeEvaluation(this, t); } + const TubeEvaluation operator()(double t) const + { + return ConstTubeEvaluation(this, t); + } + TubeEvaluation operator()(const Interval& t) { return TubeEvaluation(this, t); } + const TubeEvaluation operator()(const Interval& t) const + { + return TubeEvaluation(this, t); + } + T eval(double t) const { - return std::static_pointer_cast>(_tdomain->iterator_tslice(t)->_slices.at(this))->codomain(); + if(!tdomain()->t0_tf().contains(t)) + return T(); // todo: case of dimension to specify? + std::list::iterator it_t = _tdomain->iterator_tslice(t); + assert(it_t != _tdomain->_tslices.end()); + T x = std::static_pointer_cast>(it_t->_slices.at(this))->codomain(); + if(!it_t->is_gate() && t==it_t->t0_tf().lb() && it_t!=_tdomain->_tslices.begin()) + x &= std::static_pointer_cast>((--it_t)->_slices.at(this))->codomain(); + return x; } T eval(const Interval& t) const { + if(!tdomain()->t0_tf().is_superset(t)) + return T(size()); // todo: case of dimension to specify? + if(t.is_degenerated()) + return eval(t.lb()); + std::list::iterator it = _tdomain->iterator_tslice(t.lb()); T codomain = std::static_pointer_cast>(it->_slices.at(this))->codomain(); @@ -226,16 +274,22 @@ namespace codac2 void set(const T& codomain) { - assert((size_t)codomain.size() == size()); + if constexpr(!std::is_same::value) + assert((size_t)codomain.size() == size()); + for(auto& s : *this) + if(!s.is_gate()) + s.set(codomain); for(auto& s : *this) - s.set(codomain); + if(s.is_gate()) + s.set(codomain); } void set(const T& codomain, double t) { - assert((size_t)codomain.size() == size()); - std::list::iterator it = _tdomain->sample(t); - std::static_pointer_cast>(it->_slices.at(this))->set(codomain); + if constexpr(!std::is_same::value) + assert((size_t)codomain.size() == size()); + std::list::iterator it = _tdomain->sample(t,true); + (*this)(it).set(codomain); } const Tube& inflate(double rad) @@ -255,6 +309,42 @@ namespace codac2 return TubeComponent(*this, i); } + bool operator==(const Tube& x) const + { + if(!TDomain::are_same(tdomain(), x.tdomain())) + return false; + + std::list::iterator it_this = _tdomain->_tslices.begin(); + std::list::const_iterator it_x = x.tdomain()->tslices().cbegin(); + + while(it_this != _tdomain->tslices().end()) + { + if(*std::static_pointer_cast>(it_this->_slices.at(this)) != + *std::static_pointer_cast>(it_x->slices().at(&x))) + return false; + it_this++; it_x++; + } + + return true; + } + + Tube operator&=(const Tube& x) + { + assert(TDomain::are_same(tdomain(), x.tdomain())); + std::list::iterator it_this = _tdomain->_tslices.begin(); + std::list::const_iterator it_x = x.tdomain()->tslices().cbegin(); + + while(it_this != _tdomain->tslices().end()) + { + std::shared_ptr> s = std::static_pointer_cast>(it_this->_slices.at(this)); + s->set(s->codomain() & std::static_pointer_cast>(it_x->slices().at(&x))->codomain()); + it_this++; it_x++; + } + + assert(it_x == x.tdomain()->tslices().cend()); + return *this; + } + friend std::ostream& operator<<(std::ostream& os, const Tube& x) { x.AbstractConstTube>::print(os); @@ -352,8 +442,12 @@ namespace codac2 const_iterator end() const { return const_iterator(*this, _tdomain->_tslices.cend()); } }; - codac::Tube to_codac1(const Tube& x); - codac::TubeVector to_codac1(const Tube& x); + codac::Tube to_codac1(const codac2::Tube& x); + codac::TubeVector to_codac1(const codac2::Tube& x); + codac::TubeVector to_codac1_poly(const codac2::Tube& x); + codac2::Tube to_codac2(const codac::Tube& x); + codac2::Tube to_codac2(const codac::TubeVector& x); + codac2::Tube to_codac2_poly(const codac::TubeVector& x); #include "codac2_TubeEvaluation.h" diff --git a/src/core/2/domains/tube/codac2_TubeEvaluation.h b/src/core/2/domains/tube/codac2_TubeEvaluation.h index 2a90698f2..eafc7453a 100644 --- a/src/core/2/domains/tube/codac2_TubeEvaluation.h +++ b/src/core/2/domains/tube/codac2_TubeEvaluation.h @@ -17,50 +17,100 @@ class TubeEvaluation { public: - const TubeEvaluation& operator=(const T& x) + TubeEvaluation& operator=(const T& x) { // Sampling the tube only if affectation is performed // (i.e. this is not done in the constructor) - std::list::iterator it_lb = _tubevector->_tdomain->sample(_t.lb(), false); - std::list::iterator it_ub = _tubevector->_tdomain->sample(_t.ub(), _t.is_degenerated()); + std::list::iterator it_lb = _tube->tdomain()->sample(_t.lb(), _t.is_degenerated()); + std::list::iterator it_ub; + + if(!_t.is_degenerated()) + { + it_ub = _tube->tdomain()->sample(_t.ub(), false); + it_ub--; // pointing to the tslice [..,_t.ub()] + + if(it_lb->t0_tf().ub() == _t.lb()) + it_lb++; + } + + else + it_ub = it_lb; do { - std::static_pointer_cast>(it_lb->_slices.at(_tubevector))->set(x); - it_lb++; - } while(it_lb != it_ub); + _tube->operator()(it_lb).set(x); + } while(it_lb != it_ub && (++it_lb) != _tube->tdomain()->tslices().end()); return *this; } - explicit operator T() + explicit operator T() const { - return _tubevector->eval(_t); + return _tube->eval(_t); } friend std::ostream& operator<<(std::ostream& os, const TubeEvaluation& x) { - os << x._tubevector->eval(x._t) << std::flush; + os << x._tube->eval(x._t) << std::flush; + return os; + } + + + protected: + + explicit TubeEvaluation(Tube *tubevector, double t) : + _t(Interval(t)), _tube(tubevector) + { + + } + + explicit TubeEvaluation(Tube *tubevector, const Interval& t) : + _t(t), _tube(tubevector) + { + + } + + const Interval _t; + Tube* _tube; + template + friend class Tube; +}; + +template +class ConstTubeEvaluation +{ + public: + + explicit operator T() const + { + return _tube->eval(_t); + } + + friend std::ostream& operator<<(std::ostream& os, const ConstTubeEvaluation& x) + { + os << x._tube->eval(x._t) << std::flush; return os; } protected: - explicit TubeEvaluation(const Tube* tubevector, double t) : - _t(Interval(t)), _tubevector(tubevector) + explicit ConstTubeEvaluation(const Tube *tubevector, double t) : + _t(Interval(t)), _tube(tubevector) { } - explicit TubeEvaluation(const Tube* tubevector, const Interval& t) : - _t(t), _tubevector(tubevector) + explicit ConstTubeEvaluation(const Tube *tubevector, const Interval& t) : + _t(t), _tube(tubevector) { } const Interval _t; - const Tube* _tubevector; + const Tube* _tube; + template + friend class Tube; }; #endif \ No newline at end of file diff --git a/src/core/arithmetic/codac_polygon_arithmetic.cpp b/src/core/arithmetic/codac_polygon_arithmetic.cpp index dae4cb777..4ccc7a04f 100644 --- a/src/core/arithmetic/codac_polygon_arithmetic.cpp +++ b/src/core/arithmetic/codac_polygon_arithmetic.cpp @@ -95,8 +95,6 @@ namespace codac if(!intersection_pt.does_not_exist()) { - assert(!e1.does_not_exist() && !e2.does_not_exist()); - // If edges are possibly parallel: if(ThickEdge::parallel(e1, e2) != NO) { diff --git a/src/core/contractors/dyn/codac_CtcChain.cpp b/src/core/contractors/dyn/codac_CtcChain.cpp index 3cbbc3717..89dd63fb5 100755 --- a/src/core/contractors/dyn/codac_CtcChain.cpp +++ b/src/core/contractors/dyn/codac_CtcChain.cpp @@ -45,4 +45,24 @@ namespace codac { CtcLinobs::contract(x, v, a, t_propa); } + + void CtcChain::contract(codac2::Tube& x, const codac2::Tube& a, TimePropag t_propa) + { + assert(x.size() == 2 && codac2::TDomain::are_same(x.tdomain(),a.tdomain())); + codac::TubeVector _x = to_codac1(x); + codac::Tube _a = to_codac1(a); + contract(_x[0], _x[1], _a, t_propa); + x &= codac2::to_codac2(_x); + } + + void CtcChain::contract(codac2::Tube& x, codac2::Tube& v, const codac2::Tube& a, TimePropag t_propa) + { + assert(codac2::TDomain::are_same(x.tdomain(),v.tdomain()) && codac2::TDomain::are_same(x.tdomain(),a.tdomain())); + codac::Tube _x = to_codac1(x); + codac::Tube _v = to_codac1(v); + codac::Tube _a = to_codac1(a); + contract(_x, _v, _a, t_propa); + x &= codac2::to_codac2(_x); + v &= codac2::to_codac2(_v); + } } \ No newline at end of file diff --git a/src/core/contractors/dyn/codac_CtcChain.h b/src/core/contractors/dyn/codac_CtcChain.h index f958937a5..ae5ae66ed 100755 --- a/src/core/contractors/dyn/codac_CtcChain.h +++ b/src/core/contractors/dyn/codac_CtcChain.h @@ -13,6 +13,7 @@ #define __CODAC_CTCCHAIN_H__ #include "codac_CtcLinobs.h" +#include "codac2_Tube.h" namespace codac { @@ -30,6 +31,8 @@ namespace codac void contract(std::vector& v_domains); void contract(Tube& x, Tube& v, const Tube& a, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(codac2::Tube& x, const codac2::Tube& a, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(codac2::Tube& x, codac2::Tube& v, const codac2::Tube& a, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); protected: diff --git a/src/core/contractors/dyn/codac_CtcDeriv.cpp b/src/core/contractors/dyn/codac_CtcDeriv.cpp index 5970c1e55..15c2e304f 100644 --- a/src/core/contractors/dyn/codac_CtcDeriv.cpp +++ b/src/core/contractors/dyn/codac_CtcDeriv.cpp @@ -116,7 +116,32 @@ namespace codac for(int i = 0 ; i < x.size() ; i++) contract(x[i], v[i], t_propa); } + + void CtcDeriv::contract(codac2::Tube& x, const codac2::Tube& v, TimePropag t_propa) + { + Tube _x = codac2::to_codac1(x); + Tube _v = codac2::to_codac1(v); + contract(_x,_v,t_propa); + x &= codac2::to_codac2(_x); + } + + void CtcDeriv::contract(codac2::Tube& xv, TimePropag t_propa) + { + Tube x = codac2::to_codac1(xv)[0]; + Tube v = codac2::to_codac1(xv)[1]; + contract(x,v,t_propa); + xv &= codac2::to_codac2(TubeVector({x,v})); + } + void CtcDeriv::contract(codac2::Tube& x, int i, codac2::Tube& v, int j, TimePropag t_propa) + { + TubeVector _x = codac2::to_codac1(x); + TubeVector _v = codac2::to_codac1(v); + contract(_x[i],_v[j],t_propa); + x &= codac2::to_codac2(_x); + v &= codac2::to_codac2(_v); + } + void CtcDeriv::contract(Slice& x, const Slice& v, TimePropag t_propa) { assert(x.tdomain() == v.tdomain()); diff --git a/src/core/contractors/dyn/codac_CtcDeriv.h b/src/core/contractors/dyn/codac_CtcDeriv.h index 356ab4766..aaf53ccfa 100644 --- a/src/core/contractors/dyn/codac_CtcDeriv.h +++ b/src/core/contractors/dyn/codac_CtcDeriv.h @@ -14,6 +14,7 @@ #include "codac_DynCtc.h" #include "codac_Slice.h" +#include "codac2_Tube.h" namespace codac { @@ -69,6 +70,9 @@ namespace codac * (forward or backward in time, both ways by default) */ void contract(TubeVector& x, const TubeVector& v, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(codac2::Tube& x, const codac2::Tube& v, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(codac2::Tube& xv, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(codac2::Tube& x, int i, codac2::Tube& v, int j, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); /** * \brief \f$\mathcal{C}_{\frac{d}{dt}}\big(\llbracket x\rrbracket(\cdot),\llbracket v\rrbracket(\cdot)\big)\f$: diff --git a/src/core/contractors/dyn/codac_CtcLohner.cpp b/src/core/contractors/dyn/codac_CtcLohner.cpp index bedcec017..9888536b4 100644 --- a/src/core/contractors/dyn/codac_CtcLohner.cpp +++ b/src/core/contractors/dyn/codac_CtcLohner.cpp @@ -12,7 +12,7 @@ #include #include -#include +#include #include #include diff --git a/src/core/geometry/codac_ConvexPolygon.cpp b/src/core/geometry/codac_ConvexPolygon.cpp index 7b0152856..e9179ac3a 100644 --- a/src/core/geometry/codac_ConvexPolygon.cpp +++ b/src/core/geometry/codac_ConvexPolygon.cpp @@ -10,11 +10,11 @@ #include #include -#include "codac_polygon_arithmetic.h" #include "codac_IntervalMatrix.h" #include "codac_ConvexPolygon.h" #include "codac_GrahamScan.h" #include "codac_VIBesFig.h" +#include "codac_polygon_arithmetic.h" using namespace std; using namespace ibex; @@ -24,7 +24,7 @@ namespace codac // Definition ConvexPolygon::ConvexPolygon() - : Polygon() + : ConvexPolygon(IntervalVector(2,Interval(-9999.,9999.))) { } @@ -36,8 +36,12 @@ namespace codac } ConvexPolygon::ConvexPolygon(const IntervalVector& box) - : Polygon(box) + : Polygon() { + assert(box.size() == 2); + assert(!box.is_empty()); + + ThickPoint::push(box, m_v_floating_pts); m_v_floating_pts = GrahamScan::convex_hull(m_v_floating_pts); } @@ -104,22 +108,10 @@ namespace codac return is_subset; } - - const BoolInterval ConvexPolygon::is_subset(const IntervalVector& x) const - { - // todo: this could be optimized in the specific case of a box - return is_subset(ConvexPolygon(x)); - } - - const BoolInterval ConvexPolygon::is_superset(const ConvexPolygon& p) const - { - return p.is_subset(*this); - } - - const BoolInterval ConvexPolygon::is_superset(const IntervalVector& x) const + + bool ConvexPolygon::is_unbounded() const { - // todo: this could be optimized in the specific case of a box - return is_superset(ConvexPolygon(x)); + return false; // todo } const BoolInterval ConvexPolygon::encloses(const ThickPoint& p) const @@ -128,6 +120,13 @@ namespace codac return contains(p); } + const BoolInterval ConvexPolygon::intersects(const ConvexPolygon& p) const + { + // todo: optimize this + ConvexPolygon inter = *this & p; + return inter.is_empty() ? BoolInterval::NO : BoolInterval::MAYBE; + } + const BoolInterval ConvexPolygon::contains(const ThickPoint& p) const { if(p.does_not_exist() || is_empty()) @@ -136,9 +135,6 @@ namespace codac if(!p.box().intersects(box())) return NO; // fast test - if(box() == IntervalVector(2)) - return YES; // fast test - // Using the ray tracing method: // A ray is defined from p to the right ; if it crosses // 'a' times one of the edges, and (a & 1), then p is inside @@ -146,9 +142,7 @@ namespace codac vector v_edges = edges(); int a = 0; // the crossing number counter size_t n = v_edges.size(); - const ThickEdge ray(p, ThickPoint(box()[0].ub()+1., p[1])); // horizontal edge to the right - assert(!v_edges[n-1].does_not_exist() && !ray.does_not_exist()); ThickPoint prev_e = v_edges[n-1] & ray; // Loop through all edges of the polygon, looking for intersections @@ -158,7 +152,6 @@ namespace codac continue; // Intersecting point - assert(!v_edges[i].does_not_exist() && !ray.does_not_exist()); const ThickPoint e = v_edges[i] & ray; if(!e.does_not_exist()) // intersection to the left of p, not considered { @@ -181,25 +174,12 @@ namespace codac return (a & 1) ? YES : NO; } - const BoolInterval ConvexPolygon::contains(const Vector& p) const - { - assert(p.size() == 2); - return contains(ThickPoint(p)); - } - - BoolInterval ConvexPolygon::intersects(const IntervalVector& x) const - { - // todo: improve this algorithm - return fast_intersection(x).is_empty() ? NO : YES; - } - // Setting values const ConvexPolygon& ConvexPolygon::inflate(double rad) { // todo - assert(false); return *this; } @@ -237,6 +217,14 @@ namespace codac assert(!inter.is_unbounded()); assert(e1 != e2); assert(!e1.does_not_exist() && !e2.does_not_exist()); + if(inter.does_not_exist()) + { + cout << "inter.does_not_exist():" << endl; + cout << "inter=" << inter << ", e1=" << e1 << ", e2=" << e2 << endl; + cout << box_limit << endl; + *this = ConvexPolygon(box_limit); + return *this; + } assert(!inter.does_not_exist()); if(!box_limit.contains(inter.mid())) @@ -311,9 +299,6 @@ namespace codac if(is_empty() || x.is_empty()) return IntervalVector(2, Interval::EMPTY_SET); - if(box() == IntervalVector(2)) - return x; - IntervalVector reduced_x = x & box(); if(reduced_x.is_empty()) @@ -323,10 +308,7 @@ namespace codac vector v_edges = edges(); for(const auto& edge : v_edges) - { - assert(!edge.does_not_exist()); inter |= edge & reduced_x; - } vector v_x_vertices; ThickPoint::push(reduced_x, v_x_vertices); diff --git a/src/core/geometry/codac_ConvexPolygon.h b/src/core/geometry/codac_ConvexPolygon.h index e81a62ee7..228fc58f4 100644 --- a/src/core/geometry/codac_ConvexPolygon.h +++ b/src/core/geometry/codac_ConvexPolygon.h @@ -35,13 +35,10 @@ namespace codac /// @{ const BoolInterval is_subset(const ConvexPolygon& p) const; - const BoolInterval is_subset(const IntervalVector& x) const; - const BoolInterval is_superset(const ConvexPolygon& p) const; - const BoolInterval is_superset(const IntervalVector& x) const; - const BoolInterval encloses(const ThickPoint& p) const; // deprecated + bool is_unbounded() const; const BoolInterval contains(const ThickPoint& p) const; - const BoolInterval contains(const Vector& p) const; - BoolInterval intersects(const IntervalVector& x) const; + const BoolInterval encloses(const ThickPoint& p) const; + const BoolInterval intersects(const ConvexPolygon& p) const; /// @} /// \name Setting values diff --git a/src/core/geometry/codac_Polygon.cpp b/src/core/geometry/codac_Polygon.cpp index a1cb1689f..eaf139a69 100644 --- a/src/core/geometry/codac_Polygon.cpp +++ b/src/core/geometry/codac_Polygon.cpp @@ -23,7 +23,6 @@ namespace codac // Definition Polygon::Polygon() - : Polygon(IntervalVector(2,Interval(-9999999999.,9999999999.))) // unbounded polygons are not supported yet { } @@ -33,21 +32,13 @@ namespace codac { } - - Polygon::Polygon(const IntervalVector& box) - { - assert(box.size() == 2); - assert(!box.is_empty()); - - ThickPoint::push(box, m_v_floating_pts); - } Polygon::Polygon(const vector& v_floating_pts) : m_v_floating_pts(v_floating_pts) { } - + void Polygon::set_empty() { m_v_floating_pts.clear(); @@ -95,19 +86,12 @@ namespace codac { IntervalVector box(2, Interval::EMPTY_SET); for(const auto& pt : m_v_floating_pts) - { - if(isinf(pt[0]) || isinf(pt[1])) - return IntervalVector(2); // todo: correct this, issue #87 box |= pt; - } return box; } const ThickPoint Polygon::center() const { - if(is_empty()) - return ThickPoint(); // undefined point - IntervalVector center(2, 0.); for(const auto& pt : m_v_floating_pts) center += pt; @@ -117,9 +101,6 @@ namespace codac const Interval Polygon::area() const { - if(is_empty()) - return 0.; - Interval a(0.); size_t n = m_v_floating_pts.size(); @@ -134,6 +115,11 @@ namespace codac return 0.5*a; } + double Polygon::volume() const + { + return area().ub(); + } + // Tests diff --git a/src/core/geometry/codac_Polygon.h b/src/core/geometry/codac_Polygon.h index fb7e4db7e..c7cd45406 100644 --- a/src/core/geometry/codac_Polygon.h +++ b/src/core/geometry/codac_Polygon.h @@ -28,9 +28,7 @@ namespace codac Polygon(); Polygon(const Polygon& p); - explicit Polygon(const IntervalVector& box); Polygon(const std::vector& v_floating_pts); - void set_empty(); /// @} @@ -46,6 +44,7 @@ namespace codac const IntervalVector box() const; const ThickPoint center() const; const Interval area() const; + double volume() const; /// @} /// \name Tests diff --git a/src/core/geometry/codac_SepPolygon.h b/src/core/geometry/codac_SepPolygon.h index a1453428c..8b466e254 100644 --- a/src/core/geometry/codac_SepPolygon.h +++ b/src/core/geometry/codac_SepPolygon.h @@ -74,7 +74,7 @@ class SepPolygon : public ibex::SepBoundaryCtc { * The polygon boundary contractor is composed of a union of * contractor on segments (CtcSegment). * This contractor is minimal as an union of minimal contractors. - * See ibex::SepBoundaryCtc. + * See #ibex::SepBoundaryCtc. * * \param points list of segments representing the edges of the polygon in the format of ( ((a1_x, a1_y), (b1_x, b1_x)), ((a2_x, a2_y), (b2_x, b2_x)), ...) */ @@ -89,7 +89,7 @@ class SepPolygon : public ibex::SepBoundaryCtc { * The polygon boundary contractor is composed of a union of * contractor on segments (CtcSegment). * This contractor is minimal as an union of minimal contractors. - * See ibex::SepBoundaryCtc. + * See #ibex::SepBoundaryCtc. * * \param vertices list of vertices on the form (ax, ay), (bx, by), (cx, cy), ... */ @@ -104,7 +104,7 @@ class SepPolygon : public ibex::SepBoundaryCtc { * The polygon boundary contractor is composed of a union of * contractor on segments (CtcSegment). * This contractor is minimal as an union of minimal contractors. - * See ibex::SepBoundaryCtc. + * See #ibex::SepBoundaryCtc. * * \param ax list of x coordinate of the first point of each segment * \param ay list of y coordinate of the first point of each segment diff --git a/src/core/geometry/codac_ThickEdge.cpp b/src/core/geometry/codac_ThickEdge.cpp index 5d4454f74..d74029590 100644 --- a/src/core/geometry/codac_ThickEdge.cpp +++ b/src/core/geometry/codac_ThickEdge.cpp @@ -159,10 +159,7 @@ namespace codac vector v_box_edges; ThickEdge::push(x, v_box_edges); for(size_t i = 0 ; i < v_box_edges.size() ; i++) - { - assert(!does_not_exist() && !v_box_edges[i].does_not_exist()); inter |= (*this & v_box_edges[i]).box(); - } return inter; } } @@ -173,7 +170,6 @@ namespace codac const ThickPoint ThickEdge::operator&(const ThickEdge& e) const { - assert(!does_not_exist() && !e.does_not_exist()); const ThickPoint proj = proj_intersection(*this, e); return ThickPoint(proj[0] & box()[0] & e.box()[0], proj[1] & box()[1] & e.box()[1]); } diff --git a/src/core/separators/codac_SepProj.cpp b/src/core/separators/codac_SepProj.cpp index cf3f2df49..54a9d9965 100644 --- a/src/core/separators/codac_SepProj.cpp +++ b/src/core/separators/codac_SepProj.cpp @@ -56,6 +56,8 @@ bool SepProj::process(IntervalVector& x_in, IntervalVector& x_out, IntervalVecto // Separate the product [x].[y] IntervalVector XinFull = cart_prod(x, y); IntervalVector XoutFull = cart_prod(x, y); + //IntervalVector _XinFull = cart_prod(x, y); + //IntervalVector _XoutFull = cart_prod(x, y); // IntervalVector XinFull0(XinFull); // IntervalVector XoutFull0(XoutFull); @@ -79,7 +81,9 @@ bool SepProj::process(IntervalVector& x_in, IntervalVector& x_out, IntervalVecto // Handle error case if (XinFull.is_empty() && XoutFull.is_empty()){ - cout << "Erreur !!!! line" << __LINE__ << "\n "; + cout << "Error: XinFull.is_empty() && XoutFull.is_empty()" << endl; + cout << " found on codac_SepProj.cpp" << endl; + //cout << " " << x << ", " << y << ", " << _XinFull << ", " << _XoutFull << endl; exit(-1); } @@ -98,11 +102,11 @@ bool SepProj::process(IntervalVector& x_in, IntervalVector& x_out, IntervalVecto x_out.set_empty(); if( use_point == false) impact.setCoutFlags(x_out, x); - y.set_empty(); +// y.set_empty(); return true; } else { x_out = XoutFull.subvector(0, x_out.size()-1); - y = XoutFull.subvector(x_out.size(), XoutFull.size()-1); +// y = XoutFull.subvector(x_out.size(), XoutFull.size()-1); if( use_point == false) impact.setCoutFlags(x_out, x); } diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index bc3a2da73..9bf1484bf 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -26,7 +26,7 @@ list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp index 10459aa97..4399f585b 100644 --- a/tests/core/tests_codac2_tubes.cpp +++ b/tests/core/tests_codac2_tubes.cpp @@ -28,9 +28,10 @@ TEST_CASE("Test codac2::tubes") { SECTION("Test TDomain") { - auto tdomain = create_tdomain(Interval(0,1), 0.5); + auto tdomain = create_tdomain(); + tdomain->sample(Interval(0,1), 0.5); CHECK(tdomain->nb_tslices() == 4); - CHECK(tdomain->t0_tf() == Interval(0,1)); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); const list& tslices = tdomain->tslices(); vector vector_tslices{ @@ -60,27 +61,27 @@ TEST_CASE("Test codac2::tubes") CHECK(tdomain->nb_tubes() == 1); } - SECTION("Test degenerated TDomain") - { - auto tdomain = create_tdomain(Interval(1), 0.5); - CHECK(tdomain->nb_tslices() == 2); - CHECK(tdomain->t0_tf() == Interval(1)); - CHECK(tdomain->nb_tubes() == 0); - - const list& tslices = tdomain->tslices(); - vector vector_tslices{ - make_move_iterator(tslices.begin()), - make_move_iterator(tslices.end()) }; - - CHECK(vector_tslices.size() == 2); - CHECK(vector_tslices[0].t0_tf() == Interval(-oo,1)); - CHECK(vector_tslices[1].t0_tf() == Interval(1,oo)); - } + // should assert SECTION("Test degenerated TDomain") + // should assert { + // should assert auto tdomain = create_tdomain(Interval(1), 0.5); + // should assert CHECK(tdomain->nb_tslices() == 2); + // should assert CHECK(tdomain->t0_tf() == Interval(1)); + // should assert CHECK(tdomain->nb_tubes() == 0); + // should assert + // should assert const list& tslices = tdomain->tslices(); + // should assert vector vector_tslices{ + // should assert make_move_iterator(tslices.begin()), + // should assert make_move_iterator(tslices.end()) }; + // should assert + // should assert CHECK(vector_tslices.size() == 2); + // should assert CHECK(vector_tslices[0].t0_tf() == Interval(-oo,1)); + // should assert CHECK(vector_tslices[1].t0_tf() == Interval(1,oo)); + // should assert } SECTION("Test TDomain with gates") { auto tdomain = create_tdomain(Interval(0,1), 0.5, true); - CHECK(tdomain->nb_tslices() == 7); + CHECK(tdomain->nb_tslices() == 5); CHECK(tdomain->t0_tf() == Interval(0,1)); CHECK(tdomain->nb_tubes() == 0); @@ -89,32 +90,30 @@ TEST_CASE("Test codac2::tubes") make_move_iterator(tslices.begin()), make_move_iterator(tslices.end()) }; - CHECK(vector_tslices.size() == 7); - CHECK(vector_tslices[0].t0_tf() == Interval(-oo,0)); - CHECK(vector_tslices[1].t0_tf() == Interval(0)); - CHECK(vector_tslices[2].t0_tf() == Interval(0,0.5)); - CHECK(vector_tslices[3].t0_tf() == Interval(0.5)); - CHECK(vector_tslices[4].t0_tf() == Interval(0.5,1)); - CHECK(vector_tslices[5].t0_tf() == Interval(1,1)); - CHECK(vector_tslices[6].t0_tf() == Interval(1,oo)); - - CHECK(tdomain->iterator_tslice(-oo)->t0_tf() == Interval(-oo,0)); - CHECK(tdomain->iterator_tslice(-10.)->t0_tf() == Interval(-oo,0)); + CHECK(vector_tslices.size() == 5); + CHECK(vector_tslices[0].t0_tf() == Interval(0)); + CHECK(vector_tslices[1].t0_tf() == Interval(0,0.5)); + CHECK(vector_tslices[2].t0_tf() == Interval(0.5)); + CHECK(vector_tslices[3].t0_tf() == Interval(0.5,1)); + CHECK(vector_tslices[4].t0_tf() == Interval(1,1)); + CHECK(tdomain->iterator_tslice(0.)->t0_tf() == Interval(0)); + CHECK(tdomain->iterator_tslice(0.1)->t0_tf() == Interval(0,0.5)); + CHECK(tdomain->iterator_tslice(0.5)->t0_tf() == Interval(0.5)); CHECK(tdomain->iterator_tslice(0.6)->t0_tf() == Interval(0.5,1)); - CHECK(tdomain->iterator_tslice(5540.2)->t0_tf() == Interval(1,oo)); - CHECK(tdomain->iterator_tslice(oo)->t0_tf() == Interval(1,oo)); + CHECK(tdomain->iterator_tslice(1.)->t0_tf() == Interval(1)); } SECTION("Test TDomain with sampling") { - auto tdomain = create_tdomain(Interval(1), 0.5); + auto tdomain = create_tdomain(); + tdomain->sample(1.); CHECK(tdomain->nb_tslices() == 2); - tdomain->sample(10.); + tdomain->sample(10.,false); // no gate CHECK(tdomain->nb_tslices() == 3); - tdomain->sample(10.); // second sampling which creates a gate + tdomain->sample(10.,true); // second sampling with gate CHECK(tdomain->nb_tslices() == 4); - tdomain->sample(10.); // no more action + tdomain->sample(10.,true); // no more action CHECK(tdomain->nb_tslices() == 4); const list& tslices = tdomain->tslices(); @@ -132,11 +131,12 @@ TEST_CASE("Test codac2::tubes") SECTION("Test unbounded TDomain") { auto tdomain = create_tdomain(); + CHECK(tdomain->nb_tslices() == 1); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); const list& tslices = tdomain->tslices(); vector vector_tslices{ make_move_iterator(tslices.begin()), make_move_iterator(tslices.end()) }; - CHECK(tdomain->nb_tslices() == 1); CHECK(vector_tslices.size() == 1); CHECK(vector_tslices[0].t0_tf() == Interval(-oo,oo)); } @@ -145,42 +145,116 @@ TEST_CASE("Test codac2::tubes") { auto tdomain = create_tdomain(); CHECK(tdomain->nb_tslices() == 1); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); Tube x(tdomain, IntervalVector(1)); - x.set(Interval(4)); - x(Interval(0,1)) = IntervalVector({{1,2}}); - x(Interval(1,2)) = IntervalVector({{5,6}}); - x(Interval(2,3)) = IntervalVector({{8,9}}); - CHECK(x.codomain() == IntervalVector({{1,9}})); - CHECK(static_cast(x(0.5)) == IntervalVector({{1,2}})); - CHECK(static_cast(x(1.5)) == IntervalVector({{5,6}})); - CHECK(static_cast(x(2.5)) == IntervalVector({{8,9}})); + //x.set(Interval(4)); + x(Interval(0,1)) = IntervalVector({{1,5}}); + x(Interval(1,2)) = IntervalVector({{2,8}}); + x(Interval(2,3)) = IntervalVector({{6,9}}); + // Checking structure + vector*> v; + for(const auto& s : x) + v.push_back(&s); + CHECK(v[0]->t0_tf() == Interval(-oo,0)); + CHECK(v[0]->codomain() == IntervalVector({{-oo,oo}})); + CHECK(v[1]->t0_tf() == Interval(0,1)); + CHECK(v[1]->codomain() == IntervalVector({{1,5}})); + CHECK(v[2]->t0_tf() == Interval(1,2)); + CHECK(v[2]->codomain() == IntervalVector({{2,8}})); + CHECK(v[3]->t0_tf() == Interval(2,3)); + CHECK(v[3]->codomain() == IntervalVector({{6,9}})); + CHECK(v[4]->t0_tf() == Interval(3,oo)); + CHECK(v[4]->codomain() == IntervalVector({{-oo,oo}})); + + CHECK(tdomain->nb_tslices() == 5); // with [-oo,0] and [3,oo] + CHECK(static_cast(x(Interval(0,3))) == IntervalVector({{1,9}})); + CHECK(static_cast(x(-1)) == IntervalVector(1)); + CHECK(static_cast(x(0.5)) == IntervalVector({{1,5}})); + CHECK(static_cast(x(1.5)) == IntervalVector({{2,8}})); + CHECK(static_cast(x(2.5)) == IntervalVector({{6,9}})); + // No gates: testing values between slices + CHECK(static_cast(x(1.)) == IntervalVector({{2,5}})); + CHECK(static_cast(x(2.)) == IntervalVector({{6,8}})); + CHECK(static_cast(x(3.)) == IntervalVector({{6,9}})); + CHECK(static_cast(x(999.)) == IntervalVector(1)); const std::shared_ptr> s0 = x.first_slice_ptr(); CHECK(s0->t0_tf() == Interval(-oo,0)); - CHECK(s0->codomain() == IntervalVector({{4}})); + CHECK(s0->codomain() == IntervalVector({{-oo,oo}})); const std::shared_ptr> s1 = s0->next_slice_ptr(); CHECK(s1->t0_tf() == Interval(0,1)); - CHECK(s1->codomain() == IntervalVector({{1,2}})); + CHECK(s1->codomain() == IntervalVector({{1,5}})); const std::shared_ptr> s2 = s1->next_slice_ptr(); CHECK(s2->t0_tf() == Interval(1,2)); - CHECK(s2->codomain() == IntervalVector({{5,6}})); + CHECK(s2->codomain() == IntervalVector({{2,8}})); const std::shared_ptr> s3 = s2->next_slice_ptr(); CHECK(s3->t0_tf() == Interval(2,3)); - CHECK(s3->codomain() == IntervalVector({{8,9}})); + CHECK(s3->codomain() == IntervalVector({{6,9}})); const std::shared_ptr> s4 = s3->next_slice_ptr(); CHECK(s4->t0_tf() == Interval(3,oo)); - CHECK(s4->codomain() == IntervalVector({{4}})); + CHECK(s4->codomain() == IntervalVector({{-oo,oo}})); CHECK(tdomain->nb_tslices() == 5); tdomain->sample(1.3); CHECK(tdomain->nb_tslices() == 6); CHECK(s2->t0_tf() == Interval(1,1.3)); - CHECK(s2->codomain() == IntervalVector({{5,6}})); + CHECK(s2->codomain() == IntervalVector({{2,8}})); const std::shared_ptr> s2bis = s2->next_slice_ptr(); CHECK(s2bis->t0_tf() == Interval(1.3,2)); - CHECK(s2bis->codomain() == IntervalVector({{5,6}})); + CHECK(s2bis->codomain() == IntervalVector({{2,8}})); CHECK(s3->t0_tf() == Interval(2,3)); - CHECK(s3->codomain() == IntervalVector({{8,9}})); + CHECK(s3->codomain() == IntervalVector({{6,9}})); + } + + SECTION("Sampling inside tdomain") + { + auto tdomain = create_tdomain(); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); + CHECK(tdomain->nb_tslices() == 1); + tdomain->sample(1., false); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); + CHECK(tdomain->nb_tslices() == 2); + tdomain->sample(1., false); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); + CHECK(tdomain->nb_tslices() == 2); + tdomain->sample(1., true); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); + CHECK(tdomain->nb_tslices() == 3); + std::list::iterator it = tdomain->sample(10., true); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); + CHECK(tdomain->nb_tslices() == 5); + CHECK(it->t0_tf() == Interval(10.)); + it = tdomain->sample(15., false); + CHECK(tdomain->t0_tf() == Interval(-oo,oo)); + CHECK(tdomain->nb_tslices() == 6); + CHECK(it->t0_tf() == Interval(15.,oo)); + } + + SECTION("Sampling outside tdomain") + { + auto tdomain = create_tdomain(Interval(0,0.5)); + CHECK(tdomain->t0_tf() == Interval(0,0.5)); + CHECK(tdomain->nb_tslices() == 1); + tdomain->sample(1., false); + CHECK(tdomain->t0_tf() == Interval(0,1)); + CHECK(tdomain->nb_tslices() == 2); + tdomain->sample(1., false); + CHECK(tdomain->t0_tf() == Interval(0,1)); + CHECK(tdomain->nb_tslices() == 2); // + tdomain->sample(1., false); + CHECK(tdomain->t0_tf() == Interval(0,1)); + CHECK(tdomain->nb_tslices() == 2); + tdomain->sample(1., true); + CHECK(tdomain->t0_tf() == Interval(0,1)); + CHECK(tdomain->nb_tslices() == 3); + std::list::iterator it = tdomain->sample(10., true); + CHECK(tdomain->t0_tf() == Interval(0,10)); + CHECK(tdomain->nb_tslices() == 5); + CHECK(it->t0_tf() == Interval(10.)); + it = tdomain->sample(15., false); + CHECK(tdomain->t0_tf() == Interval(0,15)); + CHECK(tdomain->nb_tslices() == 6); + CHECK(it->t0_tf() == Interval(10,15)); } SECTION("Test basic Tube") @@ -192,9 +266,9 @@ TEST_CASE("Test codac2::tubes") CHECK(x.tdomain() == tdomain); CHECK(x.t0_tf() == Interval(0,1)); CHECK(x.nb_slices() == tdomain->nb_tslices()); - CHECK(x.nb_slices() == 12); - CHECK(x.first_slice_ptr()->t0_tf() == Interval(-oo,0)); - CHECK(x.last_slice_ptr()->t0_tf() == Interval(1,oo)); + CHECK(x.nb_slices() == 10); + CHECK(x.first_slice_ptr()->t0_tf() == Interval(0,0.1)); + CHECK(ApproxIntv(x.last_slice_ptr()->t0_tf()) == Interval(0.9,1)); CHECK(x.codomain() == IntervalVector(3)); x.set(IntervalVector(3, Interval(-10,10))); CHECK(x.codomain() == IntervalVector(3, Interval(-10,10))); @@ -212,25 +286,52 @@ TEST_CASE("Test codac2::tubes") // Eval CHECK(tdomain->nb_tubes() == 1); - CHECK(static_cast(x(Interval(-oo,oo))) == x.codomain()); - CHECK(static_cast(x(Interval(-1,1))) == x.codomain()); - CHECK(static_cast(x(-42.)) == x.codomain()); + CHECK(static_cast(x(Interval(-oo,oo))) == IntervalVector(3)); + CHECK(static_cast(x(Interval(-1,1))) == IntervalVector(3)); + CHECK(static_cast(x(tdomain->t0_tf())) == x.codomain()); + CHECK(static_cast(x(-42.)) == IntervalVector(3)); // Eval: affectation at scalar t - CHECK(tdomain->nb_tslices() == 12); + CHECK(tdomain->nb_tslices() == 10); x(-42.) = IntervalVector(3,Interval(2.,3.)); - CHECK(tdomain->nb_tslices() == 14); + CHECK(tdomain->nb_tslices() == 12); + + // Checking structure + vector*> v; + for(const auto& s : x) + v.push_back(&s); + CHECK(v[0]->t0_tf() == Interval(-42.)); + CHECK(v[0]->codomain() == IntervalVector(3,Interval(2.,3.))); + CHECK(v[1]->t0_tf() == Interval(-42.,0.)); + CHECK(v[1]->codomain() == IntervalVector(3)); + CHECK(v[2]->t0_tf() == Interval(0.,0.1)); + CHECK(v[2]->codomain() == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + CHECK(v[3]->t0_tf() == Interval(0.1,0.2)); + CHECK(v[3]->codomain() == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + CHECK(static_cast(x(-42.)) == IntervalVector(3,Interval(2.,3.))); - CHECK(static_cast(x(ibex::previous_float(-42.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); - CHECK(static_cast(x(ibex::next_float(-42.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + CHECK(static_cast(x(ibex::previous_float(-42.))) == IntervalVector(3)); + CHECK(static_cast(x(ibex::next_float(-42.))) == IntervalVector(3)); // Eval: affectation at interval t - CHECK(tdomain->nb_tslices() == 14); + CHECK(x.codomain() == IntervalVector(3)); + CHECK(tdomain->nb_tslices() == 12); x(Interval(44,55)) = IntervalVector(3,Interval(9.,10.)); - CHECK(tdomain->nb_tslices() == 16); + CHECK(tdomain->nb_tslices() == 14); + + v.clear(); + for(const auto& s : x) + v.push_back(&s); + CHECK(ApproxIntv(v[11]->t0_tf()) == Interval(0.9,1)); + CHECK(v[11]->codomain() == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + CHECK(v[12]->t0_tf() == Interval(1,44)); + CHECK(v[12]->codomain() == IntervalVector(3)); + CHECK(v[13]->t0_tf() == Interval(44,55)); + CHECK(v[13]->codomain() == IntervalVector(3,Interval(9.,10.))); + CHECK(static_cast(x(Interval(44,55))) == IntervalVector(3,Interval(9.,10.))); - CHECK(static_cast(x(ibex::previous_float(44.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); - CHECK(static_cast(x(ibex::next_float(55.))) == IntervalVector({Interval(-20,20),Interval(-20,20),Interval(-10,10)})); + CHECK(static_cast(x(ibex::previous_float(44.))) == IntervalVector(3)); + CHECK(static_cast(x(ibex::next_float(55.))) == IntervalVector(3)); // Iterators tests { @@ -258,9 +359,11 @@ TEST_CASE("Test codac2::tubes") { auto tdomain = create_tdomain(Interval(0,1), 0.1); Tube x(tdomain, IntervalVector(2)); - CHECK(x.nb_slices() == 12); - CHECK(x.first_slice_ptr() == tdomain->iterator_tslice(-oo)->_slices.at(&x)); - CHECK(x.last_slice_ptr() == tdomain->iterator_tslice(oo)->_slices.at(&x)); + CHECK(x.nb_slices() == 10); + CHECK(tdomain->iterator_tslice(-oo) == tdomain->_tslices.end()); + CHECK(tdomain->iterator_tslice(oo) == tdomain->_tslices.end()); + CHECK(x.first_slice_ptr() == tdomain->iterator_tslice(0.)->_slices.at(&x)); + CHECK(x.last_slice_ptr() == tdomain->iterator_tslice(1.)->_slices.at(&x)); for(auto& s : x) s.set(IntervalVector(2,s.t0_tf())); @@ -269,22 +372,16 @@ TEST_CASE("Test codac2::tubes") for(const auto& s : x) v.push_back(&s); - CHECK(v[0]->t0_tf() == Interval(-oo,0)); - CHECK(v[0]->codomain() == IntervalVector(2,Interval(-oo,0))); - CHECK(v[0]->input_gate() == IntervalVector(2,Interval(-oo,0))); - CHECK(v[0]->output_gate() == IntervalVector(2,Interval(0))); - - CHECK(v[1]->t0_tf() == Interval(0,0.1)); - CHECK(v[1]->input_gate() == v[0]->output_gate()); - CHECK(v[1]->codomain() == IntervalVector(2,Interval(0,0.1))); - CHECK(v[1]->input_gate() == IntervalVector(2,Interval(0))); - CHECK(v[1]->output_gate() == IntervalVector(2,Interval(0.1))); - - CHECK(v[11]->t0_tf() == Interval(1,oo)); - CHECK(v[11]->input_gate() == v[10]->output_gate()); - CHECK(v[11]->codomain() == IntervalVector(2,Interval(1,oo))); - CHECK(v[11]->input_gate() == IntervalVector(2,Interval(1))); - CHECK(v[11]->output_gate() == IntervalVector(2,Interval(1,oo))); + CHECK(v[0]->t0_tf() == Interval(0,0.1)); + CHECK(v[0]->input_gate() == IntervalVector(2,Interval(0.,0.1))); // nothing before + CHECK(v[0]->codomain() == IntervalVector(2,Interval(0,0.1))); + CHECK(v[0]->output_gate() == IntervalVector(2,Interval(0.1))); + + CHECK(ApproxIntv(v[9]->t0_tf()) == Interval(0.9,1.)); + CHECK(v[9]->input_gate() == v[8]->output_gate()); + CHECK(ApproxIntvVector(v[9]->codomain()) == IntervalVector(2,Interval(0.9,1.))); + CHECK(ApproxIntvVector(v[9]->input_gate()) == IntervalVector(2,Interval(0.9))); + CHECK(ApproxIntvVector(v[9]->output_gate()) == IntervalVector(2,Interval(0.9,1.))); // nothing after } SECTION("Test again 1") @@ -347,7 +444,7 @@ TEST_CASE("Test codac2::tubes") { auto tdomain = create_tdomain(Interval(0,1), 0.1); - x = new Tube(tdomain); + x = new Tube(tdomain, Interval()); CHECK(x->tdomain() == tdomain); } @@ -366,20 +463,92 @@ TEST_CASE("Test codac2::tubes") SECTION("Reverse iterator") { auto tdomain = create_tdomain(Interval(0,1), 0.5); - Tube x(tdomain); + Tube x(tdomain, Interval()); auto it1 = x.begin(); - CHECK(it1->t0_tf() == Interval(-oo,0)); ++it1; CHECK(it1->t0_tf() == Interval(0,0.5)); ++it1; CHECK(it1->t0_tf() == Interval(0.5,1)); ++it1; - CHECK(it1->t0_tf() == Interval(1,oo)); ++it1; CHECK(it1 == x.end()); auto it2 = x.rbegin(); - CHECK(it2->t0_tf() == Interval(1,oo)); ++it2; CHECK(it2->t0_tf() == Interval(0.5,1)); ++it2; CHECK(it2->t0_tf() == Interval(0,0.5)); ++it2; - CHECK(it2->t0_tf() == Interval(-oo,0)); ++it2; CHECK(it2 == x.rend()); } + + SECTION("Conversion of tubes: codac1-codac2") + { + codac::Tube codac1(Interval(0,10),1.,Interval(-3,6)); + auto tdomain = create_tdomain(Interval(0,10),1.,true); // with gates + codac2::Tube codac2(tdomain, Interval(-3,6)); + CHECK(to_codac1(codac2) == codac1); + CHECK(to_codac2(codac1) == codac2); + CHECK(to_codac1(to_codac2(codac1)) == codac1); + CHECK(to_codac2(to_codac1(codac2)) == codac2); + + codac::TubeVector codac1_vector(Interval(0,10),1.,IntervalVector({{-1,2},{6,8}})); + codac2::Tube codac2_vector(tdomain, IntervalVector({{-1,2},{6,8}})); + codac1_vector.set({{1.2,1.3},{6.8,6.9}}, 0.58); + codac2_vector.set({{1.2,1.3},{6.8,6.9}}, 0.58); + codac1_vector.set({{1.6},{7.2}}, 10.); + codac2_vector.set({{1.6},{7.2}}, 10.); + CHECK(tdomain->t0_tf().ub() == 10.); + CHECK(codac1_vector(0.58) == IntervalVector({{1.2,1.3},{6.8,6.9}})); + CHECK(IntervalVector(codac2_vector(0.58)) == IntervalVector({{1.2,1.3},{6.8,6.9}})); + + CHECK(to_codac1(codac2_vector) == codac1_vector); + CHECK(to_codac2(codac1_vector) == codac2_vector); + CHECK(to_codac1(to_codac2(codac1_vector)) == codac1_vector); + CHECK(to_codac2(to_codac1(codac2_vector)) == codac2_vector); + + codac::TubeVector to_codac1_codac2_vector = to_codac1(codac2_vector); + codac2::Tube to_codac2_codac1_vector = to_codac2(codac1_vector); + // t=0.58 + CHECK(to_codac1_codac2_vector(ibex::previous_float(0.58)) == IntervalVector({{-1,2},{6,8}})); + CHECK(to_codac1_codac2_vector(0.58) == IntervalVector({{1.2,1.3},{6.8,6.9}})); + CHECK(to_codac1_codac2_vector(ibex::next_float(0.58)) == IntervalVector({{-1,2},{6,8}})); + CHECK(IntervalVector(to_codac2_codac1_vector(ibex::previous_float(0.58))) == IntervalVector({{-1,2},{6,8}})); + CHECK(IntervalVector(to_codac2_codac1_vector(0.58)) == IntervalVector({{1.2,1.3},{6.8,6.9}})); + CHECK(IntervalVector(to_codac2_codac1_vector(ibex::next_float(0.58))) == IntervalVector({{-1,2},{6,8}})); + // t=10 + CHECK(to_codac1_codac2_vector(ibex::previous_float(10.)) == IntervalVector({{-1,2},{6,8}})); + CHECK(to_codac1_codac2_vector(10.) == IntervalVector({{1.6},{7.2}})); + CHECK(to_codac1_codac2_vector(ibex::next_float(10.)) == IntervalVector(2)); + CHECK(IntervalVector(to_codac2_codac1_vector(ibex::previous_float(10.))) == IntervalVector({{-1,2},{6,8}})); + CHECK(IntervalVector(to_codac2_codac1_vector(10.)) == IntervalVector({{1.6},{7.2}})); + CHECK(IntervalVector(to_codac2_codac1_vector(ibex::next_float(10.))) == IntervalVector(2)); + } + + SECTION("Testing setting values") + { + auto tdomain = create_tdomain(Interval(0,10),1.,true); // with gates + Tube x(tdomain, Interval(-10,10)); + CHECK(x.codomain() == Interval(-10,10)); + + std::list::iterator it = tdomain->tslices().begin(); + CHECK(it->t0_tf() == Interval(0)); + CHECK(x(it).codomain() == Interval(-10,10)); + it++; + CHECK(it->t0_tf() == Interval(0,1)); + CHECK(x(it).codomain() == Interval(-10,10)); + it++; + CHECK(it->t0_tf() == Interval(1,1)); + CHECK(x(it).codomain() == Interval(-10,10)); + it = tdomain->tslices().begin(); + it++; + x(it).set(Interval(2,8)); + CHECK(x(it).codomain() == Interval(2,8)); + CHECK(x(std::prev(it)).codomain() == Interval(2,8)); + CHECK(x(std::next(it)).codomain() == Interval(2,8)); + CHECK(x(std::next(std::next(it))).codomain() == Interval(-10,10)); + CHECK(x.codomain() == Interval(-10,10)); + it++; it++; it++; it++; it++; + CHECK(it->t0_tf() == Interval(3)); + x(it).set(Interval(3,5)); + CHECK(x(it).codomain() == Interval(3,5)); + CHECK(x(std::prev(it)).codomain() == Interval(-10,10)); + CHECK(x(std::next(it)).codomain() == Interval(-10,10)); + CHECK(x(std::next(std::next(it))).codomain() == Interval(-10,10)); + CHECK(x.codomain() == Interval(-10,10)); + } } \ No newline at end of file diff --git a/tests/core/tests_polygons.cpp b/tests/core/tests_polygons.cpp index a0c95b513..8043dd22c 100644 --- a/tests/core/tests_polygons.cpp +++ b/tests/core/tests_polygons.cpp @@ -302,34 +302,34 @@ TEST_CASE("Polygons (intersections)") ConvexPolygon p(v_p); IntervalVector x(2), box_inter(2); - CHECK(p.encloses(ThickPoint(7.,7.)) == YES); - CHECK(p.encloses(ThickPoint(2.,7.)) == YES); - CHECK(p.encloses(ThickPoint(10.,3.)) == YES); - CHECK(p.encloses(ThickPoint(11.,9.)) == YES); - CHECK(p.encloses(ThickPoint(13.5,9.)) == YES); - CHECK(p.encloses(ThickPoint(5.8,12.2)) == YES); - - CHECK(p.encloses(ThickPoint(1.,4.)) == MAYBE); - CHECK(p.encloses(ThickPoint(3.,10.)) == MAYBE); - CHECK(p.encloses(ThickPoint(8.,14.)) == MAYBE); - CHECK(p.encloses(ThickPoint(2.,8.)) == MAYBE); - CHECK(p.encloses(ThickPoint(2.5,9.)) == MAYBE); - CHECK(p.encloses(ThickPoint(5.5,12.5)) == MAYBE); - CHECK(p.encloses(ThickPoint(1.,5.)) == MAYBE); - CHECK(p.encloses(ThickPoint(1.,1.)) == MAYBE); - - CHECK(p.encloses(ThickPoint(10.,2.)) == NO); - CHECK(p.encloses(ThickPoint(0.0,0.0)) == NO); - CHECK(p.encloses(ThickPoint(0.0,0.9)) == NO); - CHECK(p.encloses(ThickPoint(0.9,0.0)) == NO); - CHECK(p.encloses(ThickPoint(0.9,0.9)) == NO); - CHECK(p.encloses(ThickPoint(0.5,1.)) == NO); - CHECK(p.encloses(ThickPoint(5.2,12.8)) == NO); - CHECK(p.encloses(ThickPoint(1.,14.)) == NO); - CHECK(p.encloses(ThickPoint(1.,13.5)) == NO); - CHECK(p.encloses(ThickPoint(14.,1.)) == NO); - CHECK(p.encloses(ThickPoint(14.,14.)) == NO); - CHECK(p.encloses(ThickPoint(5.,14.)) == NO); + CHECK(p.contains(ThickPoint(7.,7.)) == YES); + CHECK(p.contains(ThickPoint(2.,7.)) == YES); + CHECK(p.contains(ThickPoint(10.,3.)) == YES); + CHECK(p.contains(ThickPoint(11.,9.)) == YES); + CHECK(p.contains(ThickPoint(13.5,9.)) == YES); + CHECK(p.contains(ThickPoint(5.8,12.2)) == YES); + + CHECK(p.contains(ThickPoint(1.,4.)) == MAYBE); + CHECK(p.contains(ThickPoint(3.,10.)) == MAYBE); + CHECK(p.contains(ThickPoint(8.,14.)) == MAYBE); + CHECK(p.contains(ThickPoint(2.,8.)) == MAYBE); + CHECK(p.contains(ThickPoint(2.5,9.)) == MAYBE); + CHECK(p.contains(ThickPoint(5.5,12.5)) == MAYBE); + CHECK(p.contains(ThickPoint(1.,5.)) == MAYBE); + CHECK(p.contains(ThickPoint(1.,1.)) == MAYBE); + + CHECK(p.contains(ThickPoint(10.,2.)) == NO); + CHECK(p.contains(ThickPoint(0.0,0.0)) == NO); + CHECK(p.contains(ThickPoint(0.0,0.9)) == NO); + CHECK(p.contains(ThickPoint(0.9,0.0)) == NO); + CHECK(p.contains(ThickPoint(0.9,0.9)) == NO); + CHECK(p.contains(ThickPoint(0.5,1.)) == NO); + CHECK(p.contains(ThickPoint(5.2,12.8)) == NO); + CHECK(p.contains(ThickPoint(1.,14.)) == NO); + CHECK(p.contains(ThickPoint(1.,13.5)) == NO); + CHECK(p.contains(ThickPoint(14.,1.)) == NO); + CHECK(p.contains(ThickPoint(14.,14.)) == NO); + CHECK(p.contains(ThickPoint(5.,14.)) == NO); x[0] = Interval(0.,2.); x[1] = Interval(0.,2.); box_inter = p.fast_intersection(x); @@ -434,7 +434,7 @@ TEST_CASE("Polygons from Slice") // not supported anymore ConvexPolygon p(v_p); // not supported anymore IntervalVector x(2), box_inter(2); // not supported anymore - // not supported anymore CHECK(p.encloses(ThickPoint(3.5,8.))); + // not supported anymore CHECK(p.contains(ThickPoint(3.5,8.))); // not supported anymore // not supported anymore x[0] = Interval(0.5,4.); x[1] = Interval(-1.,1.); // not supported anymore box_inter = p & x; From 4841452db3fc3ae90e69f8a864fffdcceca9c333 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 16 Jan 2023 11:35:38 +0100 Subject: [PATCH 065/256] [sivia] graphical updates --- src/core/sivia/codac_sivia.cpp | 84 ++++++++++++++++++---------------- 1 file changed, 45 insertions(+), 39 deletions(-) diff --git a/src/core/sivia/codac_sivia.cpp b/src/core/sivia/codac_sivia.cpp index 38a887078..b97591f84 100644 --- a/src/core/sivia/codac_sivia.cpp +++ b/src/core/sivia/codac_sivia.cpp @@ -40,6 +40,20 @@ namespace codac if(display_result) { + // Some values in the desired color map may not have been defined by the user + // We select default colors in this case + + SetColorMap cm = DEFAULT_SET_COLOR_MAP; + + if(display_result) + { + if(color_map.find(SetValue::OUT) != color_map.end()) + cm[SetValue::OUT] = color_map.at(SetValue::OUT); + + if(color_map.find(SetValue::UNKNOWN) != color_map.end()) + cm[SetValue::UNKNOWN] = color_map.at(SetValue::UNKNOWN); + } + if(!_vibes_initialized) { _vibes_initialized = true; @@ -51,7 +65,9 @@ namespace codac if(!fig_name.empty()) vibes::selectFigure(fig_name); - vibes::drawBox(x0, vibesParams("figure", fig_name)); + vibes::drawBox(x0); + vibes::newGroup("boxes_out", cm.at(SetValue::OUT)); + vibes::newGroup("boxes_unknown", cm.at(SetValue::UNKNOWN)); } map n_boxes; @@ -65,26 +81,13 @@ namespace codac deque stack = { x0 }; int k = 0; - // Some values in the desired color map may not have been defined by the user - // We select default colors in this case - - SetColorMap cm = DEFAULT_SET_COLOR_MAP; - - if(display_result) - { - if(color_map.find(SetValue::OUT) != color_map.end()) - cm[SetValue::OUT] = color_map.at(SetValue::OUT); - - if(color_map.find(SetValue::UNKNOWN) != color_map.end()) - cm[SetValue::UNKNOWN] = color_map.at(SetValue::UNKNOWN); - } - clock_t t_start = clock(); while(!stack.empty()) { k++; - IntervalVector x = stack.front(); + IntervalVector *xx = new IntervalVector(stack.front()); + IntervalVector &x = *xx; stack.pop_front(); IntervalVector x_before_ctc(x); @@ -107,7 +110,7 @@ namespace codac { if(display_result) { - vibes::drawBox(o.subvector(0,1), cm.at(SetValue::OUT)); + vibes::drawBox(o.subvector(0,1), vibesParams("group", "boxes_out")); n_boxes[SetValue::OUT] ++; } @@ -128,7 +131,7 @@ namespace codac { if(display_result) { - vibes::drawBox(x_remaining.subvector(0,1), cm.at(SetValue::UNKNOWN)); + vibes::drawBox(x_remaining.subvector(0,1), vibesParams("group", "boxes_unknown")); n_boxes[SetValue::UNKNOWN] ++; } @@ -164,6 +167,23 @@ namespace codac if(display_result) { + // Some values in the desired color map may not have been defined by the user + // We select default colors in this case + + SetColorMap cm = DEFAULT_SET_COLOR_MAP; + + if(display_result) + { + if(color_map.find(SetValue::OUT) != color_map.end()) + cm[SetValue::OUT] = color_map.at(SetValue::OUT); + + if(color_map.find(SetValue::UNKNOWN) != color_map.end()) + cm[SetValue::UNKNOWN] = color_map.at(SetValue::UNKNOWN); + + if(color_map.find(SetValue::IN) != color_map.end()) + cm[SetValue::IN] = color_map.at(SetValue::IN); + } + if(!_vibes_initialized) { _vibes_initialized = true; @@ -175,7 +195,10 @@ namespace codac if(!fig_name.empty()) vibes::selectFigure(fig_name); - vibes::drawBox(x0, vibesParams("figure", fig_name)); + vibes::drawBox(x0); + vibes::newGroup("boxes_out", cm.at(SetValue::OUT)); + vibes::newGroup("boxes_unknown", cm.at(SetValue::UNKNOWN)); + vibes::newGroup("boxes_in", cm.at(SetValue::IN)); } map n_boxes; @@ -189,23 +212,6 @@ namespace codac deque stack = { x0 }; int k = 0; - // Some values in the desired color map may not have been defined by the user - // We select default colors in this case - - SetColorMap cm = DEFAULT_SET_COLOR_MAP; - - if(display_result) - { - if(color_map.find(SetValue::IN) != color_map.end()) - cm[SetValue::IN] = color_map.at(SetValue::IN); - - if(color_map.find(SetValue::OUT) != color_map.end()) - cm[SetValue::OUT] = color_map.at(SetValue::OUT); - - if(color_map.find(SetValue::UNKNOWN) != color_map.end()) - cm[SetValue::UNKNOWN] = color_map.at(SetValue::UNKNOWN); - } - clock_t t_start = clock(); while(!stack.empty()) @@ -241,7 +247,7 @@ namespace codac { if(display_result) { - vibes::drawBox(i, cm.at(SetValue::IN)); + vibes::drawBox(i.subvector(0,1), vibesParams("group", "boxes_in")); n_boxes[SetValue::IN] ++; } @@ -253,7 +259,7 @@ namespace codac { if(display_result) { - vibes::drawBox(o, cm.at(SetValue::OUT)); + vibes::drawBox(o.subvector(0,1), vibesParams("group", "boxes_out")); n_boxes[SetValue::OUT] ++; } @@ -274,7 +280,7 @@ namespace codac { if(display_result) { - vibes::drawBox(x_remaining.subvector(0,1), cm.at(SetValue::UNKNOWN)); + vibes::drawBox(x_remaining.subvector(0,1), vibesParams("group", "boxes_unknown")); n_boxes[SetValue::UNKNOWN] ++; } From acacca6273b413e1f5feb867c5a96aa76fd9966a Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 16 Jan 2023 12:08:33 +0100 Subject: [PATCH 066/256] [tube] updates --- CMakeLists.txt | 1 - src/core/2/domains/tube/codac2_Slice.h | 42 +++++++++++++------ src/core/2/domains/tube/codac2_Tube.h | 52 +++++++++++++++++++---- tests/core/tests_codac2_tubes.cpp | 57 +++++++++++++++++++++++++- 4 files changed, 129 insertions(+), 23 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index bd2086804..024108b57 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,7 +38,6 @@ endif() endif() - ################################################################################ # Options for directories ################################################################################ diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index 4115faabc..ca136ca02 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -22,6 +22,7 @@ #include "codac2_AbstractSlice.h" #include "codac_BoolInterval.h" #include "codac_ConvexPolygon.h" +#include "codac_DynCtc.h" #define EPSILON_CONTAINS ibex::next_float(0.) * 1000. //!< epsilon limit of the contains() algorithm @@ -53,7 +54,13 @@ namespace codac2 } Slice(const Slice& s) : - AbstractSlice(s._tubevector, s._it_tslice), _codomain(s._codomain) + Slice(s, s._tubevector) + { + + } + + Slice(const Slice& s, const AbstractSlicedTube& tubevector) : + AbstractSlice(tubevector, s._it_tslice), _codomain(s._codomain) { } @@ -240,10 +247,9 @@ namespace codac2 } } - void set(const T& x) + void set(const T& x, bool propagate = true) { - if constexpr(!std::is_same::value) // 'if' to be removed with virtual set classes - { + if constexpr(!std::is_same::value) { // 'if' to be removed with virtual set classes assert((size_t)codomain().size() == size()); } @@ -251,8 +257,7 @@ namespace codac2 if(prev_slice_ptr()) { - if constexpr(!std::is_same::value) // 'if' to be removed with virtual set classes - { + if constexpr(!std::is_same::value) { // 'if' to be removed with virtual set classes assert((size_t)prev_slice_ptr()->codomain().size() == size()); } if(is_gate()) @@ -263,8 +268,7 @@ namespace codac2 if(next_slice_ptr()) { - if constexpr(!std::is_same::value) // 'if' to be removed with virtual set classes - { + if constexpr(!std::is_same::value) { // 'if' to be removed with virtual set classes assert((size_t)next_slice_ptr()->codomain().size() == size()); } if(is_gate()) @@ -272,12 +276,24 @@ namespace codac2 else if(next_slice_ptr()->is_gate()) next_slice_ptr()->_codomain &= _codomain; } + + if(propagate && is_empty()) + set_empty(true, codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD); } - void set_empty() + void set_empty(bool propagate = true, codac::TimePropag t_propa = codac::TimePropag::FORWARD | codac::TimePropag::BACKWARD) { _codomain.set_empty(); - if(!is_gate()) + + if(propagate) + { + if(t_propa & codac::TimePropag::BACKWARD && prev_slice_ptr()) + prev_slice_ptr()->set_empty(true, codac::TimePropag::BACKWARD); + if(t_propa & codac::TimePropag::FORWARD && next_slice_ptr()) + next_slice_ptr()->set_empty(true, codac::TimePropag::FORWARD); + } + + else if(!is_gate()) { if(prev_slice_ptr() && prev_slice_ptr()->is_gate()) prev_slice_ptr()->set_empty(); @@ -288,10 +304,10 @@ namespace codac2 void set_unbounded() { - if constexpr(std::is_same::value) // 'if' to be removed with virtual set classes - _codomain = T(size()); - else + if constexpr(std::is_same::value || std::is_same::value) // 'if' to be removed with virtual set classes _codomain = T(); + else + _codomain = T(size()); } void set_component(size_t i, const Interval& xi) diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index 15bed3ed3..a37d04423 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -50,11 +50,12 @@ namespace codac2 // need to specify T (dim at least) } explicit Tube(const std::shared_ptr& tdomain, const TFnc& f) : - Tube(tdomain, T()) + Tube(tdomain, (std::is_same::value ? T() : T(f.image_dim()))) { assert(f.nb_var() == 0 && "function's inputs must be limited to system variable"); - if constexpr(std::is_same::value) + if constexpr(std::is_same::value) { assert(f.image_dim() == 1); + } for(auto& s : *this) { @@ -63,6 +64,9 @@ namespace codac2 else s.set(f.eval_vector(s.t0_tf())); + + if(s.is_empty()) + std::cout << "IS EMPTY: " << s << std::endl; } } @@ -84,7 +88,7 @@ namespace codac2 for(std::list::iterator it = _tdomain->_tslices.begin(); it != _tdomain->_tslices.end(); ++it) { - std::shared_ptr> s_ptr = std::make_shared>(x(it)); + std::shared_ptr> s_ptr = std::make_shared>(x(it), *this); it->_slices.insert(std::pair>>(this, s_ptr)); } } @@ -94,6 +98,18 @@ namespace codac2 for(auto& s : _tdomain->_tslices) s._slices.erase(this); } + + Tube& operator=(const Tube& x) + { + if(_tdomain != x._tdomain) + throw std::exception(); // todo: better exception + + for(auto it = _tdomain->_tslices.begin(); + it != _tdomain->_tslices.end(); ++it) + (*this)(it).set(x(it).codomain()); + + return *this; + } virtual Interval t0_tf() const { @@ -210,6 +226,12 @@ namespace codac2 return codomain; } + // Remove this? (direct access with () ) + std::shared_ptr> slice_ptr(const std::list::iterator& it) + { + return std::static_pointer_cast>(it->slices().at(this)); + } + Slice& operator()(const std::list::iterator& it) { return const_cast&>( @@ -244,7 +266,12 @@ namespace codac2 T eval(double t) const { if(!tdomain()->t0_tf().contains(t)) - return T(); // todo: case of dimension to specify? + { + if constexpr(std::is_same::value || std::is_same::value) + return T(); + else + return T(size()); + } std::list::iterator it_t = _tdomain->iterator_tslice(t); assert(it_t != _tdomain->_tslices.end()); T x = std::static_pointer_cast>(it_t->_slices.at(this))->codomain(); @@ -256,15 +283,22 @@ namespace codac2 T eval(const Interval& t) const { if(!tdomain()->t0_tf().is_superset(t)) - return T(size()); // todo: case of dimension to specify? + { + if constexpr(std::is_same::value || std::is_same::value) + return T(); + else + return T(size()); + } + if(t.is_degenerated()) return eval(t.lb()); std::list::iterator it = _tdomain->iterator_tslice(t.lb()); T codomain = std::static_pointer_cast>(it->_slices.at(this))->codomain(); - while(it != _tdomain->iterator_tslice(t.ub())) + while(it != std::next(_tdomain->iterator_tslice(t.ub()))) { + if(it->t0_tf().lb() == t.ub()) break; codomain |= std::static_pointer_cast>(it->_slices.at(this))->codomain(); it++; } @@ -274,8 +308,9 @@ namespace codac2 void set(const T& codomain) { - if constexpr(!std::is_same::value) + if constexpr(!std::is_same::value) { assert((size_t)codomain.size() == size()); + } for(auto& s : *this) if(!s.is_gate()) s.set(codomain); @@ -286,8 +321,9 @@ namespace codac2 void set(const T& codomain, double t) { - if constexpr(!std::is_same::value) + if constexpr(!std::is_same::value) { assert((size_t)codomain.size() == size()); + } std::list::iterator it = _tdomain->sample(t,true); (*this)(it).set(codomain); } diff --git a/tests/core/tests_codac2_tubes.cpp b/tests/core/tests_codac2_tubes.cpp index 4399f585b..18bc6659d 100644 --- a/tests/core/tests_codac2_tubes.cpp +++ b/tests/core/tests_codac2_tubes.cpp @@ -166,6 +166,15 @@ TEST_CASE("Test codac2::tubes") CHECK(v[4]->t0_tf() == Interval(3,oo)); CHECK(v[4]->codomain() == IntervalVector({{-oo,oo}})); + CHECK(tdomain->iterator_tslice(-1.)->t0_tf() == Interval(-oo,0)); + CHECK(tdomain->iterator_tslice(0.)->t0_tf() == Interval(0,1)); + CHECK(tdomain->iterator_tslice(0.01)->t0_tf() == Interval(0,1)); + CHECK(tdomain->iterator_tslice(1)->t0_tf() == Interval(1,2)); + CHECK(tdomain->iterator_tslice(2)->t0_tf() == Interval(2,3)); + CHECK(tdomain->iterator_tslice(ibex::previous_float(3.))->t0_tf() == Interval(2,3)); + CHECK(tdomain->iterator_tslice(3)->t0_tf() == Interval(3,oo)); + CHECK(tdomain->iterator_tslice(ibex::next_float(3.))->t0_tf() == Interval(3,oo)); + CHECK(tdomain->nb_tslices() == 5); // with [-oo,0] and [3,oo] CHECK(static_cast(x(Interval(0,3))) == IntervalVector({{1,9}})); CHECK(static_cast(x(-1)) == IntervalVector(1)); @@ -386,7 +395,7 @@ TEST_CASE("Test codac2::tubes") SECTION("Test again 1") { - auto tdomain = create_tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) + auto tdomain = create_tdomain(Interval(1,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) Tube x(tdomain, codac::TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); Tube u(tdomain, IntervalVector(2)); @@ -551,4 +560,50 @@ TEST_CASE("Test codac2::tubes") CHECK(x(std::next(std::next(it))).codomain() == Interval(-10,10)); CHECK(x.codomain() == Interval(-10,10)); } + + SECTION("Testing validity of copy of tubes") + { + auto tdomain = create_tdomain(Interval(0,5), 0.01, true); + + Tube y(tdomain, Interval(2.)), x1(tdomain, Interval(-1,1)), x2(tdomain, Interval(1)); + Tube cx1(x1), cx2(x2); // copy + + for(std::list::iterator it = cx1.tdomain()->tslices().begin(); + it != cx1.tdomain()->tslices().end(); ++it) + { + Interval ix1 = cx1(it).codomain(), ix2 = cx2(it).codomain(); + ibex::bwd_add(y(it).codomain(), ix1, ix2); + cx1(it).set(ix1); + cx2(it).set(ix2); + } + + CHECK(cx1.codomain() == Interval(1)); + CHECK(cx2.codomain() == Interval(1)); + CHECK(y.codomain() == Interval(2)); + } + + SECTION("Tube not empty if built from a Function") + { + auto tdomain = create_tdomain(Interval(0,5), 0.01, true); + Tube aa1(tdomain, TFunction("5*sin(2*t)+t")); + CHECK(!aa1.is_empty()); + } + + SECTION("Testing tube evaluation") + { + auto tdomain = create_tdomain(Interval(0,5), 0.1, true); + Tube a(tdomain, TFunction("10*cos(t)+t")); + codac::Tube a_codac1 = codac2::to_codac1(a); + //vibes::beginDrawing(); + //codac::VIBesFigTube fig("Tube"); + //fig.set_properties(100, 100, 600, 300); + //fig.add_tube(&a_codac1, "a_codac1", "blue[#7EC8FF88]"); + //fig.draw_box({{1,2},a.eval(Interval(1,2))}); + //fig.draw_box({{1,2},a_codac1(Interval(1,2))}, "red"); + //fig.show(); + //vibes::endDrawing(); + + CHECK(ApproxIntv(tdomain->iterator_tslice(2.)->t0_tf()) == Interval(1.900000000000001, 2.000000000000002)); + CHECK(ApproxIntv(a.eval(Interval(1,2))) == Interval(-2.26146836547144, 7.216099682706644)); + } } \ No newline at end of file From da1d743a41ab0d0138fb0853e94b26d07284675f Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 30 Mar 2023 16:34:30 +0200 Subject: [PATCH 067/256] [doc] typo --- doc/doc/faq.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/doc/faq.rst b/doc/doc/faq.rst index 225eb5503..5196d529e 100644 --- a/doc/doc/faq.rst +++ b/doc/doc/faq.rst @@ -204,7 +204,7 @@ A contractor is an operator that *contracts* (reduces) a domain (a box, for inst When it is used together with other contractors, there may be interactions between the contractors: a contraction from one contractor may *activate* another one. It becomes necessary to call all the contractors several times in order to converge to the best contraction of the domains. This number of contracting iterations cannot be known in advance. It depends on the contractors at stake, their efficiency and their sequencing. -One can implement a loop of contractions in order to process the contractors as long as their is a contraction on one of the domains. The iteration stops when a fixed point has been reached: when nothing can be contracted anymore. +One can implement a loop of contractions in order to process the contractors as long as there is a contraction on one of the domains. The iteration stops when a fixed point has been reached: when nothing can be contracted anymore. Because a computer computes with floating point numbers, the fixed point will be reached in a finite number of steps. In practice, we may stop the iteration as soon as the contractions are not significant anymore. From c2e0edb9144b09844cb612dd35cb1346ac722437 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 25 Mar 2023 22:11:59 +0100 Subject: [PATCH 068/256] Documentation updates --- doc/doc/install/01-installation-full-linux.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index e030d73cd..3b23d128b 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -105,7 +105,7 @@ For instance: mkdir build -p ; cd build ; cmake .. ; make # cmake compilation ./codac_basics_01 # running example -Do not forget to launch the VIBes viewer before running your program. +Do not forget to launch the `VIBes viewer <01-installation.html#graphical-tools>`_ before running your program. (for experts) Additional installation options From 34e7e75d1f04c9b551bdf8d49a9d8f4e5a321dbf Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 25 Mar 2023 22:21:24 +0100 Subject: [PATCH 069/256] Updated workflows --- .github/workflows/macosmatrix.yml | 2 ++ .github/workflows/tests.yml | 2 +- .github/workflows/unixmatrix.yml | 16 +++++++--------- .github/workflows/vcmatrix.yml | 22 ++++++++++++---------- 4 files changed, 22 insertions(+), 20 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 0d176f562..7b2b1c309 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -19,11 +19,13 @@ jobs: fail-fast: false matrix: cfg: + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 arm64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 x86_64' } - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 x86_64' } - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 x86_64' } - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 x86_64' } diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index 76ea535d5..9d34233b7 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -12,7 +12,7 @@ jobs: fail-fast: false matrix: cfg: - - { os: ubuntu-18.04, gcc_v: 8, py_v_maj: 3, py_v_min: 6, desc: 'Ubuntu 18.04 GCC 8 Python 3.6 tests' } + - { os: ubuntu-20.04, gcc_v: 8, py_v_maj: 3, py_v_min: 6, desc: 'Ubuntu 20.04 GCC 8 Python 3.6 tests' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v3 diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 0db85075e..8a0d4fcf6 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -10,14 +10,13 @@ jobs: deploy: runs-on: ubuntu-latest steps: - - uses: actions/create-release@v1 + - uses: softprops/action-gh-release@v1 id: create_release env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} with: draft: true tag_name: autotagname-${{ github.sha }} - release_name: autotagname-${{ github.sha }} if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') unixmatrix: @@ -29,12 +28,12 @@ jobs: fail-fast: false matrix: cfg: - - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x86' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x86' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x86' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x86' } - { os: windows-2022, shell: cmd, arch: x64, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } - { os: windows-2022, shell: cmd, arch: x86, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } @@ -43,7 +42,6 @@ jobs: - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - { os: ubuntu-22.04, shell: bash, arch: amd64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - { os: ubuntu-20.04, shell: bash, arch: amd64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } - - { os: ubuntu-18.04, shell: bash, arch: amd64, runtime: bionic, cmake_flags: '-fPIC', desc: 'Ubuntu 18.04' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Big Sur arm64' } diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 255eba5ef..1d59f2e56 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -16,17 +16,19 @@ jobs: fail-fast: false matrix: cfg: - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x86 Python 3.10' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x86 Python 3.9' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x86 Python 3.8' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x64 Python 3.10' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x64 Python 3.9' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 16" -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x64 Python 3.8' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x86 Python 3.11' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x86 Python 3.10' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x86 Python 3.9' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x86 Python 3.8' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x64 Python 3.11' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x64 Python 3.10' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x64 Python 3.9' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x64 Python 3.8' } # Should be Visual Studio 2015 for Python 3.5-3.7, but need Visual Studio 2017 for C++17 compatibility...? - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x86 Python 3.7' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x86 Python 3.6' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x64 Python 3.7' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x64 Python 3.6' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x86 Python 3.7' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x86 Python 3.6' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x64 Python 3.7' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x64 Python 3.6' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v3 From a478a23c03e47be93349cb8d4d674e5fbba0f928 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 17 Jan 2023 17:25:57 +0100 Subject: [PATCH 070/256] Fixed warnings "'delete' applied to a pointer that was allocated with 'new[]'" on macOS --- src/core/contractors/dyn/codac_CtcStatic.cpp | 14 ++++++------ .../contractors/static/codac_CtcFunction.cpp | 22 +++++++++---------- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/src/core/contractors/dyn/codac_CtcStatic.cpp b/src/core/contractors/dyn/codac_CtcStatic.cpp index bd7693903..b899b45c0 100644 --- a/src/core/contractors/dyn/codac_CtcStatic.cpp +++ b/src/core/contractors/dyn/codac_CtcStatic.cpp @@ -54,7 +54,7 @@ namespace codac v_x_slices[i] = x[i].first_slice(); contract(v_x_slices, x.size()); - delete v_x_slices; + delete[] v_x_slices; } void CtcStatic::contract(Tube& x1) @@ -66,7 +66,7 @@ namespace codac v_x_slices[0] = x1.first_slice(); contract(v_x_slices, n); - delete v_x_slices; + delete[] v_x_slices; } void CtcStatic::contract(Tube& x1, Tube& x2) @@ -79,7 +79,7 @@ namespace codac v_x_slices[1] = x2.first_slice(); contract(v_x_slices, n); - delete v_x_slices; + delete[] v_x_slices; } void CtcStatic::contract(Tube& x1, Tube& x2, Tube& x3) @@ -93,7 +93,7 @@ namespace codac v_x_slices[2] = x3.first_slice(); contract(v_x_slices, n); - delete v_x_slices; + delete[] v_x_slices; } void CtcStatic::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4) @@ -108,7 +108,7 @@ namespace codac v_x_slices[3] = x4.first_slice(); contract(v_x_slices, n); - delete v_x_slices; + delete[] v_x_slices; } void CtcStatic::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5) @@ -124,7 +124,7 @@ namespace codac v_x_slices[4] = x5.first_slice(); contract(v_x_slices, n); - delete v_x_slices; + delete[] v_x_slices; } void CtcStatic::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5, Tube& x6) @@ -141,7 +141,7 @@ namespace codac v_x_slices[5] = x6.first_slice(); contract(v_x_slices, n); - delete v_x_slices; + delete[] v_x_slices; } void CtcStatic::contract(Slice **v_x_slices, int n) diff --git a/src/core/contractors/static/codac_CtcFunction.cpp b/src/core/contractors/static/codac_CtcFunction.cpp index f1adde21f..93c880dc4 100644 --- a/src/core/contractors/static/codac_CtcFunction.cpp +++ b/src/core/contractors/static/codac_CtcFunction.cpp @@ -54,7 +54,7 @@ namespace codac v_x_slices[i] = x[i].first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1) @@ -65,7 +65,7 @@ namespace codac v_x_slices[0] = x1.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2) @@ -77,7 +77,7 @@ namespace codac v_x_slices[1] = x2.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3) @@ -90,7 +90,7 @@ namespace codac v_x_slices[2] = x3.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4) @@ -104,7 +104,7 @@ namespace codac v_x_slices[3] = x4.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5) @@ -119,7 +119,7 @@ namespace codac v_x_slices[4] = x5.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5, Tube& x6) @@ -135,7 +135,7 @@ namespace codac v_x_slices[5] = x6.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5, Tube& x6, Tube& x7) @@ -152,7 +152,7 @@ namespace codac v_x_slices[6] = x7.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5, Tube& x6, Tube& x7, Tube& x8) @@ -170,7 +170,7 @@ namespace codac v_x_slices[7] = x8.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5, Tube& x6, Tube& x7, Tube& x8, Tube& x9) @@ -189,7 +189,7 @@ namespace codac v_x_slices[8] = x9.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Tube& x1, Tube& x2, Tube& x3, Tube& x4, Tube& x5, Tube& x6, Tube& x7, Tube& x8, Tube& x9, Tube& x10) @@ -209,7 +209,7 @@ namespace codac v_x_slices[9] = x10.first_slice(); contract(v_x_slices); - delete v_x_slices; + delete[] v_x_slices; } void CtcFunction::contract(Slice **v_x_slices) From 2d706ff29883e5f6b066547824d6ffdfeee944f1 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 14 Apr 2023 10:23:01 +0200 Subject: [PATCH 071/256] [sep] corrected bug in SepProj --- src/core/separators/codac_SepProj.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/core/separators/codac_SepProj.cpp b/src/core/separators/codac_SepProj.cpp index cf3f2df49..30eecd8f8 100644 --- a/src/core/separators/codac_SepProj.cpp +++ b/src/core/separators/codac_SepProj.cpp @@ -98,11 +98,11 @@ bool SepProj::process(IntervalVector& x_in, IntervalVector& x_out, IntervalVecto x_out.set_empty(); if( use_point == false) impact.setCoutFlags(x_out, x); - y.set_empty(); + //y.set_empty(); return true; } else { x_out = XoutFull.subvector(0, x_out.size()-1); - y = XoutFull.subvector(x_out.size(), XoutFull.size()-1); + //y = XoutFull.subvector(x_out.size(), XoutFull.size()-1); if( use_point == false) impact.setCoutFlags(x_out, x); } From 5158ea302fd6eee3f6efa599cd5e9490bfce46d6 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 9 May 2023 15:24:25 +0200 Subject: [PATCH 072/256] [py] moving Ctc/Sep-Transform to core --- python/src/core/separators/codac_py_Sep.cpp | 10 ++++++++-- .../separators/codac_py_Sep_unsupported.cpp | 7 ------- src/core/CMakeLists.txt | 4 ++++ .../separators/codac_CtcTransform.cpp | 0 .../separators/codac_CtcTransform.h | 0 .../separators/codac_SepTransform.cpp | 0 .../separators/codac_SepTransform.h | 0 src/unsupported/CMakeLists.txt | 4 ---- 8 files changed, 12 insertions(+), 13 deletions(-) rename src/{unsupported => core}/separators/codac_CtcTransform.cpp (100%) rename src/{unsupported => core}/separators/codac_CtcTransform.h (100%) rename src/{unsupported => core}/separators/codac_SepTransform.cpp (100%) rename src/{unsupported => core}/separators/codac_SepTransform.h (100%) diff --git a/python/src/core/separators/codac_py_Sep.cpp b/python/src/core/separators/codac_py_Sep.cpp index bd128e539..806a6374b 100644 --- a/python/src/core/separators/codac_py_Sep.cpp +++ b/python/src/core/separators/codac_py_Sep.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include @@ -124,10 +125,10 @@ py::class_ export_Sep(py::module& m) "f"_a.noconvert()) .def(py::init(), SEPFUNCTION_SEPFUNCTION_FUNCTION_INTERVAL, - "f"_a.noconvert(), "y"_a.noconvert()) + "f"_a.noconvert(), "y"_a) .def(py::init(), SEPFUNCTION_SEPFUNCTION_FUNCTION_INTERVALVECTOR, - "f"_a.noconvert(), "y"_a.noconvert()) + "f"_a.noconvert(), "y"_a) .def("separate", &SepFunction::separate, SEPFUNCTION_VOID_SEPARATE_INTERVALVECTOR_INTERVALVECTOR, "x_in"_a.noconvert(), "x_out"_a.noconvert()) @@ -165,6 +166,11 @@ py::class_ export_Sep(py::module& m) .def_property("q", py::cpp_function(&SepQInterProjF::get_q), py::cpp_function(&SepQInterProjF::set_q)) ; + // Export SepTransform + py::class_(m, "SepTransform", sep, "todo") + .def(py::init(), py::keep_alive<1,2>(), py::keep_alive<1,3>(), py::keep_alive<1,4>()) + .def("separate", &SepTransform::separate, py::call_guard()) + ; // Export SepProj py::class_(m, "SepProj", sep, __DOC_SEP_SEPPROJ) diff --git a/python/src/unsupported/separators/codac_py_Sep_unsupported.cpp b/python/src/unsupported/separators/codac_py_Sep_unsupported.cpp index f53429258..ef1aa2501 100644 --- a/python/src/unsupported/separators/codac_py_Sep_unsupported.cpp +++ b/python/src/unsupported/separators/codac_py_Sep_unsupported.cpp @@ -26,7 +26,6 @@ using namespace pybind11::literals; #include "ibex_Sep.h" #include "codac_QInterProjF.h" -#include "codac_SepTransform.h" #include "codac_SepFixPoint.h" #include "codac_SepProj.h" #include "codac_SepCtcPairProj.h" @@ -93,12 +92,6 @@ void export_unsupported_sep(py::module& m, py::class_& sep){ // .def("separate", &SepCtcPairProj::separate, py::call_guard()) // ; - // Export SepTransform - py::class_(m, "SepTransform", sep) - .def(py::init(), py::keep_alive<1,2>(), py::keep_alive<1,3>(), py::keep_alive<1,4>()) - .def("separate", &SepTransform::separate, py::call_guard()) - ; - // // Export SepFixPoint // py::class_(m, "SepFixPoint", sep) // .def(py::init(), py::keep_alive<1,2>(), "sep"_a, "ratio"_a=0.01) diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 8ddaba0b0..065f3009c 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -165,6 +165,10 @@ ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepFixPoint.cpp ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepProj.h ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepProj.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_CtcTransform.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_CtcTransform.h + ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepTransform.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepTransform.h ${CMAKE_CURRENT_SOURCE_DIR}/tools/codac_Tools.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tools/codac_Tools.h ${CMAKE_CURRENT_SOURCE_DIR}/tools/codac_Eigen.cpp diff --git a/src/unsupported/separators/codac_CtcTransform.cpp b/src/core/separators/codac_CtcTransform.cpp similarity index 100% rename from src/unsupported/separators/codac_CtcTransform.cpp rename to src/core/separators/codac_CtcTransform.cpp diff --git a/src/unsupported/separators/codac_CtcTransform.h b/src/core/separators/codac_CtcTransform.h similarity index 100% rename from src/unsupported/separators/codac_CtcTransform.h rename to src/core/separators/codac_CtcTransform.h diff --git a/src/unsupported/separators/codac_SepTransform.cpp b/src/core/separators/codac_SepTransform.cpp similarity index 100% rename from src/unsupported/separators/codac_SepTransform.cpp rename to src/core/separators/codac_SepTransform.cpp diff --git a/src/unsupported/separators/codac_SepTransform.h b/src/core/separators/codac_SepTransform.h similarity index 100% rename from src/unsupported/separators/codac_SepTransform.h rename to src/core/separators/codac_SepTransform.h diff --git a/src/unsupported/CMakeLists.txt b/src/unsupported/CMakeLists.txt index 758fa4604..aab7fda0f 100644 --- a/src/unsupported/CMakeLists.txt +++ b/src/unsupported/CMakeLists.txt @@ -26,8 +26,6 @@ # Separators ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_CtcHull.cpp ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_CtcHull.h - ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_CtcTransform.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_CtcTransform.h # ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_QInterProjF.cpp # ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_QInterProjF.h # ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepCtcPairProj.cpp @@ -36,8 +34,6 @@ # ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepFixPoint.h # ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepProj.cpp # ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepProj.h - ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepTransform.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepTransform.h ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepUnionBbox.cpp ${CMAKE_CURRENT_SOURCE_DIR}/separators/codac_SepUnionBbox.h From 80ca1e12ba9a6c436bd93189ff57de2b85efc5f3 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 9 May 2023 15:25:28 +0200 Subject: [PATCH 073/256] [py] implicit conversion from list to Interval[Vector] objects --- doc/doc/manual/11-separators/index.rst | 12 +++--------- .../src/core/domains/interval/codac_py_Interval.cpp | 5 ++++- .../domains/interval/codac_py_IntervalVector.cpp | 3 +++ python/src/core/sivia/codac_py_sivia.cpp | 4 ++-- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/doc/doc/manual/11-separators/index.rst b/doc/doc/manual/11-separators/index.rst index 1a8c0b547..58e8a1f18 100644 --- a/doc/doc/manual/11-separators/index.rst +++ b/doc/doc/manual/11-separators/index.rst @@ -26,16 +26,13 @@ Separators can be combined and involved in an algorithm for set-inversion such a f = Function('x', 'y', 'x*cos(x-y)+y') # Build the separator associated to the constraint f(x,y) < 0 - sep = SepFunction(f, Interval(-oo,0)) - - # Setup the initial box - box = IntervalVector(2, [-10, 10]) + sep = SepFunction(f, [-oo,0]) # Graphics vibes.beginDrawing() vibes.newFigure("Set inversion") vibes.setFigureProperties({"x":100, "y":100, "width":500, "height":500}) - SIVIA(box, sep, 0.21, fig_name="Set inversion") + SIVIA([[-10, 10],[-10, 10]], sep, 0.21, fig_name="Set inversion") vibes.endDrawing() .. code-tab:: c++ @@ -52,14 +49,11 @@ Separators can be combined and involved in an algorithm for set-inversion such a // Build the separator associated to the constraint f(x,y) < 0 SepFunction sep(f, Interval(-oo,0)); - // Setup the initial box - IntervalVector box(2, {-10, 10}); - // Graphics vibes::beginDrawing(); vibes::newFigure("Set inversion"); vibes::setFigureProperties(vibesParams("x",100, "y",100, "width",500, "height",500)); - SIVIA(box, sep, 0.21, "Set inversion"); + SIVIA({{-10,10},{-10,10}}, sep, 0.21, "Set inversion"); vibes::endDrawing(); return EXIT_SUCCESS; diff --git a/python/src/core/domains/interval/codac_py_Interval.cpp b/python/src/core/domains/interval/codac_py_Interval.cpp index c82b00f54..3903f4970 100644 --- a/python/src/core/domains/interval/codac_py_Interval.cpp +++ b/python/src/core/domains/interval/codac_py_Interval.cpp @@ -87,7 +87,7 @@ void export_Interval(py::module& m) .def(py::init(), "build a copy of an interval", "x"_a.noconvert()) .def(py::init(), "build the interval [lb,ub]", "lb"_a, "ub"_a) .def(py::init(), "build singleton [x,x]", "x"_a) - //.def(py::init(&build_from_list)) + .def(py::init(&build_from_list)) //.def(py::init([](array& bounds) {return new Interval(bounds[0], bounds[1]);})) //.def(py::init([](array& bounds) {return new Interval(bounds[0], bounds[1]);})) //.def(py::init([](pair& bounds) {return new Interval(bounds.first, bounds.second);})) @@ -293,4 +293,7 @@ void export_Interval(py::module& m) // sbool (*bwd_pow_2)(const Interval&, int , Interval&) = &ibex::bwd_pow; m.attr("oo") = POS_INFINITY; + + // Automatic cast from lists to IntervalVectors (used for instance in SIVIA calls) + py::implicitly_convertible(); }; \ No newline at end of file diff --git a/python/src/core/domains/interval/codac_py_IntervalVector.cpp b/python/src/core/domains/interval/codac_py_IntervalVector.cpp index 01b6ca28e..15b0eacc1 100644 --- a/python/src/core/domains/interval/codac_py_IntervalVector.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalVector.cpp @@ -336,4 +336,7 @@ void export_IntervalVector(py::module& m) m.def("bwd_mul", (bool (*) (const Interval&, IntervalVector&, IntervalVector&)) &ibex::bwd_mul); m.def("max", (IntervalVector(*) (const IntervalVector&, const IntervalVector&)) &max_IntevalVector); + + // Automatic cast from lists to IntervalVectors (used for instance in SIVIA calls) + py::implicitly_convertible(); }; \ No newline at end of file diff --git a/python/src/core/sivia/codac_py_sivia.cpp b/python/src/core/sivia/codac_py_sivia.cpp index b51ffb560..9d7b34b60 100644 --- a/python/src/core/sivia/codac_py_sivia.cpp +++ b/python/src/core/sivia/codac_py_sivia.cpp @@ -34,7 +34,7 @@ void export_sivia(py::module& m, py::class_& ctc, py::class_& ctc, py::class_ Date: Tue, 9 May 2023 15:26:33 +0200 Subject: [PATCH 074/256] [sep] cancel: corrected bug in SepProj --- src/core/separators/codac_SepProj.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/core/separators/codac_SepProj.cpp b/src/core/separators/codac_SepProj.cpp index 30eecd8f8..cf3f2df49 100644 --- a/src/core/separators/codac_SepProj.cpp +++ b/src/core/separators/codac_SepProj.cpp @@ -98,11 +98,11 @@ bool SepProj::process(IntervalVector& x_in, IntervalVector& x_out, IntervalVecto x_out.set_empty(); if( use_point == false) impact.setCoutFlags(x_out, x); - //y.set_empty(); + y.set_empty(); return true; } else { x_out = XoutFull.subvector(0, x_out.size()-1); - //y = XoutFull.subvector(x_out.size(), XoutFull.size()-1); + y = XoutFull.subvector(x_out.size(), XoutFull.size()-1); if( use_point == false) impact.setCoutFlags(x_out, x); } From cb38a2d879994abd1453c1be0769b298358d3bbc Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 9 May 2023 16:32:21 +0200 Subject: [PATCH 075/256] [sivia] creating figure if a name is specified --- src/core/sivia/codac_sivia.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/core/sivia/codac_sivia.cpp b/src/core/sivia/codac_sivia.cpp index 587ae74c5..4f03dd182 100644 --- a/src/core/sivia/codac_sivia.cpp +++ b/src/core/sivia/codac_sivia.cpp @@ -46,6 +46,9 @@ namespace codac // will not be ended in case the init has been done outside this SIVIA function } + if(!fig_name.empty()) + vibes::newFigure(fig_name); + vibes::drawBox(x0, vibesParams("figure", fig_name)); vibes::axisAuto(); } @@ -154,7 +157,7 @@ namespace codac } if(!fig_name.empty()) - vibes::selectFigure(fig_name); + vibes::newFigure(fig_name); vibes::drawBox(x0); vibes::axisAuto(); From fe445566f2f86e8af9cebbefaecb525093e0bc97 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 9 May 2023 17:04:17 +0200 Subject: [PATCH 076/256] [capd] cancelling tests --- .github/workflows/tests.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index 9d34233b7..55033ff9d 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -56,7 +56,7 @@ jobs: bash scripts/dependencies/install_ibex.sh # CAPD - bash scripts/dependencies/install_capd.sh + # cancelled on 2023/05/09: bash scripts/dependencies/install_capd.sh # Environment variables export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$HOME/codac/build_install @@ -76,7 +76,7 @@ jobs: # Without synthesis tree # Building lib + tests - cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=ON -DTEST_EXAMPLES=ON .. + cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DTEST_EXAMPLES=ON .. ##-DPYTHON_EXECUTABLE=/usr/bin/python3.5 .. make #make doc # todo @@ -113,7 +113,7 @@ jobs: # With synthesis tree for all created tubes # Building lib + tests - cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=ON -DWITH_CAPD=ON -DTEST_EXAMPLES=ON .. + cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=ON -DWITH_CAPD=OFF -DTEST_EXAMPLES=ON .. ##-DPYTHON_EXECUTABLE=/usr/bin/python3.5 .. make #make doc From a4f5d84f064b097988b25cc0494b8b2f09186629 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 10 May 2023 10:21:23 +0200 Subject: [PATCH 077/256] [doc] updated python versions --- doc/doc/install/01-installation-python.rst | 2 ++ doc/doc/install/01-installation.rst | 2 ++ 2 files changed, 4 insertions(+) diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 355fb0565..c36bb316e 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -47,6 +47,8 @@ The :gbg:`✓` configurations are officially supported at the moment: |Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + |Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.11 | |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ If a configuration in this table does not work, please `contact us `_. diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index 8bd7db009..bf68fe8ee 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -51,6 +51,8 @@ The :gbg:`✓` configurations are officially supported at the moment: |Python 3.9 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + |Python 3.10 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.11 | ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ | **Click on the links in the table to access the related installation procedures.** From 9e2baabcdb52e45f1c4582ed86f1c1bf30034274 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 May 2023 21:36:56 +0200 Subject: [PATCH 078/256] Fixed warnings "'delete' applied to a pointer that was allocated with 'new[]'" on macOS --- python/src/core/domains/interval/codac_py_IntervalVector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/src/core/domains/interval/codac_py_IntervalVector.cpp b/python/src/core/domains/interval/codac_py_IntervalVector.cpp index 15b0eacc1..d9336906d 100644 --- a/python/src/core/domains/interval/codac_py_IntervalVector.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalVector.cpp @@ -39,7 +39,7 @@ IntervalVector* create_from_pylist(const vector& lst) { if(lst[i].size() != 2) { - delete tmp; + delete[] tmp; throw invalid_argument("sub list must contain only two elements"); } From 7984c078c0543b9dbc92ff2ab76d4c440039b4d5 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 10 May 2023 00:05:57 +0200 Subject: [PATCH 079/256] Updated workflows --- .github/workflows/dockercentos.yml | 2 +- .github/workflows/dockerpi.yml | 2 +- .github/workflows/macosmatrix.yml | 26 ++++++++-------- .github/workflows/tests.yml | 2 +- .github/workflows/unixmatrix.yml | 49 ++++++++++++++++-------------- .github/workflows/vcmatrix.yml | 4 +-- scripts/docker/build_pybinding.sh | 5 +++ 7 files changed, 50 insertions(+), 40 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index 0833cd8d8..bd5933c43 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -17,7 +17,7 @@ jobs: clean: false - run: | chmod a+x scripts/docker/build_pybinding.sh - docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-ibex /io/scripts/docker/build_pybinding.sh + docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-for-codac /io/scripts/docker/build_pybinding.sh ls wheelhouse - uses: xresloader/upload-to-github-release@v1 env: diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml index bc536896a..df2e8ea3e 100644 --- a/.github/workflows/dockerpi.yml +++ b/.github/workflows/dockerpi.yml @@ -16,7 +16,7 @@ jobs: fetch-depth: 0 clean: false - run: docker run --rm --privileged multiarch/qemu-user-static:register --reset - - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-ibex /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev zip ; mkdir build ; cd build && cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" + - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 7b2b1c309..1b076647c 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -19,18 +19,18 @@ jobs: fail-fast: false matrix: cfg: - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'filib', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 arm64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', ilib: 'gaol', trgt: '10.14', cpcfg: '-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 arm64' } + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 arm64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 x86_64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: '-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v3 @@ -47,6 +47,8 @@ jobs: python -c "import sys; print(sys.version)" echo ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} if: matrix.cfg.py_v_maj!='' + - run: echo "VERBOSE=1" >> $GITHUB_ENV + shell: bash - run: brew install eigen if: runner.os=='macOS' - run: brew install doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index 55033ff9d..b713797c7 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -20,7 +20,7 @@ jobs: submodules: true fetch-depth: 0 clean: false - - uses: actions/setup-python@v2 + - uses: actions/setup-python@v4 with: python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} - run: | diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 8a0d4fcf6..9ebb0bf3b 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -29,17 +29,17 @@ jobs: matrix: cfg: - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x86' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2022 x86' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x86' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2019 x86' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', choco_flags: '--x86', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x86' } - - { os: windows-2022, shell: cmd, arch: x64, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: mingw11, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw8, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MSYS Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2017 x86' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: mingw11, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } + - { os: windows-2022, shell: cmd, arch: x86, runtime: mingw11, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } + - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } + - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } + - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } + - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - { os: ubuntu-22.04, shell: bash, arch: amd64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - { os: ubuntu-20.04, shell: bash, arch: amd64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } @@ -70,28 +70,31 @@ jobs: - run: echo "PACKAGE_VERSION=$SOFTWARE_VERSION-${DEBIAN_PACKAGE_REV}${{ matrix.cfg.runtime }}$PACKAGE_REV" >> $GITHUB_ENV shell: bash if: runner.os=='Linux' - - run: | - choco install -y -r --no-progress mingw --version=7.3.0 --force ${{ matrix.cfg.choco_flags }} - echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% + - run: choco install -y -r --no-progress mingw --version=7.3.0 --force ${{ matrix.cfg.choco_flags }} if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw7') - - run: | - choco install -y -r --no-progress mingw --version=8.1.0 --force ${{ matrix.cfg.choco_flags }} - echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% + - run: choco install -y -r --no-progress mingw --version=8.1.0 --force ${{ matrix.cfg.choco_flags }} if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw8')&&(matrix.cfg.arch=='x86') - - run: | - choco install -y -r --no-progress mingw --version=11.2.0 --force ${{ matrix.cfg.choco_flags }} - echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% + - run: choco install -y -r --no-progress mingw --version=11.2.0.07112021 --force ${{ matrix.cfg.choco_flags }} if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw11')&&(matrix.cfg.arch=='x86') + - run: echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% + if: startsWith(matrix.cfg.runtime, 'mingw')&&(matrix.cfg.arch=='x86') + - run: echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw64\bin>>%GITHUB_PATH% + if: startsWith(matrix.cfg.runtime, 'mingw')&&(matrix.cfg.arch=='x64') - run: | - choco install -y -r --no-progress checksum wget winflexbison make patch zip ${{ matrix.cfg.choco_flags }} + choco install -y -r --no-progress checksum wget zip choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex.2.8.9.20220812.nupkg --no-check-certificate -nv choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20220812 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" del /f /q ibex.2.8.9.20220812.nupkg if: runner.os=='Windows' - run: | - sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' - sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true + # Replace these 2 lines by the next ones to test a specific binary package of IBEX. + #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' + #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true + sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/libibex-dev-2.8.9.20220812-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20220812-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + rm -Rf libibex-dev-2.8.9.20220812-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb shell: bash if: runner.os=='Linux' - run: | @@ -99,7 +102,7 @@ jobs: wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip - cp -Rf ibex/* /usr/local/ + sudo cp -Rf ibex/* /usr/local/ if: runner.os=='macOS' # - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. # shell: bash @@ -143,7 +146,7 @@ jobs: cd ../../.. checksum -f=codac.$PACKAGE_VERSION.nupkg -t=sha256 choco install -y -r --no-progress --ignore-dependencies -s . codac --params "'/url:./codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - if [ ${{ matrix.cfg.runtime }} != mingw8 ] || [ ${{ matrix.cfg.arch }} != x64 ]; then rm -Rf codac.$PACKAGE_VERSION.nupkg ; fi # To avoid upload conflicts of the same file... + if [ ${{ matrix.cfg.runtime }} != mingw11 ] || [ ${{ matrix.cfg.arch }} != x64 ]; then rm -Rf codac.$PACKAGE_VERSION.nupkg ; fi # To avoid upload conflicts of the same file... checksum -f=codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip -t=sha256 shell: bash if: runner.os=='Windows' diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 1d59f2e56..701af0d83 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -45,13 +45,13 @@ jobs: python -c "import sys; print(sys.version)" echo ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} if: matrix.cfg.py_v_maj!='' + - run: echo "VERBOSE=1" >> $GITHUB_ENV + shell: bash - run: | (New-Object System.Net.WebClient).DownloadFile("http://www.ensta-bretagne.fr/lebars/Share/windows_extra_tools.zip", "C:\Windows\Temp\windows_extra_tools.zip") 7z x C:\Windows\Temp\windows_extra_tools.zip -o"C:\Windows" -y shell: pwsh if: runner.os=='Windows' - - run: choco install -y -r --no-progress winflexbison patch - if: startsWith(matrix.cfg.runtime, 'vc') - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} if: runner.os=='Windows' - run: choco install -y -r --no-progress doxygen.install graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools & git clone --depth 1 -b v3.1.1 https://github.com/sphinx-doc/sphinx & cd sphinx & pip install . & pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 67f806577..6f4f844a1 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,6 +2,11 @@ set -e -x +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv +unzip -q ibex_x86_64_manylinux2010.zip +rm -Rf ibex_x86_64_manylinux2010.zip +sudo cp -Rf ibex/* /usr/local/ + git config --global --add safe.directory /io cd /io for PYBIN in /opt/python/cp3*/bin; do From b25ed276eee2fedf2bcdc2283db95ad07776eb8d Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 10 May 2023 00:05:40 +0200 Subject: [PATCH 080/256] Updated .nupkg --- packages/choco/codac/codac.nuspec | 12 ++- .../codac/tools/chocolateybeforemodify.ps1 | 17 +++- .../choco/codac/tools/chocolateyinstall.ps1 | 91 ++++++++++++++++--- .../choco/codac/tools/chocolateyuninstall.ps1 | 17 +++- packages/choco/codac/tools/sharedVars.ps1 | 1 + 5 files changed, 118 insertions(+), 20 deletions(-) diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index 06e556e79..e2ff48c91 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -27,17 +27,19 @@ Codac is a library providing tools for constraint programming over reals, trajec ## Package parameters The following package parameters can be set: -- `/url:URL` - Will install the specified binary package, see versions from https://github.com/codac-team/codac/releases (the Windows `PATH` might need to be updated manually, etc.). By default, only the MinGW libraries compatible with the corresponding MinGW Chocolatey package dependency are installed. Use the standard parameter `choco install --ignore-dependencies ...` to avoid installing MinGW Chocolatey package dependency if needed. -- `/NoPath` - Will not try to update Windows PATH. +- `/url:URL` - Will install the specified binary package (e.g. built for Visual Studio), see versions from https://github.com/codac-team/codac/releases (the Windows `PATH` might need to be updated manually with e.g. `C:\ProgramData\chocolatey\lib\ibex\bin`, etc.). By default, only the MinGW libraries compatible with the corresponding MinGW Chocolatey package dependency are installed. Use the standard parameter `choco install --ignore-dependencies ...` to avoid installing the default MinGW and IBEX Chocolatey package dependencies if needed (you might want to install manually [IBEX](https://community.chocolatey.org/packages/ibex) package with the corresponding parameters, as well as the corresponding compiler and the Eigen package). +- `/urlX:URL` - Same as above, with X in [1,99], except this will not disable the installation of the MinGW libraries compatible with the corresponding MinGW Chocolatey package dependency. +- `/InstallDir:INSTALLDIR` - Installation directory. +- `/NoPath` - Will not try to update Windows `PATH`. - `/NoRegistry` - Will not try to update Windows registry. -To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/NoPath /NoRegistry'"`), e.g. +To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/NoPath /NoRegistry'"`), and to install another binary package, try e.g. ``` -choco install -y -f --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/codac-2.8.9.20220812/codac_x86_vc15.zip'" +choco install -y --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/codac-1.2.0/codac_x86_vc15.zip'" ``` https://github.com/codac-team/codac/releases - + diff --git a/packages/choco/codac/tools/chocolateybeforemodify.ps1 b/packages/choco/codac/tools/chocolateybeforemodify.ps1 index 37cecf4ea..2ed694ebb 100644 --- a/packages/choco/codac/tools/chocolateybeforemodify.ps1 +++ b/packages/choco/codac/tools/chocolateybeforemodify.ps1 @@ -3,11 +3,24 @@ # Source variables which are shared between install and uninstall. . $PSScriptRoot\sharedVars.ps1 -#Uninstall-BinFile -Name libcodac-rob.a -#Uninstall-BinFile -Name libcodac.a +$toolsDir = "$(Split-Path -parent $MyInvocation.MyCommand.Definition)" + +$pp = Get-PackageParameters +$packageDir = Join-Path "$toolsDir" ".." -Resolve +$installDir = Join-Path "$packageDir" ".." -Resolve +if ($pp.InstallDir -or $pp.InstallationPath) { + $installDir = $pp.InstallDir + $pp.InstallationPath +} +Write-Host "Codac is going to be uninstalled from '$installDir'" + +$root = Join-Path $installDir "codac" if (Test-Path $CMakeRegistryPath) { if (Test-Path $CMakeSystemRepositoryPath\$CMakePackageName) { Remove-Item "$CMakeSystemRepositoryPath\$CMakePackageName" } } + +if (Test-Path $root) { + Remove-Item -Recurse -Force $root +} diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index 02b08784c..ed7a24c5d 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -7,16 +7,23 @@ $toolsDir = "$(Split-Path -parent $MyInvocation.MyCommand.Definition)" $pp = Get-PackageParameters $packageDir = Join-Path "$toolsDir" ".." -Resolve -$root = "$packageDir\.." +$installDir = Join-Path "$packageDir" ".." -Resolve +if ($pp.InstallDir -or $pp.InstallationPath) { + $installDir = $pp.InstallDir + $pp.InstallationPath +} +Write-Host "Codac is going to be installed in '$installDir'" + +$root = Join-Path $installDir "codac" +New-Item -ItemType Directory -Force -Path $root | Out-Null if (!$pp['url']) { - $url = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x86_mingw8.zip' + $url = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x86_mingw$MinGWMVer.zip' $checksum = 'EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE' - $url64 = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x64_mingw8.zip' + $url64 = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x64_mingw$MinGWMVer.zip' $checksum64 = 'FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF' $packageArgs = @{ packageName = $env:ChocolateyPackageName - unzipLocation = "$root" + unzipLocation = Join-Path "$root" ".." url = $url url64bit = $url64 checksum = $checksum @@ -28,13 +35,12 @@ if (!$pp['url']) { $runtime = "mingw" } -else -{ +else { $url = $pp['url'] #$checksum = $pp['sha256'] $packageArgs = @{ packageName = $env:ChocolateyPackageName - unzipLocation = "$root" + unzipLocation = Join-Path "$root" ".." url = $url #checksum = $checksum #checksumType = 'sha256' @@ -85,13 +91,76 @@ else if (!$pp['NoRegistry']) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force - New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$packageDir\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force + New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } -#$pathtoadd = "$packageDir\bin" +#$pathtoadd = "$root\bin" #if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { # $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" # [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") #} -#Install-BinFile -Name libcodac.a -Path "$packageDir\lib" -#Install-BinFile -Name libcodac-rob.a -Path "$packageDir\lib" +for ($i = 1; $i -le 99; $i++) { + if ($pp['url'+$i]) { + $url = $pp['url'+$i] + #$checksum = $pp['sha256'] + $packageArgs = @{ + packageName = $env:ChocolateyPackageName + unzipLocation = Join-Path "$root" ".." + url = $url + #checksum = $checksum + #checksumType = 'sha256' + } + Install-ChocolateyZipPackage @packageArgs + + # Analyze url to guess what to add to Windows PATH... + if ($url -match "x86") { + $arch = "x86" + } + else { + $arch = "x64" + } + if ($url -match "vc8") { + $runtime = "vc8" + } + if ($url -match "vc9") { + $runtime = "vc9" + } + elseif ($url -match "vc10") { + $runtime = "vc10" + } + elseif ($url -match "vc11") { + $runtime = "vc11" + } + elseif ($url -match "vc12") { + $runtime = "vc12" + } + elseif ($url -match "vc14") { + $runtime = "vc14" + } + elseif ($url -match "vc15") { + $runtime = "vc15" + } + elseif ($url -match "vc16") { + $runtime = "vc16" + } + elseif ($url -match "vc17") { + $runtime = "vc17" + } + elseif ($url -match "vc18") { + $runtime = "vc18" + } + else { + $runtime = "mingw" + } + + if (!$pp['NoRegistry']) { + New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force + New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force + } + #$pathtoadd = "$root\bin" + #if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { + # $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" + # [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") + #} + } +} diff --git a/packages/choco/codac/tools/chocolateyuninstall.ps1 b/packages/choco/codac/tools/chocolateyuninstall.ps1 index 37cecf4ea..2ed694ebb 100644 --- a/packages/choco/codac/tools/chocolateyuninstall.ps1 +++ b/packages/choco/codac/tools/chocolateyuninstall.ps1 @@ -3,11 +3,24 @@ # Source variables which are shared between install and uninstall. . $PSScriptRoot\sharedVars.ps1 -#Uninstall-BinFile -Name libcodac-rob.a -#Uninstall-BinFile -Name libcodac.a +$toolsDir = "$(Split-Path -parent $MyInvocation.MyCommand.Definition)" + +$pp = Get-PackageParameters +$packageDir = Join-Path "$toolsDir" ".." -Resolve +$installDir = Join-Path "$packageDir" ".." -Resolve +if ($pp.InstallDir -or $pp.InstallationPath) { + $installDir = $pp.InstallDir + $pp.InstallationPath +} +Write-Host "Codac is going to be uninstalled from '$installDir'" + +$root = Join-Path $installDir "codac" if (Test-Path $CMakeRegistryPath) { if (Test-Path $CMakeSystemRepositoryPath\$CMakePackageName) { Remove-Item "$CMakeSystemRepositoryPath\$CMakePackageName" } } + +if (Test-Path $root) { + Remove-Item -Recurse -Force $root +} diff --git a/packages/choco/codac/tools/sharedVars.ps1 b/packages/choco/codac/tools/sharedVars.ps1 index 4fc220aea..77a595455 100644 --- a/packages/choco/codac/tools/sharedVars.ps1 +++ b/packages/choco/codac/tools/sharedVars.ps1 @@ -1,4 +1,5 @@ if ((Get-ProcessorBits 32) -or $env:ChocolateyForceX86 -eq $true) { $arch = "x86" } else { $arch = "x64" } +$MinGWMVer = "11" $CMakeRegistryPath = "HKCU:\SOFTWARE\Kitware\CMake" $CMakeSystemRepositoryPath = "HKLM:\SOFTWARE\Kitware\CMake\Packages" $CMakePackageName = "Codac" From ae74de3199a7d1451f7b1b6b58005d657be86459 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 May 2023 22:56:10 +0200 Subject: [PATCH 081/256] Documentation updates --- doc/doc/dev/info_dev.rst | 2 +- doc/doc/install/01-installation-full-linux.rst | 2 +- doc/doc/install/01-installation-full-macos.rst | 2 +- doc/doc/install/01-installation-full-windows.rst | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index e26a9463c..6f34a1c45 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -222,4 +222,4 @@ In the :file:`codac` directory, test the Ubuntu configuration locally using Dock .. code-block:: bash chmod a+x scripts/docker/build_pybinding.sh - docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-ibex /io/scripts/docker/build_pybinding.sh \ No newline at end of file + docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-for-codac /io/scripts/docker/build_pybinding.sh \ No newline at end of file diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index 3b23d128b..a164c6fef 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -166,4 +166,4 @@ Do not forget to launch the `VIBes viewer <01-installation.html#graphical-tools> export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$HOME/ibex-lib/build_install export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$HOME/codac/build_install -See also `Information for developers `_. +See also `Information for developers `_. diff --git a/doc/doc/install/01-installation-full-macos.rst b/doc/doc/install/01-installation-full-macos.rst index bb7ed00f3..eb479e55a 100644 --- a/doc/doc/install/01-installation-full-macos.rst +++ b/doc/doc/install/01-installation-full-macos.rst @@ -38,4 +38,4 @@ You will probably need to install those prerequisites (assuming you installed `H brew install eigen -The logic to follow will then be similar to `Linux <01-installation-full-linux.html>`_. See also `Information for developers `_. +The logic to follow will then be similar to `Linux <01-installation-full-linux.html>`_. See also `Information for developers `_. diff --git a/doc/doc/install/01-installation-full-windows.rst b/doc/doc/install/01-installation-full-windows.rst index 674ba81c3..2771e8610 100644 --- a/doc/doc/install/01-installation-full-windows.rst +++ b/doc/doc/install/01-installation-full-windows.rst @@ -52,4 +52,4 @@ The logic to follow will then be similar to `Linux <01-installation-full-linux.h cmake --build . --config Release --target install -See also `Information for developers `_. +See also `Information for developers `_. From 91bbda32d3dd2137b32dba425737f3cb59b35683 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 May 2023 19:16:48 +0200 Subject: [PATCH 082/256] Test specific IBEX version --- .github/workflows/dockerpi.yml | 2 +- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 14 +++++++------- .github/workflows/vcmatrix.yml | 6 +++--- packages/choco/codac/codac.nuspec | 4 ++-- scripts/dependencies/install_ibex.sh | 3 ++- scripts/docker/build_pybinding.sh | 2 +- 7 files changed, 17 insertions(+), 16 deletions(-) diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml index df2e8ea3e..5b4767369 100644 --- a/.github/workflows/dockerpi.yml +++ b/.github/workflows/dockerpi.yml @@ -16,7 +16,7 @@ jobs: fetch-depth: 0 clean: false - run: docker run --rm --privileged multiarch/qemu-user-static:register --reset - - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" + - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 1b076647c..40931aaad 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -54,7 +54,7 @@ jobs: - run: brew install doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 9ebb0bf3b..67acafd4b 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -83,23 +83,23 @@ jobs: - run: | choco install -y -r --no-progress checksum wget zip choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex.2.8.9.20220812.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20220812 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20220812.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20230510 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20230510.nupkg if: runner.os=='Windows' - run: | # Replace these 2 lines by the next ones to test a specific binary package of IBEX. #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/libibex-dev-2.8.9.20220812-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv - sudo dpkg -i libibex-dev-2.8.9.20220812-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb - rm -Rf libibex-dev-2.8.9.20220812-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + rm -Rf libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb shell: bash if: runner.os=='Linux' - run: | brew install eigen - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 701af0d83..0c18439e8 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -57,9 +57,9 @@ jobs: - run: choco install -y -r --no-progress doxygen.install graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools & git clone --depth 1 -b v3.1.1 https://github.com/sphinx-doc/sphinx & cd sphinx & pip install . & pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex.2.8.9.20220812.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20220812 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20220812.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20230510 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20230510.nupkg - run: | mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index e2ff48c91..af1939078 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -34,14 +34,14 @@ The following package parameters can be set: - `/NoRegistry` - Will not try to update Windows registry. To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/NoPath /NoRegistry'"`), and to install another binary package, try e.g. ``` -choco install -y --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/codac-1.2.0/codac_x86_vc15.zip'" +choco install -y --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/codac-1.2.2/codac_x86_vc15.zip'" ``` https://github.com/codac-team/codac/releases - + diff --git a/scripts/dependencies/install_ibex.sh b/scripts/dependencies/install_ibex.sh index 186fbbfde..a80eb20f1 100644 --- a/scripts/dependencies/install_ibex.sh +++ b/scripts/dependencies/install_ibex.sh @@ -3,7 +3,8 @@ cd $HOME echo 'Installing IBEX in ' $HOME '...'; if [ ! -e "ibex-lib/README.md" ]; then - git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; + #git clone -b actions https://github.com/lebarsfa/ibex-lib.git ; + git clone -b prerelease https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build && cd build ; cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -DCMAKE_INSTALL_PREFIX=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Debug .. ; diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 6f4f844a1..c40c31d1a 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,7 +2,7 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20220812/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv unzip -q ibex_x86_64_manylinux2010.zip rm -Rf ibex_x86_64_manylinux2010.zip sudo cp -Rf ibex/* /usr/local/ From e200be32ea9b1479eefc57b1a648df86508ca803 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 13 May 2023 14:14:00 +0200 Subject: [PATCH 083/256] Removed -pg compiler flag --- src/CMakeLists.txt | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 518cd8b6b..b1fe449f0 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -72,16 +72,6 @@ set(CODAC_C_FLAGS \"\") set(CODAC_CXX_FLAGS \"\") ") -if((CMAKE_BUILD_TYPE MATCHES Debug) AND (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")) -# If Codac is built in Debug, -pg (added by Ibex at the time of Codac -# compilation) might be also necessary to be able to successfully build -# programs in Release (otherwise it would be only added by Ibex if the program -# is built in Debug)... -file(APPEND ${CODAC_CMAKE_CONFIG_FILE} " -set(CMAKE_EXE_LINKER_FLAGS \"${CMAKE_EXE_LINKER_FLAGS} -pg\") -") -endif() - if(WITH_CAPD) file(APPEND ${CODAC_CMAKE_CONFIG_FILE} " From db31b9867ae6859cc48eb4c04a7d338fec267b10 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 14 May 2023 02:29:45 +0200 Subject: [PATCH 084/256] Attempt to fix memory corruption in 06_loops_proofs --- src/robotics/loops/codac_TPlane.cpp | 27 ++++++++++++++++++++++----- src/robotics/loops/codac_TPlane.h | 4 ++++ 2 files changed, 26 insertions(+), 5 deletions(-) diff --git a/src/robotics/loops/codac_TPlane.cpp b/src/robotics/loops/codac_TPlane.cpp index c2a63ef45..6e5aa4a85 100644 --- a/src/robotics/loops/codac_TPlane.cpp +++ b/src/robotics/loops/codac_TPlane.cpp @@ -17,11 +17,18 @@ using namespace ibex; namespace codac { TPlane::TPlane(const Interval& tdomain) - : Paving(IntervalVector(2, tdomain), SetValue::UNKNOWN) + : Paving(IntervalVector(2, tdomain), SetValue::UNKNOWN), m_first_subtplane(nullptr), m_second_subtplane(nullptr) { } + TPlane::TPlane(const TPlane* t, const Paving* p) + : Paving(*p), m_precision(t->m_precision), m_v_detected_loops(t->m_v_detected_loops), m_v_proven_loops(t->m_v_proven_loops), + m_first_subtplane(t->m_first_subtplane), m_second_subtplane(t->m_second_subtplane) + { + m_verbose = t->m_verbose; + } + void TPlane::compute_loops(float precision, const TubeVector& p, const TubeVector& v) { compute_detections(precision, p, v, true, true); @@ -58,8 +65,12 @@ namespace codac else if(!is_leaf()) { - ((TPlane*)m_first_subpaving)->compute_detections(precision, p, v, with_derivative, false); - ((TPlane*)m_second_subpaving)->compute_detections(precision, p, v, with_derivative, false); + //((TPlane*)m_first_subpaving)->compute_detections(precision, p, v, with_derivative, false); + //((TPlane*)m_second_subpaving)->compute_detections(precision, p, v, with_derivative, false); + m_first_subtplane->compute_detections(precision, p, v, with_derivative, false); + m_first_subpaving = m_first_subtplane; + m_second_subtplane->compute_detections(precision, p, v, with_derivative, false); + m_second_subpaving = m_second_subtplane; } else @@ -120,8 +131,14 @@ namespace codac else { bisect(); - ((TPlane*)m_first_subpaving)->compute_detections(precision, p, v, with_derivative, false); - ((TPlane*)m_second_subpaving)->compute_detections(precision, p, v, with_derivative, false); + //((TPlane*)m_first_subpaving)->compute_detections(precision, p, v, with_derivative, false); + //((TPlane*)m_second_subpaving)->compute_detections(precision, p, v, with_derivative, false); + m_first_subtplane=new TPlane(this, m_first_subpaving); + m_first_subtplane->compute_detections(precision, p, v, with_derivative, false); + m_first_subpaving = m_first_subtplane; + m_second_subtplane=new TPlane(this, m_second_subpaving); + m_second_subtplane->compute_detections(precision, p, v, with_derivative, false); + m_second_subpaving = m_second_subtplane; } } diff --git a/src/robotics/loops/codac_TPlane.h b/src/robotics/loops/codac_TPlane.h index fb1833b6a..2257a53db 100644 --- a/src/robotics/loops/codac_TPlane.h +++ b/src/robotics/loops/codac_TPlane.h @@ -194,9 +194,13 @@ namespace codac */ void compute_detections(float precision, const TubeVector& p, const TubeVector& v, bool with_derivative, bool extract_subsets); + TPlane(const TPlane* t, const Paving* p); + float m_precision = 0.; //!< precision of the SIVIA algorithm, used later on in traj_loops_summary() std::vector m_v_detected_loops; //!< set of loops detections std::vector m_v_proven_loops; //!< set of loops proofs + + TPlane *m_first_subtplane, *m_second_subtplane; static bool m_verbose; }; From 5c486a8f704cf4dbc64fca3f21fa08a6f5a7c2ba Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 14 May 2023 17:59:09 +0200 Subject: [PATCH 085/256] 2nd attempt to fix memory corruption in 06_loops_proofs --- src/core/paving/codac_Paving.cpp | 31 ++++++++++- src/core/paving/codac_Paving.h | 4 ++ src/robotics/loops/codac_TPlane.cpp | 82 ++++++++++++++++++++++++++--- src/robotics/loops/codac_TPlane.h | 13 ++++- 4 files changed, 119 insertions(+), 11 deletions(-) diff --git a/src/core/paving/codac_Paving.cpp b/src/core/paving/codac_Paving.cpp index 7a0f1c72c..292fa81f6 100644 --- a/src/core/paving/codac_Paving.cpp +++ b/src/core/paving/codac_Paving.cpp @@ -21,10 +21,22 @@ namespace codac // Basics Paving::Paving(const IntervalVector& box, SetValue value) - : Set(box, value), m_root(this) + : Set(box, value), m_flag(false), m_root(this), m_first_subpaving(nullptr), m_second_subpaving(nullptr) { } + + Paving::Paving(const Paving& p) + : Set(p), m_flag(p.m_flag), m_root(p.m_root), m_first_subpaving(nullptr), m_second_subpaving(nullptr) + { + if(p.m_first_subpaving) + { + m_first_subpaving = new Paving(p.m_first_subpaving->m_box, p.m_first_subpaving->m_value); + *m_first_subpaving = *p.m_first_subpaving; + m_second_subpaving = new Paving(p.m_second_subpaving->m_box, p.m_second_subpaving->m_value); + *m_second_subpaving = *p.m_second_subpaving; + } + } Paving::~Paving() { @@ -34,6 +46,23 @@ namespace codac delete m_second_subpaving; } } + + Paving& Paving::operator=(const Paving& p) + { + Set::operator = (p); + m_flag = p.m_flag; + m_root = p.m_root; + m_first_subpaving = nullptr; + m_second_subpaving = nullptr; + if(p.m_first_subpaving) + { + m_first_subpaving = new Paving(p.m_first_subpaving->m_box, p.m_first_subpaving->m_value); + *m_first_subpaving = *p.m_first_subpaving; + m_second_subpaving = new Paving(p.m_second_subpaving->m_box, p.m_second_subpaving->m_value); + *m_second_subpaving = *p.m_second_subpaving; + } + return *this; + } // Binary tree structure diff --git a/src/core/paving/codac_Paving.h b/src/core/paving/codac_Paving.h index d1163eabb..6524c3c8f 100644 --- a/src/core/paving/codac_Paving.h +++ b/src/core/paving/codac_Paving.h @@ -39,11 +39,15 @@ namespace codac */ Paving(const IntervalVector& box, SetValue value = SetValue::UNKNOWN); + Paving(const Paving& p); + /** * \brief Paving destructor */ ~Paving(); + Paving& operator=(const Paving& p); + /// @} /// \name Binary tree structure /// @{ diff --git a/src/robotics/loops/codac_TPlane.cpp b/src/robotics/loops/codac_TPlane.cpp index 6e5aa4a85..a24025cdd 100644 --- a/src/robotics/loops/codac_TPlane.cpp +++ b/src/robotics/loops/codac_TPlane.cpp @@ -17,16 +17,76 @@ using namespace ibex; namespace codac { TPlane::TPlane(const Interval& tdomain) - : Paving(IntervalVector(2, tdomain), SetValue::UNKNOWN), m_first_subtplane(nullptr), m_second_subtplane(nullptr) + : Paving(IntervalVector(2, tdomain), SetValue::UNKNOWN), m_precision(0), m_v_detected_loops(), m_v_proven_loops(), + m_first_subtplane(nullptr), m_second_subtplane(nullptr) { } + + TPlane::TPlane(const TPlane& t) + : Paving(t), m_precision(t.m_precision), m_v_detected_loops(t.m_v_detected_loops), m_v_proven_loops(t.m_v_proven_loops), + m_first_subtplane(nullptr), m_second_subtplane(nullptr) + { + if(t.m_first_subtplane) + { + m_first_subtplane = new TPlane(t.m_first_subtplane->m_box[0]); + *m_first_subtplane = *t.m_first_subtplane; + } + if(t.m_second_subtplane) + { + m_second_subtplane = new TPlane(t.m_second_subtplane->m_box[0]); + *m_second_subtplane = *t.m_second_subtplane; + } + } TPlane::TPlane(const TPlane* t, const Paving* p) : Paving(*p), m_precision(t->m_precision), m_v_detected_loops(t->m_v_detected_loops), m_v_proven_loops(t->m_v_proven_loops), - m_first_subtplane(t->m_first_subtplane), m_second_subtplane(t->m_second_subtplane) + m_first_subtplane(nullptr), m_second_subtplane(nullptr) { m_verbose = t->m_verbose; + if(t->m_first_subtplane) + { + m_first_subtplane = new TPlane(t->m_first_subtplane->m_box[0]); + *m_first_subtplane = *t->m_first_subtplane; + } + if(t->m_second_subtplane) + { + m_second_subtplane = new TPlane(t->m_second_subtplane->m_box[0]); + *m_second_subtplane = *t->m_second_subtplane; + } + } + + TPlane::~TPlane() + { + if(m_first_subtplane) + { + delete m_first_subtplane; + } + if(m_second_subtplane) + { + delete m_second_subtplane; + } + } + + TPlane& TPlane::operator=(const TPlane& t) + { + Paving::operator = (t); + m_precision = t.m_precision; + m_v_detected_loops = t.m_v_detected_loops; + m_v_proven_loops = t.m_v_proven_loops; + m_first_subtplane = nullptr; + m_second_subtplane = nullptr; + if(t.m_first_subtplane) + { + m_first_subtplane = new TPlane(t.m_first_subtplane->m_box[0]); + *m_first_subtplane = *t.m_first_subtplane; + } + if(t.m_second_subtplane) + { + m_second_subtplane = new TPlane(t.m_second_subtplane->m_box[0]); + *m_second_subtplane = *t.m_second_subtplane; + } + return *this; } void TPlane::compute_loops(float precision, const TubeVector& p, const TubeVector& v) @@ -67,10 +127,14 @@ namespace codac { //((TPlane*)m_first_subpaving)->compute_detections(precision, p, v, with_derivative, false); //((TPlane*)m_second_subpaving)->compute_detections(precision, p, v, with_derivative, false); + m_first_subtplane = new TPlane(this, m_first_subpaving); m_first_subtplane->compute_detections(precision, p, v, with_derivative, false); - m_first_subpaving = m_first_subtplane; + *m_first_subpaving = *m_first_subtplane; + delete m_first_subtplane; m_first_subtplane = nullptr; + m_second_subtplane = new TPlane(this, m_second_subpaving); m_second_subtplane->compute_detections(precision, p, v, with_derivative, false); - m_second_subpaving = m_second_subtplane; + *m_second_subpaving = *m_second_subtplane; + delete m_second_subtplane; m_second_subtplane = nullptr; } else @@ -133,12 +197,14 @@ namespace codac bisect(); //((TPlane*)m_first_subpaving)->compute_detections(precision, p, v, with_derivative, false); //((TPlane*)m_second_subpaving)->compute_detections(precision, p, v, with_derivative, false); - m_first_subtplane=new TPlane(this, m_first_subpaving); + m_first_subtplane = new TPlane(this, m_first_subpaving); m_first_subtplane->compute_detections(precision, p, v, with_derivative, false); - m_first_subpaving = m_first_subtplane; - m_second_subtplane=new TPlane(this, m_second_subpaving); + *m_first_subpaving = *m_first_subtplane; + delete m_first_subtplane; m_first_subtplane = nullptr; + m_second_subtplane = new TPlane(this, m_second_subpaving); m_second_subtplane->compute_detections(precision, p, v, with_derivative, false); - m_second_subpaving = m_second_subtplane; + *m_second_subpaving = *m_second_subtplane; + delete m_second_subtplane; m_second_subtplane = nullptr; } } diff --git a/src/robotics/loops/codac_TPlane.h b/src/robotics/loops/codac_TPlane.h index 2257a53db..5866b8bb2 100644 --- a/src/robotics/loops/codac_TPlane.h +++ b/src/robotics/loops/codac_TPlane.h @@ -51,6 +51,17 @@ namespace codac */ TPlane(const Interval& tdomain); + TPlane(const TPlane& t); + + TPlane(const TPlane* t, const Paving* p); + + /** + * \brief TPlane destructor + */ + ~TPlane(); + + TPlane& operator=(const TPlane& t); + /** * \brief Computes the loops (detections and proofs) as a subpaving, from the tube of * positions \f$[\mathbf{p}](\cdot)\f$ and the tube of velocities \f$[\mathbf{v}](\cdot)\f$. @@ -194,8 +205,6 @@ namespace codac */ void compute_detections(float precision, const TubeVector& p, const TubeVector& v, bool with_derivative, bool extract_subsets); - TPlane(const TPlane* t, const Paving* p); - float m_precision = 0.; //!< precision of the SIVIA algorithm, used later on in traj_loops_summary() std::vector m_v_detected_loops; //!< set of loops detections std::vector m_v_proven_loops; //!< set of loops proofs From 7dbc4d797ec6a8d7249c1f0d03d04a5079e12f9d Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 14 May 2023 22:17:37 +0200 Subject: [PATCH 086/256] Added more python tests for macOS --- .github/workflows/macosmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 40931aaad..29ece58e7 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -66,7 +66,7 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; python -m unittest discover codac.tests shell: bash if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') - uses: xresloader/upload-to-github-release@v1 From b7316f5e52f65d29b26bb48db49e6f6c8924e3cc Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 16 May 2023 09:56:16 +0200 Subject: [PATCH 087/256] [actions] added Actions --- src/core/2/actions/codac2_Action.cpp | 42 ++++++++++++++++ src/core/2/actions/codac2_Action.h | 56 +++++++++++++++++++++ src/core/2/contractors/codac2_CtcAction.cpp | 30 +++++++++++ src/core/2/contractors/codac2_CtcAction.h | 36 +++++++++++++ src/core/CMakeLists.txt | 8 ++- src/core/sivia/codac_sivia.cpp | 9 ++-- 6 files changed, 175 insertions(+), 6 deletions(-) create mode 100644 src/core/2/actions/codac2_Action.cpp create mode 100644 src/core/2/actions/codac2_Action.h create mode 100644 src/core/2/contractors/codac2_CtcAction.cpp create mode 100644 src/core/2/contractors/codac2_CtcAction.h diff --git a/src/core/2/actions/codac2_Action.cpp b/src/core/2/actions/codac2_Action.cpp new file mode 100644 index 000000000..8c259e148 --- /dev/null +++ b/src/core/2/actions/codac2_Action.cpp @@ -0,0 +1,42 @@ +/** + * Action class + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou, Luc Jaulin + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_Action.h" +#include "codac2_CtcAction.h" + +using namespace std; +using namespace codac; + +namespace codac2 +{ + Action::Action(const OctaSym& s) : _s(s), __s(s) + { + + } + + Action::Action(const OctaSym& s, const OctaSym& _s) : _s(s), __s(_s) + { + + } + + IntervalVector Action::operator()(const IntervalVector& x) const + { + assert((size_t)x.size() == _s.size()); + IntervalVector xs(_s.size()); + for(size_t i = 0 ; i < _s.size() ; i++) + xs[i] = sign(_s[i])*x[abs(_s[i])-1]; + return xs; + } + + CtcAction Action::operator()(Ctc& ctc) const + { + return CtcAction(ctc, _s, __s); + } +} \ No newline at end of file diff --git a/src/core/2/actions/codac2_Action.h b/src/core/2/actions/codac2_Action.h new file mode 100644 index 000000000..9c561dd86 --- /dev/null +++ b/src/core/2/actions/codac2_Action.h @@ -0,0 +1,56 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou, Luc Jaulin + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_ACTION_H__ +#define __CODAC2_ACTION_H__ + +#include +#include "codac_IntervalVector.h" +#include "codac_Ctc.h" + +namespace codac2 +{ + class CtcAction; + + /** + * \class OctaSym + */ + class OctaSym : public std::vector + { + public: + + OctaSym(std::initializer_list s) : std::vector(s) {} + }; + + /** + * \class CtcAction + */ + class Action + { + public: + + Action(const OctaSym& s); + Action(const OctaSym& s, const OctaSym& _s); + codac::IntervalVector operator()(const codac::IntervalVector& x) const; + CtcAction operator()(codac::Ctc& ctc) const; + + protected: + + static codac::Interval sign(int a) + { + return (a > 0) ? 1 : ((a < 0) ? -1 : 0); + } + + const OctaSym _s, __s; + }; +} + +#endif \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcAction.cpp b/src/core/2/contractors/codac2_CtcAction.cpp new file mode 100644 index 000000000..95d0d0017 --- /dev/null +++ b/src/core/2/contractors/codac2_CtcAction.cpp @@ -0,0 +1,30 @@ +/** + * CtcAction class + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou, Luc Jaulin + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include "codac2_CtcAction.h" + +using namespace std; +using namespace codac; + +namespace codac2 +{ + CtcAction::CtcAction(Ctc& ctc, const Action& s, const Action& _s) + : Ctc(2), _ctc(ctc), _s(s), __s(_s) + { + + } + + void CtcAction::contract(IntervalVector& x) + { + IntervalVector _x(_s(x)); + _ctc.contract(_x); + x &= __s(_x); + } +} \ No newline at end of file diff --git a/src/core/2/contractors/codac2_CtcAction.h b/src/core/2/contractors/codac2_CtcAction.h new file mode 100644 index 000000000..dbf273925 --- /dev/null +++ b/src/core/2/contractors/codac2_CtcAction.h @@ -0,0 +1,36 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou, Luc Jaulin + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_CTCACTION_H__ +#define __CODAC2_CTCACTION_H__ + +#include "codac2_Action.h" + +namespace codac2 +{ + /** + * \class CtcAction + */ + class CtcAction : public codac::Ctc + { + public: + + CtcAction(Ctc& ctc, const Action& s, const Action& _s); + void contract(codac::IntervalVector& x); + + protected: + + codac::Ctc& _ctc; + const Action _s, __s; + }; +} + +#endif \ No newline at end of file diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 49317ffef..f5c589895 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -195,6 +195,11 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcLinobs.h ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.h + # Actions + ${CMAKE_CURRENT_SOURCE_DIR}/2/actions/codac2_Action.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/actions/codac2_Action.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcAction.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcAction.h ) @@ -225,7 +230,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/sivia ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube - ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/) + ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/ + ${CMAKE_CURRENT_SOURCE_DIR}/2/actions/) target_link_libraries(codac PUBLIC Ibex::ibex) diff --git a/src/core/sivia/codac_sivia.cpp b/src/core/sivia/codac_sivia.cpp index b97591f84..b8515a7f3 100644 --- a/src/core/sivia/codac_sivia.cpp +++ b/src/core/sivia/codac_sivia.cpp @@ -58,7 +58,6 @@ namespace codac { _vibes_initialized = true; vibes::beginDrawing(); - vibes::axisAuto(); // will not be ended in case the init has been done outside this SIVIA function } @@ -68,6 +67,7 @@ namespace codac vibes::drawBox(x0); vibes::newGroup("boxes_out", cm.at(SetValue::OUT)); vibes::newGroup("boxes_unknown", cm.at(SetValue::UNKNOWN)); + vibes::axisAuto(); } map n_boxes; @@ -86,10 +86,9 @@ namespace codac while(!stack.empty()) { k++; - IntervalVector *xx = new IntervalVector(stack.front()); - IntervalVector &x = *xx; + IntervalVector x_before_ctc = stack.front(); stack.pop_front(); - IntervalVector x_before_ctc(x); + IntervalVector x(x_before_ctc); ctc.contract(x); @@ -188,7 +187,6 @@ namespace codac { _vibes_initialized = true; vibes::beginDrawing(); - vibes::axisAuto(); // will not be ended in case the init has been done outside this SIVIA function } @@ -199,6 +197,7 @@ namespace codac vibes::newGroup("boxes_out", cm.at(SetValue::OUT)); vibes::newGroup("boxes_unknown", cm.at(SetValue::UNKNOWN)); vibes::newGroup("boxes_in", cm.at(SetValue::IN)); + vibes::axisAuto(); } map n_boxes; From ecb49e7b3c4f2b197d856254ef4cd5bd52cdc731 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 16 May 2023 11:21:15 +0200 Subject: [PATCH 088/256] [py] created codac2 module --- python/CMakeLists.txt | 23 ++++++ python/codac_py_codac2.cpp | 32 +++++++++ python/setup.py.in | 1 + .../src/core/2/actions/codac2_py_Action.cpp | 72 +++++++++++++++++++ .../2/contractors/codac2_py_CtcAction.cpp | 41 +++++++++++ .../interval/codac_py_IntervalVector.cpp | 4 ++ src/core/2/actions/codac2_Action.h | 2 +- 7 files changed, 174 insertions(+), 1 deletion(-) create mode 100644 python/codac_py_codac2.cpp create mode 100644 python/src/core/2/actions/codac2_py_Action.cpp create mode 100644 python/src/core/2/contractors/codac2_py_CtcAction.cpp diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 12d3baafb..d663dc78d 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -159,6 +159,29 @@ COMMAND ${CMAKE_COMMAND} -E copy "$" "${PYTHON_PACKAGE_DIR}/${PYTHON_PACKAGE_NAME}" ) + # Generating a library codac2.so containing the python binding: + + pybind11_add_module(codac2 SHARED + codac_py_codac2.cpp + src/core/2/actions/codac2_py_Action.cpp + src/core/2/contractors/codac2_py_CtcAction.cpp + ) + + target_include_directories(codac2 + PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/../include + PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/ + ${CMAKE_CURRENT_BINARY_DIR}/docstring + ) + + target_link_libraries(codac2 + PRIVATE core codac core ${LIBS} core + ) + + # Copy the generated library in the package folder + add_custom_command(TARGET codac2 POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy "$" "${PYTHON_PACKAGE_DIR}/${PYTHON_PACKAGE_NAME}" + ) + #pybind11_add_module(graphics SHARED # codac_py_VIBesFig.cpp diff --git a/python/codac_py_codac2.cpp b/python/codac_py_codac2.cpp new file mode 100644 index 000000000..c49aea982 --- /dev/null +++ b/python/codac_py_codac2.cpp @@ -0,0 +1,32 @@ +/** + * \file + * Codac binding (codac2) + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include "src/core/contractors/static/codac_py_Ctc.h" + +#include + +using namespace codac; +namespace py = pybind11; + +void export_Action(py::module& m); +void export_CtcAction(py::module& m, py::class_& ctc); + +PYBIND11_MODULE(codac2, m) +{ + m.doc() = "Python binding of Codac (codac2)"; + + py::class_ ctc = (py::class_)py::module::import("codac").attr("Ctc"); + + export_Action(m); + export_CtcAction(m, ctc); +} \ No newline at end of file diff --git a/python/setup.py.in b/python/setup.py.in index 21f491477..49da05ea6 100644 --- a/python/setup.py.in +++ b/python/setup.py.in @@ -25,6 +25,7 @@ setup( '${PYTHON_PACKAGE_NAME}': [ 'core${PYTHON_MODULE_EXTENSION}', 'unsupported${PYTHON_MODULE_EXTENSION}', + 'codac2${PYTHON_MODULE_EXTENSION}', #'graphics${PYTHON_MODULE_EXTENSION}', ], }, diff --git a/python/src/core/2/actions/codac2_py_Action.cpp b/python/src/core/2/actions/codac2_py_Action.cpp new file mode 100644 index 000000000..9e418486e --- /dev/null +++ b/python/src/core/2/actions/codac2_py_Action.cpp @@ -0,0 +1,72 @@ +/** + * \file + * Action Python binding + * ---------------------------------------------------------------------------- + * \date 2020 + * \author Simon Rohou, Benoît Desrochers + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include +#include +#include +#include "codac_type_caster.h" + +#include "codac2_Action.h" +#include "codac2_CtcAction.h" + +using namespace std; +using namespace codac; +using namespace codac2; +namespace py = pybind11; +using namespace pybind11::literals; + + +void export_Action(py::module& m) +{ + py::class_ octasym(m, "OctaSym", "todo"); + octasym + + .def(py::init([](py::array_t s) + { + // Request a buffer descriptor from Python + py::buffer_info info = s.request(); + + // Some sanity checks... + if(info.format != py::format_descriptor::format()) + throw std::runtime_error("Incompatible format: expected a int array"); + + //if(info.ndim == 1 || // e.g.: a=np.array([1,0,0]) + // (info.ndim == 2 && (int)info.shape[1] == 1)) // e.g.: a=np.array([[1],[0],[0]]) + { + //ibex::Vector m(, static_cast(info.ptr)); + + int len = (int)info.shape[0]; + int* w = static_cast(info.ptr); + + vector s; + s.assign(w, w + len); + return OctaSym(s); + } + })) + ; + + py::class_ action(m, "Action", "todo"); + action + + .def(py::init(), "todo", "s"_a) + .def(py::init(), "todo", "s"_a, "_s"_a) + + .def("__call__", [](Action& s,const codac::IntervalVector& x) { return s(x); }, + "todo", + py::return_value_policy::reference_internal) + + .def("__call__", [](Action& s,codac::Ctc& ctc) { return s(ctc); }, + "todo", + py::return_value_policy::reference_internal) + ; +} \ No newline at end of file diff --git a/python/src/core/2/contractors/codac2_py_CtcAction.cpp b/python/src/core/2/contractors/codac2_py_CtcAction.cpp new file mode 100644 index 000000000..fbabf3a6c --- /dev/null +++ b/python/src/core/2/contractors/codac2_py_CtcAction.cpp @@ -0,0 +1,41 @@ +/** + * \file + * CtcBox Python binding + * ---------------------------------------------------------------------------- + * \date 2020 + * \author Simon Rohou, Benoît Desrochers + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include +#include +#include "codac_type_caster.h" + +#include "../../contractors/static/codac_py_Ctc.h" +#include "codac2_CtcAction.h" + +using namespace std; +using namespace codac; +using namespace codac2; +namespace py = pybind11; +using namespace pybind11::literals; + + +void export_CtcAction(py::module& m, py::class_& ctc) +{ + py::class_ ctc_action(m, "CtcAction", ctc, "todo"); + ctc_action + + .def(py::init(), + "todo", + "ctc"_a, "s"_a, "_s"_a) + + .def("contract", &CtcAction::contract, + "todo", + "x"_a.noconvert()) + ; +} \ No newline at end of file diff --git a/python/src/core/domains/interval/codac_py_IntervalVector.cpp b/python/src/core/domains/interval/codac_py_IntervalVector.cpp index 01b6ca28e..2e668ccf4 100644 --- a/python/src/core/domains/interval/codac_py_IntervalVector.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalVector.cpp @@ -336,4 +336,8 @@ void export_IntervalVector(py::module& m) m.def("bwd_mul", (bool (*) (const Interval&, IntervalVector&, IntervalVector&)) &ibex::bwd_mul); m.def("max", (IntervalVector(*) (const IntervalVector&, const IntervalVector&)) &max_IntevalVector); + + // Automatic cast from lists to IntervalVectors (used for instance in SIVIA calls) + py::implicitly_convertible(); + }; \ No newline at end of file diff --git a/src/core/2/actions/codac2_Action.h b/src/core/2/actions/codac2_Action.h index 9c561dd86..5c575e0ca 100644 --- a/src/core/2/actions/codac2_Action.h +++ b/src/core/2/actions/codac2_Action.h @@ -27,7 +27,7 @@ namespace codac2 { public: - OctaSym(std::initializer_list s) : std::vector(s) {} + OctaSym(const std::vector& s) : std::vector(s) {} }; /** From 59439a07f45466d55315a2d7839c0f149c1edf22 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 16 May 2023 14:47:46 +0200 Subject: [PATCH 089/256] [action] auto cast list -> OctaSym --- python/src/core/2/actions/codac2_py_Action.cpp | 3 +++ src/core/graphics/codac_VIBesFig.h | 1 + 2 files changed, 4 insertions(+) diff --git a/python/src/core/2/actions/codac2_py_Action.cpp b/python/src/core/2/actions/codac2_py_Action.cpp index 9e418486e..be7110617 100644 --- a/python/src/core/2/actions/codac2_py_Action.cpp +++ b/python/src/core/2/actions/codac2_py_Action.cpp @@ -55,6 +55,9 @@ void export_Action(py::module& m) })) ; + // Automatic cast from lists to OctaSym + py::implicitly_convertible(); + py::class_ action(m, "Action", "todo"); action diff --git a/src/core/graphics/codac_VIBesFig.h b/src/core/graphics/codac_VIBesFig.h index 82697a76c..21be6ce36 100644 --- a/src/core/graphics/codac_VIBesFig.h +++ b/src/core/graphics/codac_VIBesFig.h @@ -19,6 +19,7 @@ #include "codac_ConvexPolygon.h" #include "codac_ColorMap.h" #include "codac_ConvexPolygon.h" +#include "codac_polygon_arithmetic.h" #include "vibes.h" namespace codac2 From c06a41f3980de47e7906aabb43fde6e3018effca Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 16 May 2023 17:33:40 +0200 Subject: [PATCH 090/256] Correct python tests for macOS --- .github/workflows/macosmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 29ece58e7..fa842a1ed 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -66,7 +66,7 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; python -m unittest discover codac.tests + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests shell: bash if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') - uses: xresloader/upload-to-github-release@v1 From 5c6b40d2a729412153fa6a6caaefb286c7ba02d7 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 17 May 2023 00:08:11 +0200 Subject: [PATCH 091/256] Correct Eigen3 in codac_standalone --- .github/workflows/unixmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 67acafd4b..8c05f072d 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -117,7 +117,7 @@ jobs: shell: bash - run: | mkdir -p codac_standalone/example ; cd codac_standalone - wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools + wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; cd eigen/share/cmake ; if [ ${{ runner.os }} = macOS ]; then sed -i "" "s/\\/..\\/../\\/..\\/..\\/../" *.cmake ; else sed -i "s/\\/..\\/../\\/..\\/..\\/../" *.cmake ; fi ; cd .. ; mkdir eigen3 ; mv cmake eigen3/ ; cd ../.. if [ ${{ runner.os }} = Windows ]; then cp -Rf /C/ProgramData/chocolatey/lib/ibex . ; rm -Rf ibex/tools ibex/ibex.* elif [ ${{ runner.os }} = Linux ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ elif [ ${{ runner.os }} = macOS ]; then cp -Rf ../ibex . From 45e86e0cb69b917f402707c293439edbb80022f3 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 17 May 2023 15:14:20 +0200 Subject: [PATCH 092/256] [actions] OctaSym and invert --- doc/doc/manual/11-separators/index.rst | 2 ++ .../src/core/2/actions/codac2_py_Action.cpp | 20 +++++------- .../2/contractors/codac2_py_CtcAction.cpp | 4 +-- src/core/2/actions/codac2_Action.cpp | 32 +++++++++++-------- src/core/2/actions/codac2_Action.h | 31 ++++++++---------- src/core/2/contractors/codac2_CtcAction.cpp | 4 +-- src/core/2/contractors/codac2_CtcAction.h | 4 +-- 7 files changed, 48 insertions(+), 49 deletions(-) diff --git a/doc/doc/manual/11-separators/index.rst b/doc/doc/manual/11-separators/index.rst index 58e8a1f18..7b6f16820 100644 --- a/doc/doc/manual/11-separators/index.rst +++ b/doc/doc/manual/11-separators/index.rst @@ -76,6 +76,7 @@ The ``SIVIA(..)`` function allows several parameters for specifying result outpu SIVIA(box, # initial domain to be bisected sep, # related separator (or contractor if provided) 0.21, # precision parameter (stopping condition) + regular_paving=False, # keep a regular paving (bisection rule) display_result=True, # displaying boxes in a VIBes figure fig_name="SIVIA", # name of the VIBes figure in case of display return_result=True, # returning a map of lists of boxes @@ -87,6 +88,7 @@ The ``SIVIA(..)`` function allows several parameters for specifying result outpu SIVIA(box, // initial domain to be bisected sep, // related separator (or contractor if provided) 0.21, // precision parameter (stopping condition) + false, // keep a regular paving (bisection rule) true, // boolean for displaying boxes in a VIBes figure "SIVIA", // name of the VIBes figure in case of display true, // boolean for returning a map of lists of boxes diff --git a/python/src/core/2/actions/codac2_py_Action.cpp b/python/src/core/2/actions/codac2_py_Action.cpp index be7110617..ddc4a8405 100644 --- a/python/src/core/2/actions/codac2_py_Action.cpp +++ b/python/src/core/2/actions/codac2_py_Action.cpp @@ -53,23 +53,19 @@ void export_Action(py::module& m) return OctaSym(s); } })) - ; - - // Automatic cast from lists to OctaSym - py::implicitly_convertible(); - - py::class_ action(m, "Action", "todo"); - action - .def(py::init(), "todo", "s"_a) - .def(py::init(), "todo", "s"_a, "_s"_a) - - .def("__call__", [](Action& s,const codac::IntervalVector& x) { return s(x); }, + .def("__call__", [](OctaSym& s,const codac::IntervalVector& x) { return s(x); }, "todo", py::return_value_policy::reference_internal) - .def("__call__", [](Action& s,codac::Ctc& ctc) { return s(ctc); }, + .def("__call__", [](OctaSym& s,codac::Ctc& ctc) { return s(ctc); }, "todo", py::return_value_policy::reference_internal) + + .def("invert", &OctaSym::invert, + "todo") ; + + // Automatic cast from lists to OctaSym + py::implicitly_convertible(); } \ No newline at end of file diff --git a/python/src/core/2/contractors/codac2_py_CtcAction.cpp b/python/src/core/2/contractors/codac2_py_CtcAction.cpp index fbabf3a6c..de98fba76 100644 --- a/python/src/core/2/contractors/codac2_py_CtcAction.cpp +++ b/python/src/core/2/contractors/codac2_py_CtcAction.cpp @@ -30,9 +30,9 @@ void export_CtcAction(py::module& m, py::class_& ctc) py::class_ ctc_action(m, "CtcAction", ctc, "todo"); ctc_action - .def(py::init(), + .def(py::init(), "todo", - "ctc"_a, "s"_a, "_s"_a) + "ctc"_a, "s"_a) .def("contract", &CtcAction::contract, "todo", diff --git a/src/core/2/actions/codac2_Action.cpp b/src/core/2/actions/codac2_Action.cpp index 8c259e148..90468ab59 100644 --- a/src/core/2/actions/codac2_Action.cpp +++ b/src/core/2/actions/codac2_Action.cpp @@ -1,5 +1,5 @@ /** - * Action class + * OctaSym class * ---------------------------------------------------------------------------- * \date 2023 * \author Simon Rohou, Luc Jaulin @@ -16,27 +16,33 @@ using namespace codac; namespace codac2 { - Action::Action(const OctaSym& s) : _s(s), __s(s) + OctaSym::OctaSym(const std::vector& s) : std::vector(s) { - + for(const auto& i : s) + { + assert((size_t)abs(i) > 0 && (size_t)abs(i) <= size()); + } } - Action::Action(const OctaSym& s, const OctaSym& _s) : _s(s), __s(_s) + IntervalVector OctaSym::operator()(const IntervalVector& x) const { - + assert((size_t)x.size() == size()); + IntervalVector xs(size()); + for(size_t i = 0 ; i < size() ; i++) + xs[i] = sign((*this)[i])*x[abs((*this)[i])-1]; + return xs; } - IntervalVector Action::operator()(const IntervalVector& x) const + OctaSym OctaSym::invert() const { - assert((size_t)x.size() == _s.size()); - IntervalVector xs(_s.size()); - for(size_t i = 0 ; i < _s.size() ; i++) - xs[i] = sign(_s[i])*x[abs(_s[i])-1]; - return xs; + vector inv(size()); + for(size_t i = 0 ; i < size() ; i++) + inv[abs((int)(*this)[i])-1] = (abs((int)i)+1)*((*this)[i] >= 0 ? 1. : -1.); + return OctaSym(inv); } - CtcAction Action::operator()(Ctc& ctc) const + CtcAction OctaSym::operator()(Ctc& ctc) const { - return CtcAction(ctc, _s, __s); + return CtcAction(ctc, *this); } } \ No newline at end of file diff --git a/src/core/2/actions/codac2_Action.h b/src/core/2/actions/codac2_Action.h index 5c575e0ca..895e4e8b2 100644 --- a/src/core/2/actions/codac2_Action.h +++ b/src/core/2/actions/codac2_Action.h @@ -21,26 +21,10 @@ namespace codac2 class CtcAction; /** - * \class OctaSym - */ - class OctaSym : public std::vector - { - public: - - OctaSym(const std::vector& s) : std::vector(s) {} - }; - - /** - * \class CtcAction + * \class Action */ class Action { - public: - - Action(const OctaSym& s); - Action(const OctaSym& s, const OctaSym& _s); - codac::IntervalVector operator()(const codac::IntervalVector& x) const; - CtcAction operator()(codac::Ctc& ctc) const; protected: @@ -48,8 +32,19 @@ namespace codac2 { return (a > 0) ? 1 : ((a < 0) ? -1 : 0); } + }; + + /** + * \class OctaSym + */ + class OctaSym : public std::vector, public Action + { + public: - const OctaSym _s, __s; + OctaSym(const std::vector& s); + CtcAction operator()(codac::Ctc& ctc) const; + codac::IntervalVector operator()(const codac::IntervalVector& x) const; + OctaSym invert() const; }; } diff --git a/src/core/2/contractors/codac2_CtcAction.cpp b/src/core/2/contractors/codac2_CtcAction.cpp index 95d0d0017..c6311768f 100644 --- a/src/core/2/contractors/codac2_CtcAction.cpp +++ b/src/core/2/contractors/codac2_CtcAction.cpp @@ -15,8 +15,8 @@ using namespace codac; namespace codac2 { - CtcAction::CtcAction(Ctc& ctc, const Action& s, const Action& _s) - : Ctc(2), _ctc(ctc), _s(s), __s(_s) + CtcAction::CtcAction(Ctc& ctc, const OctaSym& s) + : Ctc(2), _ctc(ctc), _s(s), __s(s.invert()) { } diff --git a/src/core/2/contractors/codac2_CtcAction.h b/src/core/2/contractors/codac2_CtcAction.h index dbf273925..f6816c332 100644 --- a/src/core/2/contractors/codac2_CtcAction.h +++ b/src/core/2/contractors/codac2_CtcAction.h @@ -23,13 +23,13 @@ namespace codac2 { public: - CtcAction(Ctc& ctc, const Action& s, const Action& _s); + CtcAction(Ctc& ctc, const OctaSym& s); void contract(codac::IntervalVector& x); protected: codac::Ctc& _ctc; - const Action _s, __s; + const OctaSym _s, __s; }; } From d25410f0a618162b7dab80a6ebf089ffd44c59c9 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 20 May 2023 23:10:49 +0200 Subject: [PATCH 093/256] Remove sphinx specific handling in vcmatrix.yml --- .github/workflows/vcmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 0c18439e8..e3765ac9d 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -54,7 +54,7 @@ jobs: if: runner.os=='Windows' - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} if: runner.os=='Windows' - - run: choco install -y -r --no-progress doxygen.install graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools & git clone --depth 1 -b v3.1.1 https://github.com/sphinx-doc/sphinx & cd sphinx & pip install . & pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects + - run: choco install -y -r --no-progress doxygen.install graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv From f25e2cad989549a41f7fc9c1de134fa304a55b21 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 20 May 2023 23:12:27 +0200 Subject: [PATCH 094/256] Added more python tests for Windows --- .github/workflows/vcmatrix.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index e3765ac9d..10015d8a5 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -64,9 +64,11 @@ jobs: mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. cmake --build . --config Release --target install - cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` ; pip install ../*.whl ; python -c "import sys; print(sys.version)" ; python ../examples/tuto/01_getting_started/01_getting_started.py + cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests + shell: bash - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} From 66bba9f6adb20a87922fc2623ed2c3a32c20515e Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 21 May 2023 14:05:47 +0200 Subject: [PATCH 095/256] Improve portability of Python tests --- python/codac/tests/test_definition.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/python/codac/tests/test_definition.py b/python/codac/tests/test_definition.py index 0ac06d30a..d001dbe69 100644 --- a/python/codac/tests/test_definition.py +++ b/python/codac/tests/test_definition.py @@ -8,6 +8,8 @@ # \license This program is distributed under the terms of # the GNU Lesser General Public License (LGPL). +import os +from tempfile import gettempdir import unittest from codac import * import codac as codac @@ -24,7 +26,7 @@ def test_Init(self): #self.assertTrue(cos(self.tube).codomain() == cos(Interval(10.,11.))) def test_Serialize(self): - self.tube.serialize("/tmp/x.tube") + self.tube.serialize(os.path.join(gettempdir(), "x.tube")) def test_Slice_class(self): From b253b0d7bf957a0511f624f1d15bd6ddaed144e6 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 21 May 2023 15:27:01 +0200 Subject: [PATCH 096/256] Test specific IBEX version --- .github/workflows/unixmatrix.yml | 2 +- doc/doc/install/01-installation-full-linux.rst | 4 ++-- scripts/dependencies/install_ibex.sh | 3 +-- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 8c05f072d..376f17497 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -104,7 +104,7 @@ jobs: rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ if: runner.os=='macOS' -# - run: git clone --depth 1 -b actions https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. +# - run: git clone --depth 1 -b master https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. # shell: bash - run: | mkdir build ; cd build diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index a164c6fef..88375c110 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -46,7 +46,7 @@ In case you prefer the latest development version, Codac can be installed by com Requirements ^^^^^^^^^^^^ -Codac uses several features of the `IBEX library `_ that you have to install first. The last version of IBEX is maintained on `this unofficial development repository `_: +Codac uses several features of the `IBEX library `_ that you have to install first. The last version of IBEX is maintained on `this unofficial development repository `_: .. code-block:: bash @@ -54,7 +54,7 @@ Codac uses several features of the `IBEX library Date: Sun, 21 May 2023 16:07:23 +0200 Subject: [PATCH 097/256] Documentation updates --- doc/doc/install/01-installation-python.rst | 9 +++++---- doc/doc/install/01-installation.rst | 2 +- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index c36bb316e..5313a1790 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -48,7 +48,7 @@ The :gbg:`✓` configurations are officially supported at the moment: +---------------+----------------+-----------------+-----------------+----------------+----------------+ + |Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.11 | |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +|Python 3.11 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | +---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ If a configuration in this table does not work, please `contact us `_. @@ -56,7 +56,7 @@ If a configuration in this table does not work, please `contact us `_ might be necessary to run `VIBes `_ (not tested). + | `Rosetta `_ might be necessary to run `VIBes `_. .. warning:: @@ -65,9 +65,10 @@ If a configuration in this table does not work, please `contact us Date: Thu, 25 May 2023 10:49:50 +0200 Subject: [PATCH 098/256] Do not try to add degenerated slices when truncating on tdomain, add corresponding test --- src/core/domains/tube/codac_Tube.cpp | 4 ++-- tests/core/tests_slices_structure.cpp | 12 ++++++++++++ 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/src/core/domains/tube/codac_Tube.cpp b/src/core/domains/tube/codac_Tube.cpp index 725e91be6..0f8f76f5e 100644 --- a/src/core/domains/tube/codac_Tube.cpp +++ b/src/core/domains/tube/codac_Tube.cpp @@ -1251,7 +1251,7 @@ namespace codac assert(tdomain().is_superset(t)); // The first slice is the slice containing t.lb() - while(!m_first_slice->tdomain().contains(t.lb())) + while(!m_first_slice->tdomain().contains(t.lb()) || !valid_tdomain(t & m_first_slice->tdomain())) { Slice *s_next = m_first_slice->next_slice(); delete m_first_slice; @@ -1262,7 +1262,7 @@ namespace codac // After this iteration, the last slice will be the one containing t.ub() Slice *s_last = last_slice(); - while(!s_last->tdomain().contains(t.ub())) + while(!s_last->tdomain().contains(t.ub()) || !valid_tdomain(t & s_last->tdomain())) { Slice *s_prev = s_last->prev_slice(); delete s_last; diff --git a/tests/core/tests_slices_structure.cpp b/tests/core/tests_slices_structure.cpp index cf39e395d..1649458d0 100644 --- a/tests/core/tests_slices_structure.cpp +++ b/tests/core/tests_slices_structure.cpp @@ -402,4 +402,16 @@ TEST_CASE("Tube slices structure") CHECK(tube.nb_slices() == 1); CHECK(tube[0].slice(0)->tdomain() == Interval(8.2,8.3)); } + + SECTION("truncate_tdomain, test 5") + { + TubeVector tube(Interval(0.,10.), 1., 2); + CHECK(tube.nb_slices() == 10); + tube.truncate_tdomain(Interval(3.,6.)); + CHECK(tube.tdomain() == Interval(3.,6.)); + CHECK(tube.nb_slices() == 3); + CHECK(tube[0].slice(0)->tdomain() == Interval(3.,4.)); + CHECK(tube[0].slice(1)->tdomain() == Interval(4.,5.)); + CHECK(tube[0].slice(2)->tdomain() == Interval(5.,6.)); + } } From 2a934d2d1719840422d8f2efc5e40e21ca77eecc Mon Sep 17 00:00:00 2001 From: Joris Date: Thu, 25 May 2023 11:02:13 +0200 Subject: [PATCH 099/256] Just check for degeneration --- src/core/domains/tube/codac_Tube.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/core/domains/tube/codac_Tube.cpp b/src/core/domains/tube/codac_Tube.cpp index 0f8f76f5e..b897bb7d1 100644 --- a/src/core/domains/tube/codac_Tube.cpp +++ b/src/core/domains/tube/codac_Tube.cpp @@ -1251,7 +1251,7 @@ namespace codac assert(tdomain().is_superset(t)); // The first slice is the slice containing t.lb() - while(!m_first_slice->tdomain().contains(t.lb()) || !valid_tdomain(t & m_first_slice->tdomain())) + while(!m_first_slice->tdomain().contains(t.lb()) || (t & m_first_slice->tdomain()).is_degenerated()) { Slice *s_next = m_first_slice->next_slice(); delete m_first_slice; @@ -1262,7 +1262,7 @@ namespace codac // After this iteration, the last slice will be the one containing t.ub() Slice *s_last = last_slice(); - while(!s_last->tdomain().contains(t.ub()) || !valid_tdomain(t & s_last->tdomain())) + while(!s_last->tdomain().contains(t.ub()) || (t & s_last->tdomain()).is_degenerated()) { Slice *s_prev = s_last->prev_slice(); delete s_last; From 633575fab58c43817531eb7255049e2cbba8de69 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 25 May 2023 18:46:32 +0200 Subject: [PATCH 100/256] [actions] python binding and tests --- python/codac/tests/test_actions.py | 38 +++++++++++++++++++ .../src/core/2/actions/codac2_py_Action.cpp | 6 +++ src/core/2/actions/codac2_Action.cpp | 31 ++++++++++++++- src/core/2/actions/codac2_Action.h | 10 ++--- 4 files changed, 77 insertions(+), 8 deletions(-) create mode 100644 python/codac/tests/test_actions.py diff --git a/python/codac/tests/test_actions.py b/python/codac/tests/test_actions.py new file mode 100644 index 000000000..426bc1ac7 --- /dev/null +++ b/python/codac/tests/test_actions.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python + +# Codac tests +# --------------------------------------------------------------------------- +# \date 2023 +# \author Simon Rohou +# \copyright Copyright 2023 Codac Team +# \license This program is distributed under the terms of +# the GNU Lesser General Public License (LGPL). + +import unittest +from codac import * +from codac.codac2 import * +import numpy as np + +class TestActions(unittest.TestCase): + + def tests_action(self): + + x = IntervalVector([[-1,0],[5,6]]) + a = OctaSym([2,-1]) + + print(x) # Result: ([-1, 0] ; [5, 6]) + print(a(x)) # Result: ([5, 6] ; [-0, 1]) + print(a.invert()(a(x))) # Result: ([-1, 0] ; [5, 6]) + + print(a) # Result: (2 -1) + print(a.invert()) # Result: (-2 1) + print(a*a) # Result: (-1 -2) + + self.assertEqual(a(x), IntervalVector([[5,6],[-0,1]])) + self.assertEqual(a.invert()(a(x)), IntervalVector([[-1,0],[5,6]])) + self.assertEqual(a, OctaSym([2,-1])) + self.assertEqual(a.invert(), OctaSym([-2,1])) + self.assertEqual(a*a, OctaSym([-1,-2])) + +if __name__ == '__main__': + unittest.main() \ No newline at end of file diff --git a/python/src/core/2/actions/codac2_py_Action.cpp b/python/src/core/2/actions/codac2_py_Action.cpp index ddc4a8405..f3f68b4ff 100644 --- a/python/src/core/2/actions/codac2_py_Action.cpp +++ b/python/src/core/2/actions/codac2_py_Action.cpp @@ -53,6 +53,8 @@ void export_Action(py::module& m) return OctaSym(s); } })) + + .def(py::self == py::self) .def("__call__", [](OctaSym& s,const codac::IntervalVector& x) { return s(x); }, "todo", @@ -64,6 +66,10 @@ void export_Action(py::module& m) .def("invert", &OctaSym::invert, "todo") + + .def(py::self * py::self) + + .def("__repr__", [](const OctaSym& s) { ostringstream str; str << s; return str.str(); }) ; // Automatic cast from lists to OctaSym diff --git a/src/core/2/actions/codac2_Action.cpp b/src/core/2/actions/codac2_Action.cpp index 90468ab59..fe0eb44e6 100644 --- a/src/core/2/actions/codac2_Action.cpp +++ b/src/core/2/actions/codac2_Action.cpp @@ -16,6 +16,16 @@ using namespace codac; namespace codac2 { + Interval sign(int a) + { + return (a > 0) ? 1 : ((a < 0) ? -1 : 0); + } + + int isign(int a) + { + return (a > 0) ? 1 : ((a < 0) ? -1 : 0); + } + OctaSym::OctaSym(const std::vector& s) : std::vector(s) { for(const auto& i : s) @@ -35,14 +45,31 @@ namespace codac2 OctaSym OctaSym::invert() const { - vector inv(size()); + OctaSym inv(*this); for(size_t i = 0 ; i < size() ; i++) inv[abs((int)(*this)[i])-1] = (abs((int)i)+1)*((*this)[i] >= 0 ? 1. : -1.); - return OctaSym(inv); + return inv; } CtcAction OctaSym::operator()(Ctc& ctc) const { return CtcAction(ctc, *this); } + + OctaSym operator*(const OctaSym& s1, const OctaSym& s2) + { + OctaSym s3(s1); + for(size_t i = 0 ; i < s3.size() ; i++) + s3[i] = isign(s2[i])*s1[abs((int)s2[i])-1]; + return s3; + } + + std::ostream& operator<<(std::ostream& str, const OctaSym& s) + { + str << "("; + for(size_t i = 0 ; i < s.size() ; i++) + str << (i != 0 ? " " : "") << s[i]; + str << ")" << flush; + return str; + } } \ No newline at end of file diff --git a/src/core/2/actions/codac2_Action.h b/src/core/2/actions/codac2_Action.h index 895e4e8b2..163b24806 100644 --- a/src/core/2/actions/codac2_Action.h +++ b/src/core/2/actions/codac2_Action.h @@ -26,12 +26,6 @@ namespace codac2 class Action { - protected: - - static codac::Interval sign(int a) - { - return (a > 0) ? 1 : ((a < 0) ? -1 : 0); - } }; /** @@ -45,7 +39,11 @@ namespace codac2 CtcAction operator()(codac::Ctc& ctc) const; codac::IntervalVector operator()(const codac::IntervalVector& x) const; OctaSym invert() const; + + friend std::ostream& operator<<(std::ostream& str, const OctaSym& s); }; + + OctaSym operator*(const OctaSym& s1, const OctaSym& s2); } #endif \ No newline at end of file From e3549453513cec571a20ac77c89069ce9947a1cc Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 25 May 2023 18:48:03 +0200 Subject: [PATCH 101/256] [doc] updated gome page --- doc/doc/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/doc/index.rst b/doc/doc/index.rst index 4912e1789..6c99cbe43 100644 --- a/doc/doc/index.rst +++ b/doc/doc/index.rst @@ -359,7 +359,7 @@ Contributors * `Peter Franek `_ * `Gilles Trombettoni `_ * Verlein Radwan - * `Mohamed Saad Ibn Seddik `_ + * Joris Tillet Main related publications From 00a2d49f5d62717d5b75ae8cc142c9ef74c9bafb Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 28 May 2023 18:38:10 +0200 Subject: [PATCH 102/256] Updated .nupkg --- .github/workflows/unixmatrix.yml | 3 ++- packages/choco/codac/codac.nuspec | 2 +- packages/choco/codac/tools/chocolateyinstall.ps1 | 4 ++-- packages/choco/codac/tools/sharedVars.ps1 | 1 + 4 files changed, 6 insertions(+), 4 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 376f17497..86be07424 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -137,7 +137,8 @@ jobs: cd packages/choco sed_param=s/\1\<\\/version\>/\${PACKAGE_VERSION}\<\\/version\>/ sed -i "$sed_param" codac/codac.nuspec - sed_param=s/codac-1/codac-${PACKAGE_VERSION}/ + sed_param=s/download\\/v1\\/codac/download\\/v${PACKAGE_VERSION}\\/codac/ + sed -i "$sed_param" codac/codac.nuspec sed -i "$sed_param" codac/tools/chocolateyinstall.ps1 mv -f codac codac.$PACKAGE_VERSION cd codac.$PACKAGE_VERSION diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index af1939078..b1f861fee 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -34,7 +34,7 @@ The following package parameters can be set: - `/NoRegistry` - Will not try to update Windows registry. To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/NoPath /NoRegistry'"`), and to install another binary package, try e.g. ``` -choco install -y --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/codac-1.2.2/codac_x86_vc15.zip'" +choco install -y --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/v1/codac_x64_vc17.zip'" ``` https://github.com/codac-team/codac/releases diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index ed7a24c5d..bf3284425 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -17,9 +17,9 @@ $root = Join-Path $installDir "codac" New-Item -ItemType Directory -Force -Path $root | Out-Null if (!$pp['url']) { - $url = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x86_mingw$MinGWMVer.zip' + $url = 'https://github.com/codac-team/codac/releases/download/v1/codac_x86_mingw11.zip' $checksum = 'EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE' - $url64 = 'https://github.com/lebarsfa/codac/releases/download/codac-1/codac_x64_mingw$MinGWMVer.zip' + $url64 = 'https://github.com/codac-team/codac/releases/download/v1/codac_x64_mingw11.zip' $checksum64 = 'FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF' $packageArgs = @{ packageName = $env:ChocolateyPackageName diff --git a/packages/choco/codac/tools/sharedVars.ps1 b/packages/choco/codac/tools/sharedVars.ps1 index 77a595455..98e579210 100644 --- a/packages/choco/codac/tools/sharedVars.ps1 +++ b/packages/choco/codac/tools/sharedVars.ps1 @@ -1,3 +1,4 @@ +# Some of these variables might not be used in links to simplify parsing of files... if ((Get-ProcessorBits 32) -or $env:ChocolateyForceX86 -eq $true) { $arch = "x86" } else { $arch = "x64" } $MinGWMVer = "11" $CMakeRegistryPath = "HKCU:\SOFTWARE\Kitware\CMake" From c2e7057fe79c80beb720ab7f7f70297da9888a85 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 1 Jun 2023 12:59:07 +0200 Subject: [PATCH 103/256] [py] temporarily removing assertion on action constructor --- python/src/core/2/actions/codac2_py_Action.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/python/src/core/2/actions/codac2_py_Action.cpp b/python/src/core/2/actions/codac2_py_Action.cpp index f3f68b4ff..73d416882 100644 --- a/python/src/core/2/actions/codac2_py_Action.cpp +++ b/python/src/core/2/actions/codac2_py_Action.cpp @@ -37,8 +37,8 @@ void export_Action(py::module& m) py::buffer_info info = s.request(); // Some sanity checks... - if(info.format != py::format_descriptor::format()) - throw std::runtime_error("Incompatible format: expected a int array"); + // TEMPORARILY REMOVED (not supported on Windows): if(info.format != py::format_descriptor::format()) + // TEMPORARILY REMOVED (not supported on Windows): throw std::runtime_error("Incompatible format: expected a int array"); //if(info.ndim == 1 || // e.g.: a=np.array([1,0,0]) // (info.ndim == 2 && (int)info.shape[1] == 1)) // e.g.: a=np.array([[1],[0],[0]]) From eeb6d3d69770ed0168b159601aef05059bd12721 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 21 Jun 2023 16:05:05 +0200 Subject: [PATCH 104/256] [py] binding of get_connected_subsets and related classes --- python/CMakeLists.txt | 2 + python/codac_py_core.cpp | 7 ++- .../core/graphics/codac_py_VIBesFigPaving.cpp | 3 +- .../core/paving/codac_py_ConnectedSubset.cpp | 36 ++++++++++++++ python/src/core/paving/codac_py_Paving.cpp | 10 +++- .../src/core/paving/codac_py_SIVIAPaving.cpp | 47 +++++++++++++++++++ python/src/core/paving/codac_py_Set.cpp | 3 ++ src/core/paving/codac_Paving.cpp | 3 +- src/core/paving/codac_Paving.h | 3 +- 9 files changed, 107 insertions(+), 7 deletions(-) create mode 100644 python/src/core/paving/codac_py_ConnectedSubset.cpp create mode 100644 python/src/core/paving/codac_py_SIVIAPaving.cpp diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 184cbc7a4..680ce863e 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -97,7 +97,9 @@ src/core/geometry/codac_py_geometry.cpp src/core/paving/codac_py_Paving.cpp + src/core/paving/codac_py_SIVIAPaving.cpp src/core/paving/codac_py_Set.cpp + src/core/paving/codac_py_ConnectedSubset.cpp src/core/sivia/codac_py_sivia.cpp diff --git a/python/codac_py_core.cpp b/python/codac_py_core.cpp index 91c270bf5..49b111895 100644 --- a/python/codac_py_core.cpp +++ b/python/codac_py_core.cpp @@ -78,9 +78,10 @@ void export_VIBesFigPaving(py::module& m); void export_geometry(py::module& m, py::class_& ctc, py::class_& sep); - -void export_Paving(py::module& m); void export_Set(py::module& m); +void export_Paving(py::module& m); +void export_SIVIAPaving(py::module& m); +void export_ConnectedSubset(py::module& m); void export_DataLoader(py::module& m); void export_TPlane(py::module& m); @@ -144,7 +145,9 @@ PYBIND11_MODULE(core, m) export_geometry(m, ctc, sep); export_Paving(m); + export_SIVIAPaving(m); export_Set(m); + export_ConnectedSubset(m); export_DataLoader(m); export_TPlane(m); diff --git a/python/src/core/graphics/codac_py_VIBesFigPaving.cpp b/python/src/core/graphics/codac_py_VIBesFigPaving.cpp index ec5d566b2..d0bf7e2cf 100644 --- a/python/src/core/graphics/codac_py_VIBesFigPaving.cpp +++ b/python/src/core/graphics/codac_py_VIBesFigPaving.cpp @@ -32,7 +32,8 @@ void export_VIBesFigPaving(py::module& m) .def(py::init(), VIBESFIGPAVING_CONSTPAVING_M_PAVING, - "fig_name"_a, "paving"_a) + "fig_name"_a, "paving"_a.noconvert(), + py::keep_alive<1,3>()) .def("show", (void (VIBesFigPaving::*)())&VIBesFigPaving::show, VIBESFIGPAVING_VOID_SHOW) diff --git a/python/src/core/paving/codac_py_ConnectedSubset.cpp b/python/src/core/paving/codac_py_ConnectedSubset.cpp new file mode 100644 index 000000000..5890fe326 --- /dev/null +++ b/python/src/core/paving/codac_py_ConnectedSubset.cpp @@ -0,0 +1,36 @@ +/** + * \file + * Paving Python binding + * ---------------------------------------------------------------------------- + * \date 2021 + * \author Simon Rohou + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include +#include + +#include "codac_ConnectedSubset.h" +// Generated file from Doxygen XML (doxygen2docstring.py): +#include "codac_py_ConnectedSubset_docs.h" + +using namespace std; +using namespace codac; +namespace py = pybind11; +using namespace pybind11::literals; + + +void export_ConnectedSubset(py::module& m) +{ + py::class_ connectedsubset(m, "ConnectedSubset", CONNECTEDSUBSET_MAIN); + connectedsubset + + .def("get_boxes", &ConnectedSubset::get_boxes, + CONNECTEDSUBSET_VECTORINTERVALVECTOR_GET_BOXES) + + ; +} \ No newline at end of file diff --git a/python/src/core/paving/codac_py_Paving.cpp b/python/src/core/paving/codac_py_Paving.cpp index f82bf4c9f..49f73642b 100644 --- a/python/src/core/paving/codac_py_Paving.cpp +++ b/python/src/core/paving/codac_py_Paving.cpp @@ -14,6 +14,7 @@ #include #include +#include "codac_Set.h" #include "codac_Paving.h" // Generated file from Doxygen XML (doxygen2docstring.py): #include "codac_py_Paving_docs.h" @@ -26,5 +27,12 @@ using namespace pybind11::literals; void export_Paving(py::module& m) { - py::class_ tplane(m, "Paving", PAVING_MAIN); + py::class_ paving(m, "Paving", PAVING_MAIN); + paving + + .def("get_connected_subsets", &Paving::get_connected_subsets, + PAVING_VECTORCONNECTEDSUBSET_GET_CONNECTED_SUBSETS_BOOL_SETVALUE, + "sort_by_size"_a=false, "val"_a) + + ; } \ No newline at end of file diff --git a/python/src/core/paving/codac_py_SIVIAPaving.cpp b/python/src/core/paving/codac_py_SIVIAPaving.cpp new file mode 100644 index 000000000..cc1526230 --- /dev/null +++ b/python/src/core/paving/codac_py_SIVIAPaving.cpp @@ -0,0 +1,47 @@ +/** + * \file + * Paving Python binding + * ---------------------------------------------------------------------------- + * \date 2021 + * \author Simon Rohou + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include +#include + +#include "codac_SIVIAPaving.h" +// Generated file from Doxygen XML (doxygen2docstring.py): +#include "codac_py_SIVIAPaving_docs.h" + +using namespace std; +using namespace codac; +namespace py = pybind11; +using namespace pybind11::literals; + + +void export_SIVIAPaving(py::module& m) +{ + py::class_ paving(m, "SIVIAPaving", SIVIAPAVING_MAIN); + paving + + .def(py::init(), + SIVIAPAVING_SIVIAPAVING_INTERVALVECTOR) + + .def("compute", (void (SIVIAPaving::*)(const Function&,const IntervalVector&,float))&SIVIAPaving::compute, + SIVIAPAVING_VOID_COMPUTE_FUNCTION_INTERVALVECTOR_FLOAT, + "f"_a, "y"_a, "precision"_a) + + .def("compute", (void (SIVIAPaving::*)(Ctc&,float))&SIVIAPaving::compute, + SIVIAPAVING_VOID_COMPUTE_CTC_FLOAT, + "ctc"_a, "precision"_a) + + .def("compute", (void (SIVIAPaving::*)(ibex::Sep&,float))&SIVIAPaving::compute, + SIVIAPAVING_VOID_COMPUTE_SEP_FLOAT, + "sep"_a, "precision"_a) + ; +} \ No newline at end of file diff --git a/python/src/core/paving/codac_py_Set.cpp b/python/src/core/paving/codac_py_Set.cpp index d6f99b472..96e862ef9 100644 --- a/python/src/core/paving/codac_py_Set.cpp +++ b/python/src/core/paving/codac_py_Set.cpp @@ -31,5 +31,8 @@ void export_Set(py::module& m) .value("OUT", SetValue::OUT) .value("IN", SetValue::IN) .value("PENUMBRA", SetValue::PENUMBRA) + + .def("__or__", [](SetValue v1, SetValue v2) { return v1|v2; }) + .def("__and__", [](SetValue v1, SetValue v2) { return v1&v2; }) ; } \ No newline at end of file diff --git a/src/core/paving/codac_Paving.cpp b/src/core/paving/codac_Paving.cpp index 0eb054e5f..307cb1e9c 100644 --- a/src/core/paving/codac_Paving.cpp +++ b/src/core/paving/codac_Paving.cpp @@ -237,12 +237,11 @@ namespace codac // todo: return x1->get_items().size() > x2->get_items().size(); // todo: } - vector Paving::get_connected_subsets(bool sort_by_size) const + vector Paving::get_connected_subsets(bool sort_by_size, SetValue val) const { reset_flags(); const Paving *p; - SetValue val = SetValue::UNKNOWN | SetValue::IN; vector v_connected_subsets; while((p = get_first_leaf(val, true))) diff --git a/src/core/paving/codac_Paving.h b/src/core/paving/codac_Paving.h index 5e633f105..42a049ae0 100644 --- a/src/core/paving/codac_Paving.h +++ b/src/core/paving/codac_Paving.h @@ -206,9 +206,10 @@ namespace codac * * \param sort_by_size (optional) if `true` then the subsets will be * sort by the number of boxes they are made of + * \param val the value of the leaves defining the connected items * \return the set of connected subsets */ - std::vector get_connected_subsets(bool sort_by_size = false) const; + std::vector get_connected_subsets(bool sort_by_size = false, SetValue val = SetValue::UNKNOWN | SetValue::IN) const; /// @} From 2912ab5471e9aab954c97c4a96bc5618ef7ddfba Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 21 Jun 2023 17:27:01 +0200 Subject: [PATCH 105/256] [paving] added ConnectecSubset::contains + binding --- python/src/core/paving/codac_py_ConnectedSubset.cpp | 9 +++++++++ src/core/paving/codac_ConnectedSubset.cpp | 8 ++++++++ src/core/paving/codac_ConnectedSubset.h | 9 +++++++++ 3 files changed, 26 insertions(+) diff --git a/python/src/core/paving/codac_py_ConnectedSubset.cpp b/python/src/core/paving/codac_py_ConnectedSubset.cpp index 5890fe326..a1b0d233d 100644 --- a/python/src/core/paving/codac_py_ConnectedSubset.cpp +++ b/python/src/core/paving/codac_py_ConnectedSubset.cpp @@ -13,7 +13,9 @@ #include #include #include +#include "codac_type_caster.h" +#include "codac_Vector.h" #include "codac_ConnectedSubset.h" // Generated file from Doxygen XML (doxygen2docstring.py): #include "codac_py_ConnectedSubset_docs.h" @@ -32,5 +34,12 @@ void export_ConnectedSubset(py::module& m) .def("get_boxes", &ConnectedSubset::get_boxes, CONNECTEDSUBSET_VECTORINTERVALVECTOR_GET_BOXES) + .def("is_strictly_included_in_paving", &ConnectedSubset::is_strictly_included_in_paving, + CONNECTEDSUBSET_BOOL_IS_STRICTLY_INCLUDED_IN_PAVING) + + .def("contains", &ConnectedSubset::contains, + CONNECTEDSUBSET_BOOL_CONTAINS_VECTOR, + "p"_a.noconvert()) + ; } \ No newline at end of file diff --git a/src/core/paving/codac_ConnectedSubset.cpp b/src/core/paving/codac_ConnectedSubset.cpp index 81799fa53..f1029dd36 100644 --- a/src/core/paving/codac_ConnectedSubset.cpp +++ b/src/core/paving/codac_ConnectedSubset.cpp @@ -36,6 +36,14 @@ namespace codac return box().is_strict_interior_subset(get_paving()->box()); } + bool ConnectedSubset::contains(const Vector& p) const + { + for(const auto& subset_item : m_v_subset_items) + if(subset_item->box().contains(p)) + return true; + return false; + } + const Paving* ConnectedSubset::get_paving() const { assert(!m_v_subset_items.empty() && "no items in ConnectedSubset (empty items vector)"); diff --git a/src/core/paving/codac_ConnectedSubset.h b/src/core/paving/codac_ConnectedSubset.h index c4591b611..6eb6956a9 100644 --- a/src/core/paving/codac_ConnectedSubset.h +++ b/src/core/paving/codac_ConnectedSubset.h @@ -14,6 +14,7 @@ #include #include "codac_IntervalMatrix.h" +#include "codac_Vector.h" #include "codac_Set.h" namespace codac @@ -56,6 +57,14 @@ namespace codac */ bool is_strictly_included_in_paving() const; + /** + * \brief Tests if p is contained in the connected subset + * + * \param p vector to be tested + * \return `true` if p is inside this + */ + bool contains(const Vector& p) const; + /** * \brief Returns a const pointer to the paving structure * From a645ab5d80ba890cda0d9daada78fe10e82e2034 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 28 Jun 2023 14:33:58 +0200 Subject: [PATCH 106/256] [paving] corrected bug in SIVIA paving --- src/core/paving/codac_SIVIAPaving.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/core/paving/codac_SIVIAPaving.cpp b/src/core/paving/codac_SIVIAPaving.cpp index c21af1fa1..bbbe99dd6 100644 --- a/src/core/paving/codac_SIVIAPaving.cpp +++ b/src/core/paving/codac_SIVIAPaving.cpp @@ -47,7 +47,7 @@ namespace codac } } - void SIVIAPaving::compute(Ctc &ctc, float precision) + void SIVIAPaving::compute(Ctc& ctc, float precision) { assert(precision > 0.); assert(ctc.nb_var == box().size()); @@ -58,7 +58,7 @@ namespace codac if(result.is_empty()) set_value(SetValue::OUT); - else if(result.max_diam() < precision) + else if(box().max_diam() < precision) set_value(SetValue::UNKNOWN); else From cb5cff79179d9d2e4f9ed17fe9e5cc58e083f9c7 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 28 Jun 2023 19:15:36 +0200 Subject: [PATCH 107/256] Force doxygen v1.9.6 on macOS since latest causes issues --- .github/workflows/macosmatrix.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index fa842a1ed..ff1d92f38 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -51,7 +51,8 @@ jobs: shell: bash - run: brew install eigen if: runner.os=='macOS' - - run: brew install doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects + # doxygen v1.9.7 causes issues... + - run: wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv From a50752c3fd0dfc916d2dd354e32f245b6e4656e8 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 28 Jun 2023 21:43:59 +0200 Subject: [PATCH 108/256] Force numpy below v1.25.0 on macOS since latest causes issues --- .github/workflows/macosmatrix.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index ff1d92f38..272b2999c 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -67,7 +67,8 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests + # numpy v1.25.0 causes issues... + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install "numpy<1.25" ; python -m unittest discover codac.tests shell: bash if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') - uses: xresloader/upload-to-github-release@v1 From c805a9e65679011cbaef83d2e5f3b0c27693a6ef Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 11 Jul 2023 15:44:35 +0200 Subject: [PATCH 109/256] [doc] added slam page --- doc/doc/conf.py.in | 2 +- doc/doc/use-cases/slam/index.rst | 8 ++++++++ 2 files changed, 9 insertions(+), 1 deletion(-) create mode 100644 doc/doc/use-cases/slam/index.rst diff --git a/doc/doc/conf.py.in b/doc/doc/conf.py.in index 450062d89..a1f0ed504 100644 --- a/doc/doc/conf.py.in +++ b/doc/doc/conf.py.in @@ -45,7 +45,7 @@ extensions = [ redirects = { "lohner": "manual/05-dynamic-contractors/03-ctc-lohner.html", - "slam": "tutorial/08-rangeonly-slam/index.html", + "slam": "use-cases/slam/index.html", "lie-symmetries": "use-cases/lie-symmetries/index.html", "sivia": "manual/11-separators/index.html", "installation": "install/01-installation.html", diff --git a/doc/doc/use-cases/slam/index.rst b/doc/doc/use-cases/slam/index.rst new file mode 100644 index 000000000..d193e0a88 --- /dev/null +++ b/doc/doc/use-cases/slam/index.rst @@ -0,0 +1,8 @@ +.. _sec-usecases-slam: + +##################################### +Simultaneous Localization And Mapping +##################################### + +* :ref:`Link to the tutorial page (Lesson H) about How to build a SLAM solver with Codac`. +* `Link to the source code of the solution of Lesson H `_. \ No newline at end of file From 488bf29a30ca91209e884dcd17a98ecccae0db0b Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 17 Jul 2023 17:34:24 +0200 Subject: [PATCH 110/256] [eigen] corrected bug in EigenHelpers --- src/core/tools/codac_Eigen.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/core/tools/codac_Eigen.cpp b/src/core/tools/codac_Eigen.cpp index 54dc187be..f746c5f77 100644 --- a/src/core/tools/codac_Eigen.cpp +++ b/src/core/tools/codac_Eigen.cpp @@ -15,7 +15,7 @@ Eigen::MatrixXd EigenHelpers::i2e(const Matrix &x) { Eigen::MatrixXd EigenHelpers::i2e(const Vector &x) { Eigen::MatrixXd m(x.size(), 1); for (int i = 0; i < x.size(); ++i) { - m(i, 1) = x[i]; + m(i, 0) = x[i]; } return m; } From a8356a7d9415e7f7977e3cafde9ca68564cefd1b Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Wed, 23 Aug 2023 15:30:26 +0200 Subject: [PATCH 111/256] [core] using Eigen for [Interval]Matrix/Vector --- src/core/2/domains/interval/codac2_Interval.h | 54 ++++ .../domains/interval/codac2_IntervalMatrix.h | 32 +++ .../domains/interval/codac2_IntervalVector.h | 267 ++++++++++++++++++ src/core/2/domains/paving/codac2_Paving.h | 124 ++++++++ src/core/2/domains/tube/codac2_Tube.h | 4 +- src/core/2/variables/codac2_Matrix.h | 53 ++++ src/core/2/variables/codac2_Vector.h | 88 ++++++ src/core/CMakeLists.txt | 11 +- src/core/paving/codac_Paving.h | 2 +- src/core/sivia/codac_sivia.cpp | 45 ++- src/core/sivia/codac_sivia.h | 22 ++ 11 files changed, 688 insertions(+), 14 deletions(-) create mode 100644 src/core/2/domains/interval/codac2_Interval.h create mode 100644 src/core/2/domains/interval/codac2_IntervalMatrix.h create mode 100644 src/core/2/domains/interval/codac2_IntervalVector.h create mode 100644 src/core/2/domains/paving/codac2_Paving.h create mode 100644 src/core/2/variables/codac2_Matrix.h create mode 100644 src/core/2/variables/codac2_Vector.h diff --git a/src/core/2/domains/interval/codac2_Interval.h b/src/core/2/domains/interval/codac2_Interval.h new file mode 100644 index 000000000..35df833d3 --- /dev/null +++ b/src/core/2/domains/interval/codac2_Interval.h @@ -0,0 +1,54 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_INTERVAL_H__ +#define __CODAC2_INTERVAL_H__ + +#include + +namespace codac2 +{ + using codac::Interval; + +} // namespace codac + +namespace Eigen +{ + template<> struct NumTraits + : NumTraits // permits to get the epsilon, dummy_precision, lowest, highest functions + { + typedef codac2::Interval Real; + typedef codac2::Interval NonInteger; + typedef codac2::Interval Nested; + + enum { + IsComplex = 0, + IsInteger = 0, + IsSigned = 1, + RequireInitialization = 1, + ReadCost = 1, + AddCost = 3, + MulCost = 3 + }; + }; +} + +namespace codac2 +{ + inline const Interval& conj(const Interval& x) { return x; } + inline const Interval& real(const Interval& x) { return x; } + inline Interval imag(const Interval&) { return 0.; } + inline Interval abs(const Interval& x) { return ibex::abs(x); } + inline Interval abs2(const Interval& x) { return x*x; } + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h new file mode 100644 index 000000000..11ccdeb45 --- /dev/null +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -0,0 +1,32 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_INTERVALMATRIX_H__ +#define __CODAC2_INTERVALMATRIX_H__ + +#include +#include +#include +#include +#include + +namespace codac2 +{ + template + class IntervalMatrix : public Eigen::Matrix + { + public: + + }; + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h new file mode 100644 index 000000000..970251fa8 --- /dev/null +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -0,0 +1,267 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_INTERVALVECTOR_H__ +#define __CODAC2_INTERVALVECTOR_H__ + +#include +#include +#include +#include +#include +#include "codac2_Interval.h" +#include "codac2_IntervalMatrix.h" +#include "codac2_Vector.h" + +namespace codac2 +{ + template + class IntervalVector : public Eigen::Matrix + { + public: + + IntervalVector() + : Eigen::Matrix() + { + + } + + explicit IntervalVector(const Vector& v) + : Eigen::Matrix() + { + for(size_t i = 0 ; i < N ; i++) + (*this)[i] = v[i]; + } + + explicit IntervalVector(const Interval& xi) + : Eigen::Matrix() + { + (*this)(0,0) = xi; + } + + IntervalVector(std::initializer_list l) + : Eigen::Matrix() + { + assert(l.size() == N); + size_t i = 0; + for(const auto& li : l) + (*this)[i++] = li; + } + + template + IntervalVector(const Eigen::MatrixBase& other) + : Eigen::Matrix(other) + { } + + // This method allows you to assign Eigen expressions to IntervalVector + template + IntervalVector& operator=(const Eigen::MatrixBase& other) + { + this->Eigen::Matrix::operator=(other); + return *this; + } + + constexpr size_t size() const + { + return N; + } + + bool is_empty() const + { + for(size_t i = 0 ; i < N ; i++) + if((*this)(i,0).is_empty()) + return true; + return false; + } + + std::pair,IntervalVector> bisect(float ratio) const + { + assert(Interval(0,1).interior_contains(ratio)); + size_t i = largest_dim(); + assert((*this)[i].is_bisectable()); + + auto p = std::make_pair(*this,*this); + auto pi = (*this)[i].bisect(ratio); + p.first[i] = pi.first; + p.second[i] = pi.second; + return p; + } + + size_t largest_dim() const + { + return to_codac1(*this).extr_diam_index(false); + } + + double volume() const + { + if(is_empty()) + return 0.; + double v = 0.; + for(size_t i = 0 ; i < N ; i++) + { + if((*this)[i].is_unbounded()) return POS_INFINITY; + if((*this)[i].is_degenerated()) return 0.; + v += log((*this)[i].diam()); + } + return exp(v); + } + + Vector lb() const + { + assert(!is_empty()); // todo: use nan instead of assert? + Vector lb; + for(size_t i = 0 ; i < N ; i++) + lb[i] = (*this)[i].lb(); + return lb; + } + + Vector ub() const + { + assert(!is_empty()); // todo: use nan instead of assert? + Vector ub; + for(size_t i = 0 ; i < N ; i++) + ub[i] = (*this)[i].ub(); + return ub; + } + + Vector mid() const + { + assert(!is_empty()); // todo: use nan instead of assert? + Vector m; + for(size_t i = 0 ; i < N ; i++) + m[i] = (*this)[i].mid(); + return m; + } + + void set_empty() + { + for(size_t i = 0 ; i < N ; i++) + (*this)[i].set_empty(); + } + + static IntervalVector empty_set() + { + IntervalVector x; + x.set_empty(); + return x; + } + + IntervalVector& operator&=(const IntervalVector& x) + { + if(!is_empty()) + { + if(x.is_empty()) + set_empty(); + + else + for(size_t i = 0 ; i < N ; i++) + (*this)[i] &= x[i]; + } + return *this; + } + + IntervalVector& operator|=(const IntervalVector& x) + { + if(!x.is_empty()) + { + if(is_empty()) + *this = x; + + else + for(size_t i = 0 ; i < N ; i++) + (*this)[i] |= x[i]; + } + return *this; + } + + IntervalVector& operator+=(const Vector& x) + { + (*this).noalias() += x.template cast(); + return *this; + } + + IntervalVector& operator-=(const Vector& x) + { + (*this).noalias() -= x.template cast(); + return *this; + } + + template + IntervalVector subvector() const + { + assert(N1 >= 0 && N1 < N && N2 >= 0 && N2 < N && N1 <= N2); + return this->template block(N1,0); + } + + template + void put(const IntervalVector& x) + { + assert(I >= 0 && I < N && M+I <= N); + this->template block(I,0) << x; + } + }; + + template + codac::IntervalVector to_codac1(const IntervalVector& x) + { + ibex::IntervalVector x_(N); + for(size_t i = 0 ; i < N ; i++) + x_[i] = x[i]; + return x_; + } + + template + IntervalVector to_codac2(const codac::IntervalVector& x) + { + assert(x.size() == N); + IntervalVector x_; + for(size_t i = 0 ; i < N ; i++) + x_[i] = x[i]; + return x_; + } + + template + IntervalVector cart_prod(const IntervalVector& x1, const Interval& x2) + { + IntervalVector x; + x << x1,x2; + return x; + } + + template + IntervalVector cart_prod(const Interval& x1, const IntervalVector& x2) + { + IntervalVector x; + x << x1,x2; + return x; + } + + template + IntervalVector cart_prod(const IntervalVector& x1, const IntervalVector& x2) + { + IntervalVector x; + x << x1,x2; + return x; + } + + template + auto cart_prod(const T1& x1, const T2& x2, const Args&... xi) // recursive variadic function + { + auto x_ = cart_prod(x1, x2); + if constexpr(sizeof...(xi) > 0) + return cart_prod(x_, xi...); + else + return x_; + } + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/paving/codac2_Paving.h b/src/core/2/domains/paving/codac2_Paving.h new file mode 100644 index 000000000..a53672391 --- /dev/null +++ b/src/core/2/domains/paving/codac2_Paving.h @@ -0,0 +1,124 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_PAVING_H__ +#define __CODAC2_PAVING_H__ + +#include +#include +#include "codac2_Interval.h" +#include "codac2_IntervalVector.h" + +namespace codac2 +{ + template + class Paving : public std::enable_shared_from_this> + { + public: + + Paving() + : _x(IntervalVector()) + { + + } + + Paving(const IntervalVector& x) + : _x(x) + { + + } + + const IntervalVector& box() const + { + return _x; + } + + bool is_leaf() const + { + return not _left && not _right; + } + + double volume() const + { + if(is_leaf()) + return _x.volume(); + double v = 0.; + if(_left) v += _left->volume(); + if(_right) v += _right->volume(); + return v; + } + + void bisect(float ratio = 0.49) + { + assert(Interval(0.,1.).interior_contains(ratio)); + assert(is_leaf() && "only leaves can be bisected"); + auto p = _x.bisect(ratio); + _left = std::make_shared(p.first); + _right = std::make_shared(p.second); + } + + IntervalVector hull_box() const + { + if(is_leaf()) + return _x; + auto hull = IntervalVector::empty_set(); + if(_left) hull |= _left->hull_box(); + if(_right) hull |= _right->hull_box(); + return hull; + } + + std::list>> boxes_list() const + { + std::list>> l; + boxes_list_push(l); + return l; + } + + std::list*> leaves_list() + { + std::list*> l; + leaves_list_push(l); + return l; + } + + protected: + + void boxes_list_push(std::list>>& l) const + { + if(is_leaf() && !_x.is_empty()) + l.push_back(std::cref(_x)); + else + { + if(_left) _left->boxes_list_push(l); + if(_right) _right->boxes_list_push(l); + } + } + + void leaves_list_push(std::list*>& l) + { + if(is_leaf() && !_x.is_empty()) + l.push_back(this); + else + { + if(_left) _left->leaves_list_push(l); + if(_right) _right->leaves_list_push(l); + } + } + + public: // todo + + IntervalVector _x; + std::shared_ptr _left = nullptr, _right = nullptr; + }; + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index a37d04423..3090e2aa2 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -479,10 +479,10 @@ namespace codac2 }; codac::Tube to_codac1(const codac2::Tube& x); - codac::TubeVector to_codac1(const codac2::Tube& x); + codac::TubeVector to_codac1(const codac2::Tube& x); codac::TubeVector to_codac1_poly(const codac2::Tube& x); codac2::Tube to_codac2(const codac::Tube& x); - codac2::Tube to_codac2(const codac::TubeVector& x); + codac2::Tube to_codac2(const codac::TubeVector& x); codac2::Tube to_codac2_poly(const codac::TubeVector& x); diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h new file mode 100644 index 000000000..7dce342a9 --- /dev/null +++ b/src/core/2/variables/codac2_Matrix.h @@ -0,0 +1,53 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_MATRIX_H__ +#define __CODAC2_MATRIX_H__ + +#include +#include +#include + +namespace codac2 +{ + template + class Matrix : public Eigen::Matrix + { + public: + + Matrix() + { + + } + + template + Matrix(const Eigen::MatrixBase& other) + : Eigen::Matrix(other) + { } + + // This method allows you to assign Eigen expressions to MyVectorType + template + Matrix& operator=(const Eigen::MatrixBase& other) + { + this->Eigen::Matrix::operator=(other); + return *this; + } + + static Matrix eye() + { + return Eigen::Matrix::Identity(); + } + + }; + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h new file mode 100644 index 000000000..e944e24b1 --- /dev/null +++ b/src/core/2/variables/codac2_Vector.h @@ -0,0 +1,88 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_VECTOR_H__ +#define __CODAC2_VECTOR_H__ + +#include +#include +#include +#include +#include + +namespace codac2 +{ + template + class Vector : public Eigen::Matrix + { + public: + + Vector() + { + + } + + Vector(double l) : Vector({ l }) + { + + } + + Vector(std::initializer_list l) + { + size_t i = 0; + for(double li : l) + (*this)(i++,0) = li; + } + + template + Vector(const Eigen::MatrixBase& other) + : Eigen::Matrix(other) + { } + + // This method allows you to assign Eigen expressions to MyVectorType + template + Vector& operator=(const Eigen::MatrixBase& other) + { + this->Eigen::Matrix::operator=(other); + return *this; + } + + Matrix as_diag() const + { + return Matrix(Eigen::Matrix(this->asDiagonal())); + } + + static Vector zeros() + { + Vector v; + return v; + } + }; + + template + Matrix diag(const Vector v) + { + return v.as_diag(); + } + + template + Vector to_codac2(const codac::Vector& x) + { + assert(x.size() == N); + Vector x_; + for(size_t i = 0 ; i < N ; i++) + x_[i] = x[i]; + return x_; + } + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 20183ea76..ce02751c0 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -179,6 +179,9 @@ ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.h # Files related to codac2 + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_Interval.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalMatrix.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalVector.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractConstTube.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlice.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlice.h @@ -193,12 +196,15 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_Tube.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeComponent.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_TubeEvaluation.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/paving/codac2_Paving.h ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcDiffInclusion.h ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcLinobs.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcLinobs.h ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/codac2_AbstractDomain.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/variables/codac2_Matrix.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/variables/codac2_Vector.h # Actions ${CMAKE_CURRENT_SOURCE_DIR}/2/actions/codac2_Action.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/actions/codac2_Action.h @@ -233,9 +239,12 @@ ${CMAKE_CURRENT_SOURCE_DIR}/tools ${CMAKE_CURRENT_SOURCE_DIR}/sivia ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/paving ${CMAKE_CURRENT_SOURCE_DIR}/2/integration/ - ${CMAKE_CURRENT_SOURCE_DIR}/2/actions/) + ${CMAKE_CURRENT_SOURCE_DIR}/2/actions/ + ${CMAKE_CURRENT_SOURCE_DIR}/2/variables/) target_link_libraries(codac PUBLIC Ibex::ibex) diff --git a/src/core/paving/codac_Paving.h b/src/core/paving/codac_Paving.h index 42a049ae0..674b18c53 100644 --- a/src/core/paving/codac_Paving.h +++ b/src/core/paving/codac_Paving.h @@ -213,7 +213,7 @@ namespace codac /// @} - protected: + public: mutable bool m_flag = false; //!< optional flag, can be used by search algorithms Paving *m_root = nullptr; //!< pointer to the root diff --git a/src/core/sivia/codac_sivia.cpp b/src/core/sivia/codac_sivia.cpp index f486d8ead..ca79ffdd8 100644 --- a/src/core/sivia/codac_sivia.cpp +++ b/src/core/sivia/codac_sivia.cpp @@ -32,8 +32,8 @@ namespace codac return v; } - map> SIVIA( - const IntervalVector& x0, Ctc& ctc, float precision, bool regular_paving, + map> _SIVIA( + const IntervalVector& x0, const IntervalVector* y0, Ctc& ctc, float precision, bool regular_paving, bool display_result, const string& fig_name, bool return_result, const SetColorMap& color_map) { assert(x0.size() >= 2); @@ -64,11 +64,11 @@ namespace codac if(!fig_name.empty()) vibes::newFigure(fig_name); - vibes::drawBox(x0); + vibes::drawBox(x0.subvector(0,1)); vibes::newGroup("boxes_out", cm.at(SetValue::OUT)); vibes::newGroup("boxes_unknown", cm.at(SetValue::UNKNOWN)); - vibes::drawBox(x0, vibesParams("figure", fig_name)); + vibes::drawBox(x0.subvector(0,1), vibesParams("figure", fig_name)); vibes::axisAuto(); } @@ -80,7 +80,7 @@ namespace codac }; ibex::LargestFirst bisector(0.); - deque stack = { x0 }; + deque stack = { y0 ? cart_prod(x0,*y0) : x0 }; int k = 0; clock_t t_start = clock(); @@ -128,7 +128,8 @@ namespace codac { IntervalVector& x_remaining = regular_paving ? x_before_ctc : x; - if(x_remaining.max_diam() < precision) + if((!y0 && x_remaining.max_diam() < precision) || + ( y0 && x_remaining.subvector(0,x0.size()-1).max_diam() < precision)) { if(display_result) { @@ -142,9 +143,19 @@ namespace codac else { - pair p = bisector.bisect(x_remaining); - stack.push_back(p.first); - stack.push_back(p.second); + if(y0) + { + pair p = bisector.bisect(x_remaining.subvector(0,x0.size()-1)); + stack.push_back(cart_prod(p.first,*y0)); + stack.push_back(cart_prod(p.second,*y0)); + } + + else + { + pair p = bisector.bisect(x_remaining); + stack.push_back(p.first); + stack.push_back(p.second); + } } } } @@ -160,6 +171,20 @@ namespace codac return boxes; } + map> SIVIA( + const IntervalVector& x0, const IntervalVector& y0, Ctc& ctc, float precision, bool regular_paving, + bool display_result, const string& fig_name, bool return_result, const SetColorMap& color_map) + { + return _SIVIA(x0, &y0, ctc, precision, regular_paving, display_result, fig_name, return_result, color_map); + } + + map> SIVIA( + const IntervalVector& x0, Ctc& ctc, float precision, bool regular_paving, + bool display_result, const string& fig_name, bool return_result, const SetColorMap& color_map) + { + return _SIVIA(x0, nullptr, ctc, precision, regular_paving, display_result, fig_name, return_result, color_map); + } + map> SIVIA( const IntervalVector& x0, ibex::Sep& sep, float precision, bool regular_paving, bool display_result, const string& fig_name, bool return_result, const SetColorMap& color_map) @@ -195,7 +220,7 @@ namespace codac if(!fig_name.empty()) vibes::newFigure(fig_name); - vibes::drawBox(x0); + vibes::drawBox(x0.subvector(0,1)); vibes::newGroup("boxes_out", cm.at(SetValue::OUT)); vibes::newGroup("boxes_unknown", cm.at(SetValue::UNKNOWN)); vibes::newGroup("boxes_in", cm.at(SetValue::IN)); diff --git a/src/core/sivia/codac_sivia.h b/src/core/sivia/codac_sivia.h index 7e595864f..260a6dd42 100644 --- a/src/core/sivia/codac_sivia.h +++ b/src/core/sivia/codac_sivia.h @@ -24,6 +24,28 @@ namespace codac /// \name SIVIA for contractors /// @{ + /** + * \brief Executes a SIVIA algorithm from a contractor, and displays the result. + * SIVIA: Set Inversion Via Interval Analysis. + * + * The result is displayed in the current VIBes figure. + * + * \param x initial box (part that will be bisected) + * \param y initial box (part that will not be bisected) + * \param ctc Contractor operator for the set inversion + * \param precision accuracy of the paving algorithm + * \param regular_paving regular bisection rule + * \param display_result display information if true + * \param fig_name name of the figure on which boxes are drawn. If empty, default figure is used + * \param return_result if true, boxes will be stored in the returned map + * \param color_map color map used to draw boxes, see SetColorMap + * \return return a map of lists of boxes. Keys of the map are IN/OUT/UNKNOWN. The lists are empty if return_result if false. + */ + std::map> SIVIA(const IntervalVector& x, const IntervalVector& y, Ctc& ctc, float precision, + bool regular_paving = false, bool display_result = true, + const std::string& fig_name = "", bool return_result = false, + const SetColorMap& color_map = DEFAULT_SET_COLOR_MAP); + /** * \brief Executes a SIVIA algorithm from a contractor, and displays the result. * SIVIA: Set Inversion Via Interval Analysis. From 7a64cbfb0beb56bbabebe856e24fb9f782757ca7 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 28 Aug 2023 14:42:04 +0200 Subject: [PATCH 112/256] [core] various updates related to Codac2 --- .../2/contractors/codac2_CtcDiffInclusion.h | 4 +- src/core/2/domains/interval/codac2_Interval.h | 2 + .../domains/interval/codac2_IntervalVector.h | 10 ++++- src/core/2/domains/paving/codac2_Paving.h | 8 ++-- .../2/integration/codac2_AbstractDomain.h | 2 +- src/core/CMakeLists.txt | 43 +++++++++++++++---- src/robotics/graphics/codac_VIBesFigMap.cpp | 4 +- 7 files changed, 55 insertions(+), 18 deletions(-) diff --git a/src/core/2/contractors/codac2_CtcDiffInclusion.h b/src/core/2/contractors/codac2_CtcDiffInclusion.h index 8ded524e5..ca1da53e6 100644 --- a/src/core/2/contractors/codac2_CtcDiffInclusion.h +++ b/src/core/2/contractors/codac2_CtcDiffInclusion.h @@ -31,8 +31,8 @@ namespace codac2 public: CtcDiffInclusion(const TFunction& t); - void contract(codac2::Tube& x, const codac2::Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); - void contract(Slice& x, const Slice& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(codac2::Tube& x, const codac2::Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); + void contract(Slice& x, const Slice& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD); const TFunction& f() const; protected: diff --git a/src/core/2/domains/interval/codac2_Interval.h b/src/core/2/domains/interval/codac2_Interval.h index 35df833d3..c87c3e56c 100644 --- a/src/core/2/domains/interval/codac2_Interval.h +++ b/src/core/2/domains/interval/codac2_Interval.h @@ -13,6 +13,8 @@ #define __CODAC2_INTERVAL_H__ #include +#include +#include namespace codac2 { diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index 970251fa8..c547d8d64 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -77,11 +77,19 @@ namespace codac2 bool is_empty() const { for(size_t i = 0 ; i < N ; i++) - if((*this)(i,0).is_empty()) + if((*this)[i].is_empty()) return true; return false; } + bool intersects(const IntervalVector& x) const + { + for(size_t i = 0 ; i < N ; i++) + if(!(*this)[i].intersects(x[i])) + return false; + return true; + } + std::pair,IntervalVector> bisect(float ratio) const { assert(Interval(0,1).interior_contains(ratio)); diff --git a/src/core/2/domains/paving/codac2_Paving.h b/src/core/2/domains/paving/codac2_Paving.h index a53672391..d7b11218d 100644 --- a/src/core/2/domains/paving/codac2_Paving.h +++ b/src/core/2/domains/paving/codac2_Paving.h @@ -75,10 +75,10 @@ namespace codac2 return hull; } - std::list>> boxes_list() const + std::list>> boxes_list(const IntervalVector& intersect = IntervalVector<2>()) const { std::list>> l; - boxes_list_push(l); + boxes_list_push(l, intersect); return l; } @@ -91,9 +91,9 @@ namespace codac2 protected: - void boxes_list_push(std::list>>& l) const + void boxes_list_push(std::list>>& l, const IntervalVector& intersect = IntervalVector<2>()) const { - if(is_leaf() && !_x.is_empty()) + if(is_leaf() && !_x.is_empty() && _x.intersects(intersect)) l.push_back(std::cref(_x)); else { diff --git a/src/core/2/integration/codac2_AbstractDomain.h b/src/core/2/integration/codac2_AbstractDomain.h index 60d3dca54..f7b837f7b 100644 --- a/src/core/2/integration/codac2_AbstractDomain.h +++ b/src/core/2/integration/codac2_AbstractDomain.h @@ -27,7 +27,7 @@ namespace codac2 public: AbstractDomain(); - IntervalVector box() const; + codac::IntervalVector box() const; protected: diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index ce02751c0..fdf90f992 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -2,7 +2,8 @@ # Codac - cmake configuration file # ================================================================== - list(APPEND SRC ${CMAKE_CURRENT_SOURCE_DIR}/functions/codac_Function.h + list(APPEND CODAC1_SRC + ${CMAKE_CURRENT_SOURCE_DIR}/functions/codac_Function.h ${CMAKE_CURRENT_SOURCE_DIR}/functions/codac_TFnc.h ${CMAKE_CURRENT_SOURCE_DIR}/functions/codac_TFnc.cpp ${CMAKE_CURRENT_SOURCE_DIR}/functions/codac_TFunction.h @@ -176,9 +177,9 @@ ${CMAKE_CURRENT_SOURCE_DIR}/tools/codac_Eigen.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tools/codac_Eigen.h ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.h + ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.h) - # Files related to codac2 + list(APPEND CODAC2_SRC # Files related to codac2 ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_Interval.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalMatrix.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalVector.h @@ -212,6 +213,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors/codac2_CtcAction.h ) + set(SRC ${CODAC1_SRC} ${CODAC2_SRC}) + ################################################################################ # Create the target for libcodac @@ -254,9 +257,9 @@ # Getting header files from sources - foreach(srcfile ${SRC}) + foreach(srcfile ${CODAC1_SRC}) if(srcfile MATCHES "\\.h$" OR srcfile MATCHES "\\.hpp$") - list(APPEND HDR ${srcfile}) + list(APPEND CODAC_HDR ${srcfile}) # Copying header files for other Codac libraries compiled in the same time file(COPY ${srcfile} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../../include) endif() @@ -268,15 +271,39 @@ file(WRITE ${CODAC_MAIN_HEADER} "/* This file is generated by CMake */\n\n") file(APPEND ${CODAC_MAIN_HEADER} "#ifndef __CODAC_H__\n#define __CODAC_H__\n\n") file(APPEND ${CODAC_MAIN_HEADER} "\n#include \n") # todo: clean this organization - foreach(header_path ${HDR}) + foreach(header_path ${CODAC_HDR}) get_filename_component(header_name ${header_path} NAME) file(APPEND ${CODAC_MAIN_HEADER} "#include <${header_name}>\n") endforeach() file(APPEND ${CODAC_MAIN_HEADER} "\n#endif /* __CODAC_H__ */\n") file(COPY ${CODAC_MAIN_HEADER} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../../include) + +# Getting header files from sources + + foreach(srcfile ${CODAC2_SRC}) + if(srcfile MATCHES "\\.h$" OR srcfile MATCHES "\\.hpp$") + list(APPEND CODAC2_HDR ${srcfile}) + # Copying header files for other Codac libraries compiled in the same time + file(COPY ${srcfile} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../../include) + endif() + endforeach() + +# Generating a codac.h file + + set(CODAC2_MAIN_HEADER ${CMAKE_CURRENT_BINARY_DIR}/codac2.h) + file(WRITE ${CODAC2_MAIN_HEADER} "/* This file is generated by CMake */\n\n") + file(APPEND ${CODAC2_MAIN_HEADER} "#ifndef __CODAC2_H__\n#define __CODAC2_H__\n\n") + foreach(header_path ${CODAC2_HDR}) + get_filename_component(header_name ${header_path} NAME) + file(APPEND ${CODAC2_MAIN_HEADER} "#include <${header_name}>\n") + endforeach() + file(APPEND ${CODAC2_MAIN_HEADER} "\n#endif /* __CODAC_H__ */\n") + file(COPY ${CODAC2_MAIN_HEADER} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../../include) # Install files in system directories install(TARGETS codac DESTINATION ${CMAKE_INSTALL_LIBDIR}) - install(FILES ${HDR} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/codac) - install(FILES ${CODAC_MAIN_HEADER} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/codac) \ No newline at end of file + install(FILES ${CODAC_HDR} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/codac) + install(FILES ${CODAC_MAIN_HEADER} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/codac) + install(FILES ${CODAC2_HDR} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/codac) + install(FILES ${CODAC2_MAIN_HEADER} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/codac) \ No newline at end of file diff --git a/src/robotics/graphics/codac_VIBesFigMap.cpp b/src/robotics/graphics/codac_VIBesFigMap.cpp index b8efd5f98..1bfdd4a73 100644 --- a/src/robotics/graphics/codac_VIBesFigMap.cpp +++ b/src/robotics/graphics/codac_VIBesFigMap.cpp @@ -61,7 +61,7 @@ namespace codac for(it_trajs = m_map_trajs.begin(); it_trajs != m_map_trajs.end(); it_trajs++) m_view_box |= draw_trajectory(it_trajs->first); - axis_limits(m_view_box, true, 0.02); + //axis_limits(m_view_box, true, 0.02); } void VIBesFigMap::show(float robot_size) @@ -710,7 +710,7 @@ namespace codac assert(pose.size() == 2 || pose.size() == 3); float robot_size = size == -1 ? m_robot_size : size; double robot_heading = pose.size() == 3 ? pose[2] : 0.; - axis_limits(m_view_box | pose.subvector(0,1), true); + //axis_limits(m_view_box | pose.subvector(0,1), true); //vibes::drawTank(pose[0], pose[1], robot_heading * 180. / M_PI, robot_size, "black[yellow]", params); vibes::drawAUV(pose[0], pose[1], robot_heading * 180. / M_PI, robot_size, "black[yellow]", params); } From 104b57476ad49b4a212323f6e88e5a9fb257d467 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 28 Aug 2023 17:21:42 +0200 Subject: [PATCH 113/256] [core] templated Interval/Vector/Matrix --- .../domains/interval/codac2_IntervalMatrix.h | 2 +- .../domains/interval/codac2_IntervalVector.h | 174 +++++++++++------- src/core/2/domains/paving/codac2_Paving.h | 22 +-- .../2/domains/tube/codac2_AbstractConstTube.h | 1 - .../2/domains/tube/codac2_AbstractSlice.h | 1 - src/core/2/domains/tube/codac2_Slice.h | 1 - .../2/integration/codac2_AbstractDomain.h | 2 - src/core/2/variables/codac2_Matrix.h | 2 +- src/core/2/variables/codac2_Vector.h | 60 ++++-- 9 files changed, 169 insertions(+), 96 deletions(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 11ccdeb45..372a40111 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -20,7 +20,7 @@ namespace codac2 { - template + template class IntervalMatrix : public Eigen::Matrix { public: diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index c547d8d64..65bb8167f 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -19,51 +19,61 @@ #include #include "codac2_Interval.h" #include "codac2_IntervalMatrix.h" -#include "codac2_Vector.h" namespace codac2 { - template - class IntervalVector : public Eigen::Matrix + template + class Vector_; + + using Eigen::Dynamic; + + template + class IntervalVector_ : public Eigen::Matrix { public: - IntervalVector() + IntervalVector_() : Eigen::Matrix() - { + { } + IntervalVector_(size_t n) + : Eigen::Matrix(n) + { + assert(N == Dynamic || N == n); } - explicit IntervalVector(const Vector& v) - : Eigen::Matrix() + template + explicit IntervalVector_(const Vector_& v) + : Eigen::Matrix(v.size()) { - for(size_t i = 0 ; i < N ; i++) + static_assert(N == M || N == -1 || M == -1); + for(size_t i = 0 ; i < size() ; i++) (*this)[i] = v[i]; } - explicit IntervalVector(const Interval& xi) - : Eigen::Matrix() - { - (*this)(0,0) = xi; - } + //explicit IntervalVector_(const Interval& xi) + // : Eigen::Matrix() + //{ + // (*this)(0,0) = xi; + //} - IntervalVector(std::initializer_list l) + IntervalVector_(std::initializer_list l) : Eigen::Matrix() { - assert(l.size() == N); + assert(l.size() == size()); size_t i = 0; for(const auto& li : l) (*this)[i++] = li; } template - IntervalVector(const Eigen::MatrixBase& other) + IntervalVector_(const Eigen::MatrixBase& other) : Eigen::Matrix(other) { } - // This method allows you to assign Eigen expressions to IntervalVector + // This method allows you to assign Eigen expressions to IntervalVector_ template - IntervalVector& operator=(const Eigen::MatrixBase& other) + IntervalVector_& operator=(const Eigen::MatrixBase& other) { this->Eigen::Matrix::operator=(other); return *this; @@ -71,26 +81,27 @@ namespace codac2 constexpr size_t size() const { - return N; + return this->Eigen::Matrix::size(); } bool is_empty() const { - for(size_t i = 0 ; i < N ; i++) + for(size_t i = 0 ; i < size() ; i++) if((*this)[i].is_empty()) return true; return false; } - bool intersects(const IntervalVector& x) const + bool intersects(const IntervalVector_& x) const { - for(size_t i = 0 ; i < N ; i++) + // todo: case of Dynamic vs Fixed + for(size_t i = 0 ; i < size() ; i++) if(!(*this)[i].intersects(x[i])) return false; return true; } - std::pair,IntervalVector> bisect(float ratio) const + std::pair,IntervalVector_> bisect(float ratio = 0.49) const { assert(Interval(0,1).interior_contains(ratio)); size_t i = largest_dim(); @@ -113,7 +124,7 @@ namespace codac2 if(is_empty()) return 0.; double v = 0.; - for(size_t i = 0 ; i < N ; i++) + for(size_t i = 0 ; i < size() ; i++) { if((*this)[i].is_unbounded()) return POS_INFINITY; if((*this)[i].is_degenerated()) return 0.; @@ -122,47 +133,55 @@ namespace codac2 return exp(v); } - Vector lb() const + Vector_ lb() const { assert(!is_empty()); // todo: use nan instead of assert? - Vector lb; - for(size_t i = 0 ; i < N ; i++) + Vector_ lb(size()); + for(size_t i = 0 ; i < size() ; i++) lb[i] = (*this)[i].lb(); return lb; } - Vector ub() const + Vector_ ub() const { assert(!is_empty()); // todo: use nan instead of assert? - Vector ub; - for(size_t i = 0 ; i < N ; i++) + Vector_ ub(size()); + for(size_t i = 0 ; i < size() ; i++) ub[i] = (*this)[i].ub(); return ub; } - Vector mid() const + Vector_ mid() const { assert(!is_empty()); // todo: use nan instead of assert? - Vector m; - for(size_t i = 0 ; i < N ; i++) + Vector_ m(size()); + for(size_t i = 0 ; i < size() ; i++) m[i] = (*this)[i].mid(); return m; } void set_empty() { - for(size_t i = 0 ; i < N ; i++) + for(size_t i = 0 ; i < size() ; i++) (*this)[i].set_empty(); } - static IntervalVector empty_set() + static IntervalVector_ empty_set(size_t n = N) { - IntervalVector x; + IntervalVector_ x(n); x.set_empty(); return x; } - IntervalVector& operator&=(const IntervalVector& x) + IntervalVector_& inflate(double r) + { + assert(r >= 0.); + for(size_t i = 0 ; i < size() ; i++) + (*this)[i].inflate(r); + return *this; + } + + IntervalVector_& operator&=(const IntervalVector_& x) { if(!is_empty()) { @@ -170,13 +189,13 @@ namespace codac2 set_empty(); else - for(size_t i = 0 ; i < N ; i++) + for(size_t i = 0 ; i < size() ; i++) (*this)[i] &= x[i]; } return *this; } - IntervalVector& operator|=(const IntervalVector& x) + IntervalVector_& operator|=(const IntervalVector_& x) { if(!x.is_empty()) { @@ -184,78 +203,89 @@ namespace codac2 *this = x; else - for(size_t i = 0 ; i < N ; i++) + for(size_t i = 0 ; i < size() ; i++) (*this)[i] |= x[i]; } return *this; } - IntervalVector& operator+=(const Vector& x) + IntervalVector_& operator+=(const Vector_& x) { (*this).noalias() += x.template cast(); return *this; } - IntervalVector& operator-=(const Vector& x) + IntervalVector_& operator-=(const Vector_& x) { (*this).noalias() -= x.template cast(); return *this; } template - IntervalVector subvector() const + IntervalVector_ subvector() const { assert(N1 >= 0 && N1 < N && N2 >= 0 && N2 < N && N1 <= N2); return this->template block(N1,0); } - template - void put(const IntervalVector& x) + IntervalVector_<> subvector(size_t start_index, size_t end_index) const + { + assert(end_index >= 0 && start_index >= 0); + assert(end_index < size() && start_index <= end_index); + + IntervalVector_<> s(end_index-start_index+1); + for(size_t i = 0 ; i < s.size() ; i++) + s[i] = (*this)[i+start_index]; + return s; + } + + template + void put(const IntervalVector_& x) { assert(I >= 0 && I < N && M+I <= N); this->template block(I,0) << x; } }; - template - codac::IntervalVector to_codac1(const IntervalVector& x) + template + codac::IntervalVector to_codac1(const IntervalVector_& x) { - ibex::IntervalVector x_(N); - for(size_t i = 0 ; i < N ; i++) + ibex::IntervalVector x_(x.size()); + for(size_t i = 0 ; i < x.size() ; i++) x_[i] = x[i]; return x_; } - template - IntervalVector to_codac2(const codac::IntervalVector& x) + template + IntervalVector_ to_codac2(const codac::IntervalVector& x) { assert(x.size() == N); - IntervalVector x_; - for(size_t i = 0 ; i < N ; i++) + IntervalVector_ x_(x.size()); + for(size_t i = 0 ; i < x.size() ; i++) x_[i] = x[i]; return x_; } - template - IntervalVector cart_prod(const IntervalVector& x1, const Interval& x2) + template + IntervalVector_ cart_prod(const IntervalVector_& x1, const Interval& x2) { - IntervalVector x; + IntervalVector_ x; x << x1,x2; return x; } - template - IntervalVector cart_prod(const Interval& x1, const IntervalVector& x2) + template + IntervalVector_ cart_prod(const Interval& x1, const IntervalVector_& x2) { - IntervalVector x; + IntervalVector_ x; x << x1,x2; return x; } - template - IntervalVector cart_prod(const IntervalVector& x1, const IntervalVector& x2) + template + IntervalVector_ cart_prod(const IntervalVector_& x1, const IntervalVector_& x2) { - IntervalVector x; + IntervalVector_ x; x << x1,x2; return x; } @@ -270,6 +300,26 @@ namespace codac2 return x_; } + class IntervalVector : public IntervalVector_<> + { + public: + + explicit IntervalVector(int n) + : IntervalVector_<>(n) + { } + + IntervalVector(const IntervalVector_<>& x) + : IntervalVector_<>(x) + { } + + template + explicit IntervalVector(const Vector_& v) + : IntervalVector_<>(v) + { + + } + }; + } // namespace codac #endif \ No newline at end of file diff --git a/src/core/2/domains/paving/codac2_Paving.h b/src/core/2/domains/paving/codac2_Paving.h index d7b11218d..f1450fe35 100644 --- a/src/core/2/domains/paving/codac2_Paving.h +++ b/src/core/2/domains/paving/codac2_Paving.h @@ -19,24 +19,24 @@ namespace codac2 { - template + template class Paving : public std::enable_shared_from_this> { public: - Paving() - : _x(IntervalVector()) + Paving(size_t n) + : _x(IntervalVector_(n)) { } - Paving(const IntervalVector& x) + Paving(const IntervalVector_& x) : _x(x) { } - const IntervalVector& box() const + const IntervalVector_& box() const { return _x; } @@ -65,19 +65,19 @@ namespace codac2 _right = std::make_shared(p.second); } - IntervalVector hull_box() const + IntervalVector_ hull_box() const { if(is_leaf()) return _x; - auto hull = IntervalVector::empty_set(); + auto hull = IntervalVector_::empty_set(); if(_left) hull |= _left->hull_box(); if(_right) hull |= _right->hull_box(); return hull; } - std::list>> boxes_list(const IntervalVector& intersect = IntervalVector<2>()) const + std::list>> boxes_list(const IntervalVector_& intersect = IntervalVector_()) const { - std::list>> l; + std::list>> l; boxes_list_push(l, intersect); return l; } @@ -91,7 +91,7 @@ namespace codac2 protected: - void boxes_list_push(std::list>>& l, const IntervalVector& intersect = IntervalVector<2>()) const + void boxes_list_push(std::list>>& l, const IntervalVector_& intersect = IntervalVector_()) const { if(is_leaf() && !_x.is_empty() && _x.intersects(intersect)) l.push_back(std::cref(_x)); @@ -115,7 +115,7 @@ namespace codac2 public: // todo - IntervalVector _x; + IntervalVector_ _x; std::shared_ptr _left = nullptr, _right = nullptr; }; diff --git a/src/core/2/domains/tube/codac2_AbstractConstTube.h b/src/core/2/domains/tube/codac2_AbstractConstTube.h index c84addb12..155018296 100644 --- a/src/core/2/domains/tube/codac2_AbstractConstTube.h +++ b/src/core/2/domains/tube/codac2_AbstractConstTube.h @@ -25,7 +25,6 @@ namespace codac2 using codac::Trajectory; using codac::TrajectoryVector; using codac::Interval; - using codac::IntervalVector; using codac::BoolInterval; template diff --git a/src/core/2/domains/tube/codac2_AbstractSlice.h b/src/core/2/domains/tube/codac2_AbstractSlice.h index 6328549aa..5ad21e0bb 100644 --- a/src/core/2/domains/tube/codac2_AbstractSlice.h +++ b/src/core/2/domains/tube/codac2_AbstractSlice.h @@ -24,7 +24,6 @@ namespace codac2 { using codac::Interval; - using codac::IntervalVector; using codac::TrajectoryVector; class TSlice; diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index ca136ca02..1810111bf 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -29,7 +29,6 @@ namespace codac2 { using codac::Interval; - using codac::IntervalVector; using codac::TrajectoryVector; using codac::BoolInterval; diff --git a/src/core/2/integration/codac2_AbstractDomain.h b/src/core/2/integration/codac2_AbstractDomain.h index f7b837f7b..550dfcb53 100644 --- a/src/core/2/integration/codac2_AbstractDomain.h +++ b/src/core/2/integration/codac2_AbstractDomain.h @@ -16,8 +16,6 @@ namespace codac2 { - using codac::IntervalVector; - /** * \class AbstractDomain * \brief ... diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index 7dce342a9..cd4cad8f3 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -18,7 +18,7 @@ namespace codac2 { - template + template class Matrix : public Eigen::Matrix { public: diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index e944e24b1..212741fe3 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -20,36 +20,40 @@ namespace codac2 { - template - class Vector : public Eigen::Matrix + using Eigen::Dynamic; + + template + class Vector_ : public Eigen::Matrix { public: - Vector() + Vector_() { } - Vector(double l) : Vector({ l }) + Vector_(size_t n) + : Eigen::Matrix(n) { - + assert(N == Dynamic || N == n); } - Vector(std::initializer_list l) + Vector_(std::initializer_list l) : Eigen::Matrix(l.size()) { + assert(N == l.size() || N == -1); size_t i = 0; for(double li : l) (*this)(i++,0) = li; } template - Vector(const Eigen::MatrixBase& other) + Vector_(const Eigen::MatrixBase& other) : Eigen::Matrix(other) { } - // This method allows you to assign Eigen expressions to MyVectorType + // This method allows you to assign Eigen expressions to MyVector_Type template - Vector& operator=(const Eigen::MatrixBase& other) + Vector_& operator=(const Eigen::MatrixBase& other) { this->Eigen::Matrix::operator=(other); return *this; @@ -60,29 +64,53 @@ namespace codac2 return Matrix(Eigen::Matrix(this->asDiagonal())); } - static Vector zeros() + static Vector_ zeros() { - Vector v; + Vector_ v; return v; } }; - template - Matrix diag(const Vector v) + template + Matrix diag(const Vector_ v) { return v.as_diag(); } - template - Vector to_codac2(const codac::Vector& x) + template + Vector_ to_codac2(const codac::Vector& x) { assert(x.size() == N); - Vector x_; + Vector_ x_; for(size_t i = 0 ; i < N ; i++) x_[i] = x[i]; return x_; } + class Vector : public Vector_<> + { + public: + + explicit Vector(int n) + : Vector_<>(n) + { } + + Vector(const Vector_<>& x) + : Vector_<>(x) + { } + + explicit Vector(std::initializer_list l) + : Vector_<>(l) + { } + + template + explicit Vector(const Vector_& v) + : Vector_<>(v) + { + + } + }; + } // namespace codac #endif \ No newline at end of file From 297bf8e6aaefac67681c8be2f0846073e3b9d2a0 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 5 Sep 2023 16:01:58 +0200 Subject: [PATCH 114/256] [core] templated Interval/Vector/Matrix --- src/core/2/domains/interval/codac2_IntervalMatrix.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 372a40111..d65a69fa1 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -21,7 +21,7 @@ namespace codac2 { template - class IntervalMatrix : public Eigen::Matrix + class IntervalMatrix_ : public Eigen::Matrix { public: From 5ba2ee0b9b25726a20435d6bad26fc01f64a90d8 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 8 Sep 2023 11:53:48 +0200 Subject: [PATCH 115/256] [core] templated Interval/Vector/Matrix --- src/core/2/domains/interval/codac2_Interval.h | 4 +- .../domains/interval/codac2_IntervalMatrix.h | 273 +++++++++++++++++- .../domains/interval/codac2_IntervalVector.h | 180 ++---------- src/core/2/domains/paving/codac2_Paving.h | 10 + src/core/2/variables/codac2_Matrix.h | 21 +- src/core/2/variables/codac2_Vector.h | 26 +- 6 files changed, 344 insertions(+), 170 deletions(-) diff --git a/src/core/2/domains/interval/codac2_Interval.h b/src/core/2/domains/interval/codac2_Interval.h index c87c3e56c..c829cb992 100644 --- a/src/core/2/domains/interval/codac2_Interval.h +++ b/src/core/2/domains/interval/codac2_Interval.h @@ -35,7 +35,7 @@ namespace Eigen IsComplex = 0, IsInteger = 0, IsSigned = 1, - RequireInitialization = 1, + RequireInitialization = 0, ReadCost = 1, AddCost = 3, MulCost = 3 @@ -49,7 +49,7 @@ namespace codac2 inline const Interval& real(const Interval& x) { return x; } inline Interval imag(const Interval&) { return 0.; } inline Interval abs(const Interval& x) { return ibex::abs(x); } - inline Interval abs2(const Interval& x) { return x*x; } + inline Interval abs2(const Interval& x) { return ibex::sqr(x); } } // namespace codac diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index d65a69fa1..dbcba4c66 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -13,18 +13,285 @@ #define __CODAC2_INTERVALMATRIX_H__ #include -#include #include #include #include +#include namespace codac2 { - template - class IntervalMatrix_ : public Eigen::Matrix + using Eigen::Dynamic; + + template + class IntervalMatrix_ : public Eigen::Matrix + { + public: + + IntervalMatrix_() + : Eigen::Matrix() + { + + } + + IntervalMatrix_(size_t nb_rows, size_t nb_cols) + : Eigen::Matrix(nb_rows, nb_cols) + { + assert(R == Dynamic || R == nb_rows); + assert(C == Dynamic || C == nb_cols); + } + + template + IntervalMatrix_(const Eigen::MatrixBase& other) + : Eigen::Matrix(other) + { } + + // This method allows you to assign Eigen expressions to IntervalMatrix_ + template + IntervalMatrix_& operator=(const Eigen::MatrixBase& other) + { + this->Eigen::Matrix::operator=(other); + return *this; + } + + constexpr size_t size() const + { + return this->Eigen::Matrix::size(); + } + + bool is_empty() const + { + for(size_t i = 0 ; i < size() ; i++) + if((this->data()+i)->is_empty()) + return true; + return false; + } + + bool intersects(const IntervalMatrix_& x) const + { + for(size_t i = 0 ; i < size() ; i++) + if(!(this->data()+i)->intersects(*(x.data()+i))) + return false; + return true; + } + + size_t thinnest_diam_index() const + { + return extr_diam_index(true); + } + + size_t largest_diam_index() const + { + return extr_diam_index(false); + } + + size_t extr_diam_index(bool min) const + { + // This code originates from the ibex-lib + // See: ibex_TemplateVector.h + // Author: Gilles Chabert + + double d = min ? POS_INFINITY : -1; // -1 to be sure that even a 0-diameter interval can be selected + size_t selected_index = -1; + bool unbounded = false; + assert(!this->is_empty() && "Diameter of an empty IntervalVector is undefined"); + + size_t i; + + for(i = 0 ; i < this->size() ; i++) + { + if((this->data()+i)->is_unbounded()) + { + unbounded = true; + if(!min) break; + } + else + { + double w = (this->data()+i)->diam(); + if(min ? wd) + { + selected_index = i; + d = w; + } + } + } + + if(min && selected_index == -1) + { + assert(unbounded); + // the selected interval is the first one. + i = 0; + } + + // The unbounded intervals are not considered if we look for the minimal diameter + // and some bounded intervals have been found (selected_index!=-1) + if(unbounded && (!min || selected_index==-1)) + { + double pt = min ? NEG_INFINITY : POS_INFINITY; // keep the point less/most distant from +oo (we normalize if the lower bound is -oo) + selected_index = i; + for(; i < this->size() ; i++) + { + if((this->data()+i)->lb() == NEG_INFINITY) + { + if((this->data()+i)->ub() == POS_INFINITY) + { + if(!min) + { + selected_index = i; + break; + } + } + if((min && (-(this->data()+i)->ub() > pt)) || (!min && (-(this->data()+i)->ub() < pt))) + { + selected_index = i; + pt = -(this->data()+i)->ub(); + } + } + else if((this->data()+i)->ub() == POS_INFINITY) + { + if((min && ((this->data()+i)->lb() > pt)) || (!min && ((this->data()+i)->lb() < pt))) + { + selected_index = i; + pt = (this->data()+i)->lb(); + } + } + } + } + + return selected_index; + } + + auto bisect(float ratio = 0.49) const + { + assert(Interval(0,1).interior_contains(ratio)); + size_t i = largest_diam_index(); + assert((this->data()+i)->is_bisectable()); + + auto p = std::make_pair(*this,*this); + auto pi = (this->data()+i)->bisect(ratio); + *(p.first.data()+i) = pi.first; + *(p.second.data()+i) = pi.second; + return p; + } + + double volume() const + { + if(this->is_empty()) + return 0.; + double v = 0.; + for(size_t i = 0 ; i < this->size() ; i++) + { + if((this->data()+i)->is_unbounded()) return POS_INFINITY; + if((this->data()+i)->is_degenerated()) return 0.; + v += log((this->data()+i)->diam()); + } + return exp(v); + } + + Matrix_ lb() const + { + assert(!this->is_empty()); // todo: use nan instead of assert? + Matrix_ lb; + for(size_t i = 0 ; i < this->size() ; i++) + *(lb.data()+i) = (this->data()+i)->lb(); + return lb; + } + + Matrix_ ub() const + { + assert(!this->is_empty()); // todo: use nan instead of assert? + Matrix_ ub; + for(size_t i = 0 ; i < this->size() ; i++) + *(ub.data()+i) = (this->data()+i)->ub(); + return ub; + } + + Matrix_ mid() const + { + assert(!this->is_empty()); // todo: use nan instead of assert? + Matrix_ m; + for(size_t i = 0 ; i < this->size() ; i++) + *(m.data()+i) = (this->data()+i)->mid(); + return m; + } + + void set_empty() + { + for(size_t i = 0 ; i < this->size() ; i++) + (this->data()+i)->set_empty(); + } + + static IntervalMatrix_ empty_set(size_t nb_rows = R, size_t nb_cols = C) + { + IntervalMatrix_ x(nb_rows, nb_cols); + x.set_empty(); + return x; + } + + auto& inflate(double r) + { + assert(r >= 0.); + for(size_t i = 0 ; i < this->size() ; i++) + (this->data()+i)->inflate(r); + return *this; + } + + auto& operator&=(const IntervalMatrix_& x) + { + if(!this->is_empty()) + { + if(x.is_empty()) + this->set_empty(); + else + for(size_t i = 0 ; i < this->size() ; i++) + *(this->data()+i) &= *(x.data()+i); + } + return *this; + } + + auto& operator|=(const IntervalMatrix_& x) + { + if(!x.is_empty()) + { + if(this->is_empty()) + *this = x; + else + for(size_t i = 0 ; i < this->size() ; i++) + *(this->data()+i) |= *(x.data()+i); + } + return *this; + } + + auto& operator+=(const IntervalMatrix_& x) + { + (*this).noalias() += x;//.template cast(); + return *this; + } + + auto& operator-=(const IntervalMatrix_& x) + { + (*this).noalias() -= x;//.template cast(); + return *this; + } + }; + + class IntervalMatrix : public IntervalMatrix_<> { public: + explicit IntervalMatrix(size_t nb_rows, size_t nb_cols) + : IntervalMatrix_<>(nb_rows, nb_cols) + { } + + IntervalMatrix(const IntervalMatrix_<>& x) + : IntervalMatrix_<>(x) + { } + + template + explicit IntervalMatrix(const Matrix_& v) + : IntervalMatrix_<>(v) + { + + } }; } // namespace codac diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index 65bb8167f..28488b8c9 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -28,144 +28,64 @@ namespace codac2 using Eigen::Dynamic; template - class IntervalVector_ : public Eigen::Matrix + class IntervalVector_ : public IntervalMatrix_ { public: IntervalVector_() - : Eigen::Matrix() + : IntervalMatrix_() { } IntervalVector_(size_t n) - : Eigen::Matrix(n) + : IntervalMatrix_(n,1) { assert(N == Dynamic || N == n); } template - explicit IntervalVector_(const Vector_& v) - : Eigen::Matrix(v.size()) + IntervalVector_(const Matrix_& v) + : IntervalMatrix_(v.size(),1) { static_assert(N == M || N == -1 || M == -1); - for(size_t i = 0 ; i < size() ; i++) + for(size_t i = 0 ; i < IntervalMatrix_::size() ; i++) (*this)[i] = v[i]; } //explicit IntervalVector_(const Interval& xi) - // : Eigen::Matrix() + // : IntervalMatrix_() //{ // (*this)(0,0) = xi; //} IntervalVector_(std::initializer_list l) - : Eigen::Matrix() + : IntervalMatrix_(l.size(),1) { - assert(l.size() == size()); + assert(l.size() == this->size()); size_t i = 0; for(const auto& li : l) (*this)[i++] = li; } + template + IntervalVector_(const IntervalMatrix_& x) + : IntervalMatrix_(x) + { + assert(M == Dynamic || M == N); + } + template IntervalVector_(const Eigen::MatrixBase& other) - : Eigen::Matrix(other) + : IntervalMatrix_(other) { } // This method allows you to assign Eigen expressions to IntervalVector_ template IntervalVector_& operator=(const Eigen::MatrixBase& other) { - this->Eigen::Matrix::operator=(other); + this->IntervalMatrix_::operator=(other); return *this; } - constexpr size_t size() const - { - return this->Eigen::Matrix::size(); - } - - bool is_empty() const - { - for(size_t i = 0 ; i < size() ; i++) - if((*this)[i].is_empty()) - return true; - return false; - } - - bool intersects(const IntervalVector_& x) const - { - // todo: case of Dynamic vs Fixed - for(size_t i = 0 ; i < size() ; i++) - if(!(*this)[i].intersects(x[i])) - return false; - return true; - } - - std::pair,IntervalVector_> bisect(float ratio = 0.49) const - { - assert(Interval(0,1).interior_contains(ratio)); - size_t i = largest_dim(); - assert((*this)[i].is_bisectable()); - - auto p = std::make_pair(*this,*this); - auto pi = (*this)[i].bisect(ratio); - p.first[i] = pi.first; - p.second[i] = pi.second; - return p; - } - - size_t largest_dim() const - { - return to_codac1(*this).extr_diam_index(false); - } - - double volume() const - { - if(is_empty()) - return 0.; - double v = 0.; - for(size_t i = 0 ; i < size() ; i++) - { - if((*this)[i].is_unbounded()) return POS_INFINITY; - if((*this)[i].is_degenerated()) return 0.; - v += log((*this)[i].diam()); - } - return exp(v); - } - - Vector_ lb() const - { - assert(!is_empty()); // todo: use nan instead of assert? - Vector_ lb(size()); - for(size_t i = 0 ; i < size() ; i++) - lb[i] = (*this)[i].lb(); - return lb; - } - - Vector_ ub() const - { - assert(!is_empty()); // todo: use nan instead of assert? - Vector_ ub(size()); - for(size_t i = 0 ; i < size() ; i++) - ub[i] = (*this)[i].ub(); - return ub; - } - - Vector_ mid() const - { - assert(!is_empty()); // todo: use nan instead of assert? - Vector_ m(size()); - for(size_t i = 0 ; i < size() ; i++) - m[i] = (*this)[i].mid(); - return m; - } - - void set_empty() - { - for(size_t i = 0 ; i < size() ; i++) - (*this)[i].set_empty(); - } - static IntervalVector_ empty_set(size_t n = N) { IntervalVector_ x(n); @@ -173,54 +93,6 @@ namespace codac2 return x; } - IntervalVector_& inflate(double r) - { - assert(r >= 0.); - for(size_t i = 0 ; i < size() ; i++) - (*this)[i].inflate(r); - return *this; - } - - IntervalVector_& operator&=(const IntervalVector_& x) - { - if(!is_empty()) - { - if(x.is_empty()) - set_empty(); - - else - for(size_t i = 0 ; i < size() ; i++) - (*this)[i] &= x[i]; - } - return *this; - } - - IntervalVector_& operator|=(const IntervalVector_& x) - { - if(!x.is_empty()) - { - if(is_empty()) - *this = x; - - else - for(size_t i = 0 ; i < size() ; i++) - (*this)[i] |= x[i]; - } - return *this; - } - - IntervalVector_& operator+=(const Vector_& x) - { - (*this).noalias() += x.template cast(); - return *this; - } - - IntervalVector_& operator-=(const Vector_& x) - { - (*this).noalias() -= x.template cast(); - return *this; - } - template IntervalVector_ subvector() const { @@ -231,7 +103,7 @@ namespace codac2 IntervalVector_<> subvector(size_t start_index, size_t end_index) const { assert(end_index >= 0 && start_index >= 0); - assert(end_index < size() && start_index <= end_index); + assert(end_index < this->size() && start_index <= end_index); IntervalVector_<> s(end_index-start_index+1); for(size_t i = 0 ; i < s.size() ; i++) @@ -245,6 +117,18 @@ namespace codac2 assert(I >= 0 && I < N && M+I <= N); this->template block(I,0) << x; } + + auto& operator+=(const IntervalVector_& x) + { + (*this).noalias() += x;//.template cast(); + return *this; + } + + auto& operator-=(const IntervalVector_& x) + { + (*this).noalias() -= x;//.template cast(); + return *this; + } }; template @@ -304,7 +188,7 @@ namespace codac2 { public: - explicit IntervalVector(int n) + explicit IntervalVector(size_t n) : IntervalVector_<>(n) { } diff --git a/src/core/2/domains/paving/codac2_Paving.h b/src/core/2/domains/paving/codac2_Paving.h index f1450fe35..027295a09 100644 --- a/src/core/2/domains/paving/codac2_Paving.h +++ b/src/core/2/domains/paving/codac2_Paving.h @@ -12,6 +12,7 @@ #ifndef __CODAC2_PAVING_H__ #define __CODAC2_PAVING_H__ +#include #include #include #include "codac2_Interval.h" @@ -41,6 +42,15 @@ namespace codac2 return _x; } + bool is_empty() const + { + if(is_leaf()) + return _x.is_empty(); + + else + return (_left && _left->is_empty()) && (_right && _right->is_empty()); + } + bool is_leaf() const { return not _left && not _right; diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index cd4cad8f3..c18cdbb82 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -18,30 +18,39 @@ namespace codac2 { + using Eigen::Dynamic; + template - class Matrix : public Eigen::Matrix + class Matrix_ : public Eigen::Matrix { public: - Matrix() + Matrix_() { } + + Matrix_(size_t nb_rows, size_t nb_cols) + : Eigen::Matrix(nb_rows, nb_cols) + { + assert(R == Dynamic || R == nb_rows); + assert(C == Dynamic || C == nb_cols); + } template - Matrix(const Eigen::MatrixBase& other) + Matrix_(const Eigen::MatrixBase& other) : Eigen::Matrix(other) { } - // This method allows you to assign Eigen expressions to MyVectorType + // This method allows you to assign Eigen expressions to Matrix_ template - Matrix& operator=(const Eigen::MatrixBase& other) + Matrix_& operator=(const Eigen::MatrixBase& other) { this->Eigen::Matrix::operator=(other); return *this; } - static Matrix eye() + static Matrix_ eye() { return Eigen::Matrix::Identity(); } diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index 212741fe3..61b273cd0 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -12,9 +12,6 @@ #ifndef __CODAC2_VECTOR_H__ #define __CODAC2_VECTOR_H__ -#include -#include -#include #include #include @@ -23,7 +20,7 @@ namespace codac2 using Eigen::Dynamic; template - class Vector_ : public Eigen::Matrix + class Vector_ : public Matrix_ { public: @@ -33,25 +30,32 @@ namespace codac2 } Vector_(size_t n) - : Eigen::Matrix(n) + : Matrix_(n,1) { assert(N == Dynamic || N == n); } - Vector_(std::initializer_list l) : Eigen::Matrix(l.size()) + Vector_(std::initializer_list l) : Matrix_(l.size(),1) { assert(N == l.size() || N == -1); size_t i = 0; for(double li : l) (*this)(i++,0) = li; } + + template + Vector_(const Matrix_& x) + : Matrix_(x) + { + assert(M == Dynamic || M == N); + } template Vector_(const Eigen::MatrixBase& other) - : Eigen::Matrix(other) + : Matrix_(other) { } - // This method allows you to assign Eigen expressions to MyVector_Type + // This method allows you to assign Eigen expressions to Vector_ template Vector_& operator=(const Eigen::MatrixBase& other) { @@ -59,9 +63,9 @@ namespace codac2 return *this; } - Matrix as_diag() const + Matrix_ as_diag() const { - return Matrix(Eigen::Matrix(this->asDiagonal())); + return Matrix_(Eigen::Matrix(this->asDiagonal())); } static Vector_ zeros() @@ -72,7 +76,7 @@ namespace codac2 }; template - Matrix diag(const Vector_ v) + Matrix_ diag(const Vector_ v) { return v.as_diag(); } From b24b033c635962a95369ee489066d31b5c1d9dc4 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 8 Sep 2023 19:53:18 +0200 Subject: [PATCH 116/256] [core] templated Interval/Vector/Matrix --- .../domains/interval/codac2_IntervalMatrix.h | 184 ++++++++++++++++-- .../domains/interval/codac2_IntervalVector.h | 28 ++- src/core/2/variables/codac2_Matrix.h | 1 + 3 files changed, 198 insertions(+), 15 deletions(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index dbcba4c66..1c52316dd 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -28,7 +28,7 @@ namespace codac2 public: IntervalMatrix_() - : Eigen::Matrix() + : Eigen::Matrix(R,C) { } @@ -40,6 +40,13 @@ namespace codac2 assert(C == Dynamic || C == nb_cols); } + IntervalMatrix_(size_t nb_rows, size_t nb_cols, const Interval& x) + : IntervalMatrix_(nb_rows, nb_cols) + { + for(size_t i = 0 ; i < size() ; i++) + *(this->data()+i) = x; + } + template IntervalMatrix_(const Eigen::MatrixBase& other) : Eigen::Matrix(other) @@ -66,14 +73,127 @@ namespace codac2 return false; } + bool is_flat() const + { + if(is_empty()) return true; + for(size_t i = 0 ; i < size() ; i++) + if((this->data()+i)->is_degenerated()) // don't use diam() because of roundoff + return true; + return false; + } + + bool is_unbounded() const + { + if(is_empty()) return false; + for(size_t i = 0 ; i < size() ; i++) + if((this->data()+i)->is_unbounded()) + return true; + return false; + } + + bool is_subset(const IntervalMatrix_& x) const + { + if(is_empty()) return true; + if(x.is_empty()) return false; + for(size_t i = 0 ; i < size() ; i++) + if(!(this->data()+i)->is_subset(*(x.data()+i))) + return false; + return true; + } + + bool is_strict_subset(const IntervalMatrix_& x) const + { + if(x.is_empty()) return false; + if(is_empty()) return true; + bool one_dim_strict_subset = false; + for(size_t i = 0 ; i < size() ; i++) + { + if((this->data()+i)->is_strict_subset(*(x.data()+i))) + one_dim_strict_subset = true; + if(!(this->data()+i)->is_subset(*(x.data()+i))) + return false; + } + return one_dim_strict_subset; + } + + bool is_superset(const IntervalMatrix_& x) const + { + return x.is_subset(*this); + } + + bool is_strict_superset(const IntervalMatrix_& x) const + { + return x.is_strict_subset(*this); + } + + bool contains(const Matrix_& x) const + { + if(is_empty()) + return false; + for(size_t i = 0 ; i < size() ; i++) + if(!(this->data()+i)->contains(*(x.data()+i))) + return false; + return true; + } + + bool interior_contains(const IntervalMatrix_& x) const + { + if(is_empty()) + return false; + for(size_t i = 0 ; i < size() ; i++) + if(!(this->data()+i)->interior_contains(*(x.data()+i))) + return false; + return true; + } + bool intersects(const IntervalMatrix_& x) const { + if(is_empty() || x.is_empty()) + return false; for(size_t i = 0 ; i < size() ; i++) if(!(this->data()+i)->intersects(*(x.data()+i))) return false; return true; } + bool overlaps(const IntervalMatrix_& x) const + { + if(is_empty() || x.is_empty()) + return false; + for(size_t i = 0 ; i < size() ; i++) + if(!(this->data()+i)->overlaps(*(x.data()+i))) + return false; + return true; + } + + bool is_disjoint(const IntervalMatrix_& x) const + { + if(is_empty() || x.is_empty()) + return true; + for(size_t i = 0 ; i < size() ; i++) + if((this->data()+i)->is_disjoint(*(x.data()+i))) + return true; + return false; + } + + bool is_bisectable() const + { + for(size_t i = 0 ; i < size() ; i++) + if((this->data()+i)->is_bisectable()) + return true; + return false; + } + + double min_diam() const + { + return (this->data()+extr_diam_index(true))->diam(); + } + + double max_diam() const + { + return (this->data()+extr_diam_index(false))->diam(); + } + size_t thinnest_diam_index() const { return extr_diam_index(true); @@ -160,11 +280,10 @@ namespace codac2 return selected_index; } - auto bisect(float ratio = 0.49) const + auto bisect(size_t i, float ratio = 0.49) const { - assert(Interval(0,1).interior_contains(ratio)); - size_t i = largest_diam_index(); assert((this->data()+i)->is_bisectable()); + assert(Interval(0,1).interior_contains(ratio)); auto p = std::make_pair(*this,*this); auto pi = (this->data()+i)->bisect(ratio); @@ -173,6 +292,11 @@ namespace codac2 return p; } + auto bisect_largest_dim(float ratio = 0.49) const + { + return bisect(largest_diam_index(), ratio); + } + double volume() const { if(this->is_empty()) @@ -190,7 +314,7 @@ namespace codac2 Matrix_ lb() const { assert(!this->is_empty()); // todo: use nan instead of assert? - Matrix_ lb; + Matrix_ lb(this->rows(), this->cols()); for(size_t i = 0 ; i < this->size() ; i++) *(lb.data()+i) = (this->data()+i)->lb(); return lb; @@ -199,7 +323,7 @@ namespace codac2 Matrix_ ub() const { assert(!this->is_empty()); // todo: use nan instead of assert? - Matrix_ ub; + Matrix_ ub(this->rows(), this->cols()); for(size_t i = 0 ; i < this->size() ; i++) *(ub.data()+i) = (this->data()+i)->ub(); return ub; @@ -208,22 +332,44 @@ namespace codac2 Matrix_ mid() const { assert(!this->is_empty()); // todo: use nan instead of assert? - Matrix_ m; + Matrix_ mid(this->rows(), this->cols()); for(size_t i = 0 ; i < this->size() ; i++) - *(m.data()+i) = (this->data()+i)->mid(); - return m; + *(mid.data()+i) = (this->data()+i)->mid(); + return mid; } - void set_empty() + Matrix_ rad() const + { + assert(!this->is_empty()); // todo: use nan instead of assert? + Matrix_ rad(this->rows(), this->cols()); + for(size_t i = 0 ; i < this->size() ; i++) + *(rad.data()+i) = (this->data()+i)->rad(); + return rad; + } + + Matrix_ diam() const + { + assert(!this->is_empty()); // todo: use nan instead of assert? + Matrix_ diam(this->rows(), this->cols()); + for(size_t i = 0 ; i < this->size() ; i++) + *(diam.data()+i) = (this->data()+i)->diam(); + return diam; + } + + void init(const Interval& x) { for(size_t i = 0 ; i < this->size() ; i++) - (this->data()+i)->set_empty(); + *(this->data()+i) = x; + } + + void set_empty() + { + init(Interval::empty_set()); } static IntervalMatrix_ empty_set(size_t nb_rows = R, size_t nb_cols = C) { - IntervalMatrix_ x(nb_rows, nb_cols); - x.set_empty(); + IntervalMatrix_ x(nb_rows, nb_cols, Interval::empty_set()); return x; } @@ -261,6 +407,18 @@ namespace codac2 return *this; } + auto operator&(const IntervalMatrix_& x) + { + auto y = *this; + return y &= x; + } + + auto operator|(const IntervalMatrix_& x) + { + auto y = *this; + return y |= x; + } + auto& operator+=(const IntervalMatrix_& x) { (*this).noalias() += x;//.template cast(); diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index 28488b8c9..804d99811 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -41,6 +41,12 @@ namespace codac2 { assert(N == Dynamic || N == n); } + + IntervalVector_(size_t n, const Interval& x) + : IntervalMatrix_(n,1,x) + { + assert(N == Dynamic || N == n); + } template IntervalVector_(const Matrix_& v) @@ -57,6 +63,24 @@ namespace codac2 // (*this)(0,0) = xi; //} + IntervalVector_(size_t n, double bounds[][2]) + : IntervalMatrix_(n,1) + { + for(size_t i = 0 ; i < n ; i++) + { + if(bounds == 0) // in case the user called IntervalVector(n,0) and 0 is interpreted as NULL! + (*this)[i] = Interval::zero(); + else + (*this)[i] = Interval(bounds[i][0],bounds[i][1]); + } + } + + IntervalVector_(double bounds[][2]) + : IntervalVector_(this->size(), bounds) + { + + } + IntervalVector_(std::initializer_list l) : IntervalMatrix_(l.size(),1) { @@ -64,6 +88,7 @@ namespace codac2 size_t i = 0; for(const auto& li : l) (*this)[i++] = li; + // todo: use thias as faster? std::copy(l.begin(), l.end(), vec); } template @@ -88,8 +113,7 @@ namespace codac2 static IntervalVector_ empty_set(size_t n = N) { - IntervalVector_ x(n); - x.set_empty(); + IntervalVector_ x(n, Interval::empty_set()); return x; } diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index c18cdbb82..c2a2ccb18 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -26,6 +26,7 @@ namespace codac2 public: Matrix_() + : Eigen::Matrix() { } From 06d8a99732ca8ec2a436efb608ebc2a540ecf5e0 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 8 Sep 2023 23:39:57 +0200 Subject: [PATCH 117/256] [core] templated Interval/Vector/Matrix with tests --- src/core/2/domains/interval/codac2_Interval.h | 4 +- .../domains/interval/codac2_IntervalMatrix.h | 54 +- .../domains/interval/codac2_IntervalVector.h | 115 +- .../2/domains/interval/codac2_cart_prod.h | 97 ++ src/core/2/variables/codac2_Matrix.h | 4 +- src/core/2/variables/codac2_Vector.h | 18 +- src/core/CMakeLists.txt | 1 + tests/core/CMakeLists.txt | 57 +- tests/core/tests_codac2_intervalvector.cpp | 1166 +++++++++++++++++ 9 files changed, 1417 insertions(+), 99 deletions(-) create mode 100644 src/core/2/domains/interval/codac2_cart_prod.h create mode 100644 tests/core/tests_codac2_intervalvector.cpp diff --git a/src/core/2/domains/interval/codac2_Interval.h b/src/core/2/domains/interval/codac2_Interval.h index c829cb992..2b417a05a 100644 --- a/src/core/2/domains/interval/codac2_Interval.h +++ b/src/core/2/domains/interval/codac2_Interval.h @@ -18,6 +18,8 @@ namespace codac2 { + const double oo = POS_INFINITY; + using codac::Interval; } // namespace codac @@ -35,7 +37,7 @@ namespace Eigen IsComplex = 0, IsInteger = 0, IsSigned = 1, - RequireInitialization = 0, + RequireInitialization = 1, ReadCost = 1, AddCost = 3, MulCost = 3 diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 1c52316dd..76ecb92f7 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -28,30 +28,31 @@ namespace codac2 public: IntervalMatrix_() - : Eigen::Matrix(R,C) + : Eigen::Matrix() { } - IntervalMatrix_(size_t nb_rows, size_t nb_cols) + explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols) : Eigen::Matrix(nb_rows, nb_cols) { - assert(R == Dynamic || R == nb_rows); - assert(C == Dynamic || C == nb_cols); + assert(R == Dynamic || R == (int)nb_rows); + assert(C == Dynamic || C == (int)nb_cols); } - IntervalMatrix_(size_t nb_rows, size_t nb_cols, const Interval& x) + explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols, const Interval& x) : IntervalMatrix_(nb_rows, nb_cols) { for(size_t i = 0 ; i < size() ; i++) *(this->data()+i) = x; } + // This constructor allows you to construct IntervalMatrix_ from Eigen expressions template IntervalMatrix_(const Eigen::MatrixBase& other) : Eigen::Matrix(other) { } - + // This method allows you to assign Eigen expressions to IntervalMatrix_ template IntervalMatrix_& operator=(const Eigen::MatrixBase& other) @@ -211,7 +212,7 @@ namespace codac2 // Author: Gilles Chabert double d = min ? POS_INFINITY : -1; // -1 to be sure that even a 0-diameter interval can be selected - size_t selected_index = -1; + int selected_index = -1; bool unbounded = false; assert(!this->is_empty() && "Diameter of an empty IntervalVector is undefined"); @@ -244,7 +245,7 @@ namespace codac2 // The unbounded intervals are not considered if we look for the minimal diameter // and some bounded intervals have been found (selected_index!=-1) - if(unbounded && (!min || selected_index==-1)) + if(unbounded && (!min || selected_index == -1)) { double pt = min ? NEG_INFINITY : POS_INFINITY; // keep the point less/most distant from +oo (we normalize if the lower bound is -oo) selected_index = i; @@ -381,6 +382,23 @@ namespace codac2 return *this; } + bool operator==(const IntervalMatrix_& x) const + { + if(x.size() != this->size()) + return false; + if(is_empty() || x.is_empty()) + return is_empty() && x.is_empty(); + for(size_t i = 0 ; i < this->size() ; i++) + if(*(this->data()+i) != *(x.data()+i)) + return false; + return true; + } + + bool operator!=(const IntervalMatrix_& x) const + { + return !(*this == x); + } + auto& operator&=(const IntervalMatrix_& x) { if(!this->is_empty()) @@ -407,6 +425,18 @@ namespace codac2 return *this; } + auto operator+(const IntervalMatrix_& x) + { + auto y = *this; + return y += x; + } + + auto operator-(const IntervalMatrix_& x) + { + auto y = *this; + return y -= x; + } + auto operator&(const IntervalMatrix_& x) { auto y = *this; @@ -432,6 +462,14 @@ namespace codac2 } }; + template + auto operator-(const IntervalMatrix_& x) + { + auto y = x; + y.init(0.); + return y -= x; + } + class IntervalMatrix : public IntervalMatrix_<> { public: diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index 804d99811..6b4a8b2f3 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -12,6 +12,7 @@ #ifndef __CODAC2_INTERVALVECTOR_H__ #define __CODAC2_INTERVALVECTOR_H__ +#include #include #include #include @@ -36,20 +37,24 @@ namespace codac2 : IntervalMatrix_() { } - IntervalVector_(size_t n) + explicit IntervalVector_(size_t n) : IntervalMatrix_(n,1) { - assert(N == Dynamic || N == n); + assert(N == Dynamic || N == (int)n); } - IntervalVector_(size_t n, const Interval& x) + explicit IntervalVector_(size_t n, const Interval& x) : IntervalMatrix_(n,1,x) { - assert(N == Dynamic || N == n); + assert(N == Dynamic || N == (int)n); } + + explicit IntervalVector_(const Interval& x) + : IntervalMatrix_(1,1,x) + { } template - IntervalVector_(const Matrix_& v) + explicit IntervalVector_(const Matrix_& v) : IntervalMatrix_(v.size(),1) { static_assert(N == M || N == -1 || M == -1); @@ -57,13 +62,7 @@ namespace codac2 (*this)[i] = v[i]; } - //explicit IntervalVector_(const Interval& xi) - // : IntervalMatrix_() - //{ - // (*this)(0,0) = xi; - //} - - IntervalVector_(size_t n, double bounds[][2]) + explicit IntervalVector_(size_t n, double bounds[][2]) : IntervalMatrix_(n,1) { for(size_t i = 0 ; i < n ; i++) @@ -75,7 +74,7 @@ namespace codac2 } } - IntervalVector_(double bounds[][2]) + explicit IntervalVector_(double bounds[][2]) : IntervalVector_(this->size(), bounds) { @@ -84,7 +83,7 @@ namespace codac2 IntervalVector_(std::initializer_list l) : IntervalMatrix_(l.size(),1) { - assert(l.size() == this->size()); + assert(N == Dynamic || (int)l.size() == N); size_t i = 0; for(const auto& li : l) (*this)[i++] = li; @@ -92,17 +91,18 @@ namespace codac2 } template - IntervalVector_(const IntervalMatrix_& x) + explicit IntervalVector_(const IntervalMatrix_& x) : IntervalMatrix_(x) { assert(M == Dynamic || M == N); } + // This constructor allows you to construct IntervalVector_ from Eigen expressions template IntervalVector_(const Eigen::MatrixBase& other) : IntervalMatrix_(other) { } - + // This method allows you to assign Eigen expressions to IntervalVector_ template IntervalVector_& operator=(const Eigen::MatrixBase& other) @@ -111,9 +111,10 @@ namespace codac2 return *this; } - static IntervalVector_ empty_set(size_t n = N) + static IntervalVector_ empty_set() { - IntervalVector_ x(n, Interval::empty_set()); + IntervalVector_ x; + x.set_empty(); return x; } @@ -174,40 +175,6 @@ namespace codac2 return x_; } - template - IntervalVector_ cart_prod(const IntervalVector_& x1, const Interval& x2) - { - IntervalVector_ x; - x << x1,x2; - return x; - } - - template - IntervalVector_ cart_prod(const Interval& x1, const IntervalVector_& x2) - { - IntervalVector_ x; - x << x1,x2; - return x; - } - - template - IntervalVector_ cart_prod(const IntervalVector_& x1, const IntervalVector_& x2) - { - IntervalVector_ x; - x << x1,x2; - return x; - } - - template - auto cart_prod(const T1& x1, const T2& x2, const Args&... xi) // recursive variadic function - { - auto x_ = cart_prod(x1, x2); - if constexpr(sizeof...(xi) > 0) - return cart_prod(x_, xi...); - else - return x_; - } - class IntervalVector : public IntervalVector_<> { public: @@ -216,15 +183,57 @@ namespace codac2 : IntervalVector_<>(n) { } - IntervalVector(const IntervalVector_<>& x) + explicit IntervalVector(size_t n, const Interval& x) + : IntervalVector_<>(n, x) + { } + + explicit IntervalVector(const Interval& x) + : IntervalVector_<>({x}) + { } + + explicit IntervalVector(const IntervalVector_<>& x) : IntervalVector_<>(x) { } template explicit IntervalVector(const Vector_& v) : IntervalVector_<>(v) + { } + + explicit IntervalVector(size_t n, double bounds[][2]) + : IntervalVector_<>(n, bounds) + { } + + IntervalVector(std::initializer_list l) + : IntervalVector_<>(l) + { } + + // This constructor allows you to construct IntervalVector from Eigen expressions + template + IntervalVector(const Eigen::MatrixBase& other) + : IntervalVector_<>(other) + { } + + // This method allows you to assign Eigen expressions to IntervalVector + template + IntervalVector& operator=(const Eigen::MatrixBase& other) { + this->IntervalVector_<>::operator=(other); + return *this; + } + + void resize(size_t n) + { + // With resize of Eigen, the data is reallocated and all previous values are lost. + auto save = *this; + IntervalVector_<>::resize(n); + for(size_t i = 0 ; i < min(save.size(),n) ; i++) + (*this)[i] = save[i]; + } + static IntervalVector empty_set(size_t n) + { + return IntervalVector(n, Interval::empty_set()); } }; diff --git a/src/core/2/domains/interval/codac2_cart_prod.h b/src/core/2/domains/interval/codac2_cart_prod.h new file mode 100644 index 000000000..2f499b2fe --- /dev/null +++ b/src/core/2/domains/interval/codac2_cart_prod.h @@ -0,0 +1,97 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC2_CARTPROD_H__ +#define __CODAC2_CARTPROD_H__ + +#include "codac2_Interval.h" +#include "codac2_IntervalVector.h" + +namespace codac2 +{ + IntervalVector cart_prod_dyn(const Interval& x1, const Interval& x2) + { + return IntervalVector({x1,x2}); + } + + auto cart_prod_static(const Interval& x1, const Interval& x2) + { + return IntervalVector_<2>({x1,x2}); + } + + auto cart_prod_dyn(const IntervalVector& x1, const Interval& x2) + { + IntervalVector x(x1.size()+1); + x << x1,x2; + return x; + } + + template + auto cart_prod_static(const IntervalVector_& x1, const Interval& x2) + { + IntervalVector_ x; + x << x1,x2; + return x; + } + + auto cart_prod_dyn(const Interval& x1, const IntervalVector& x2) + { + IntervalVector x(x2.size()+1); + x << x1,x2; + return x; + } + + template + auto cart_prod_static(const Interval& x1, const IntervalVector_& x2) + { + IntervalVector_ x; + x << x1,x2; + return x; + } + + auto cart_prod_dyn(const IntervalVector& x1, const IntervalVector& x2) + { + IntervalVector x(x1.size()+x2.size()); + x << x1,x2; + return x; + } + + template + auto cart_prod_static(const IntervalVector_& x1, const IntervalVector_& x2) + { + IntervalVector_ x; + x << x1,x2; + return x; + } + + template + IntervalVector_ cart_prod(const T1& x1, const T2& x2, const Args&... xi) // recursive variadic function + { + auto x_ = cart_prod_static(x1, x2); + if constexpr(sizeof...(xi) > 0) + return cart_prod(x_, xi...); + else + return x_; + } + + template + IntervalVector cart_prod(const T1& x1, const T2& x2, const Args&... xi) // recursive variadic function + { + IntervalVector x_ = cart_prod_dyn(IntervalVector(x1), IntervalVector(x2)); + if constexpr(sizeof...(xi) > 0) + return cart_prod(x_, xi...); + else + return x_; + } + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index c2a2ccb18..65bc70114 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -34,8 +34,8 @@ namespace codac2 Matrix_(size_t nb_rows, size_t nb_cols) : Eigen::Matrix(nb_rows, nb_cols) { - assert(R == Dynamic || R == nb_rows); - assert(C == Dynamic || C == nb_cols); + assert(R == Dynamic || R == (int)nb_rows); + assert(C == Dynamic || C == (int)nb_cols); } template diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index 61b273cd0..271efc37f 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -32,12 +32,12 @@ namespace codac2 Vector_(size_t n) : Matrix_(n,1) { - assert(N == Dynamic || N == n); + assert(N == Dynamic || N == (int)n); } Vector_(std::initializer_list l) : Matrix_(l.size(),1) { - assert(N == l.size() || N == -1); + assert(N == (int)l.size() || N == -1); size_t i = 0; for(double li : l) (*this)(i++,0) = li; @@ -99,7 +99,7 @@ namespace codac2 : Vector_<>(n) { } - Vector(const Vector_<>& x) + Vector(const Vector& x) : Vector_<>(x) { } @@ -108,11 +108,15 @@ namespace codac2 { } template - explicit Vector(const Vector_& v) + Vector(const Vector_& v) : Vector_<>(v) - { - - } + { } + + template + Vector(const Matrix_& v) + : Vector_<>(v) + { } + }; } // namespace codac diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index fdf90f992..33c832456 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -183,6 +183,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_Interval.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalMatrix.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalVector.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_cart_prod.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractConstTube.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlice.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlice.h diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index 868ad7da5..2bedd5190 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -6,35 +6,36 @@ set(TESTS_NAME codac-tests-core) list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalvector.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h - ${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polygon.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_qinterprojf.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_fixpoint_proj.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polar.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h + #${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polygon.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_qinterprojf.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_fixpoint_proj.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polar.cpp ) add_executable(${TESTS_NAME} ${SRC_TESTS}) diff --git a/tests/core/tests_codac2_intervalvector.cpp b/tests/core/tests_codac2_intervalvector.cpp new file mode 100644 index 000000000..7b90cefe3 --- /dev/null +++ b/tests/core/tests_codac2_intervalvector.cpp @@ -0,0 +1,1166 @@ +#include "catch_interval.hpp" +#include "vibes.h" + +#include "codac2_Vector.h" +#include "codac2_IntervalVector.h" +#include "codac2_cart_prod.h" + +using namespace Catch; +using namespace Detail; +using namespace std; +using namespace codac2; + + +TEST_CASE("Test codac2::IntervalVector") +{ + // These tests come from the IBEX library (G. Chabert) + + SECTION("cons01") + { + IntervalVector x(2); + x[0]=Interval::all_reals(); + x[1]=Interval::all_reals(); + CHECK(x==IntervalVector(2)); + CHECK(x==IntervalVector(x)); + IntervalVector y(2); + y = x; + CHECK(x==y); + } + + SECTION("cons02") + { + IntervalVector x(2); + x[0]=Interval(0,1); + x[1]=Interval(0,1); + CHECK(x==IntervalVector(2,Interval(0,1))); + CHECK(x==IntervalVector(x)); + IntervalVector y(2); + y = x; + CHECK(x==y); + } + + SECTION("cons03") + { + IntervalVector x(2); + x[0]=Interval(0,1); + x[1]=Interval(2,3); + CHECK(x==IntervalVector(x)); + IntervalVector y(2); + y = x; + CHECK(x==y); + } + + SECTION("cons04") + { + double bounds[][2] = {{0,1},{2,3}}; + IntervalVector x(2); + x[0]=Interval(0,1); + x[1]=Interval(2,3); + CHECK(x==IntervalVector(2,bounds)); + IntervalVector y(2,bounds); + y = x; + CHECK(x==y); + } + + SECTION("cons05") + { + IntervalVector x(2); + x[0].set_empty(); + x[1].set_empty(); + CHECK(x==IntervalVector::empty_set(2)); + CHECK(x.is_empty()); + } + + SECTION("consInitList") + { + IntervalVector x{ + {1.0, 2.0}, + {2.0, 3.0}, + {4} + }; + CHECK(x.size() == 3); + CHECK(x[0] == Interval(1.0, 2.0)); + CHECK(x[1] == Interval(2.0, 3.0)); + CHECK(x[2] == Interval(4.0, 4.0)); + } + + SECTION("set_empty01") + { + IntervalVector x(2); + CHECK(!x.is_empty()); + x.set_empty(); + CHECK(x.is_empty()); + } + + SECTION("is_empty01") + { + CHECK(IntervalVector::empty_set(2).is_empty()); + } + + SECTION("is_empty02") + { + CHECK(!IntervalVector(2).is_empty()); + } + + SECTION("resize01") + { + IntervalVector x(1); + x[0]=Interval(1,2); + x.resize(3); + CHECK(x.size()==3); + CHECK(x[0]==Interval(1,2)); + CHECK(x[1]==Interval::all_reals()); + CHECK(x[2]==Interval::all_reals()); + } + + SECTION("resize02") + { + IntervalVector x(1); + x[0]=Interval(1,2); + x.resize(1); + CHECK(x.size()==1); + CHECK(x[0]==Interval(1,2)); + } + + SECTION("resize03") + { + IntervalVector x(2); + x[0]=Interval(1,2); + x.set_empty(); + x.resize(3); + CHECK(x.size()==3); + CHECK(x.is_empty()); + CHECK(x[2]==Interval::all_reals()); + } + + SECTION("resize04") + { + IntervalVector x(5); + x[0]=Interval(1,2); + x[1]=Interval(3,4); + x.resize(2); + CHECK(x.size()==2); + CHECK(x[0]==Interval(1,2)); + CHECK(x[1]==Interval(3,4)); + } + + static double _x[][2]={{0,1},{2,3},{4,5}}; + + SECTION("subvector01") + { + double _x01[][2]={{0,1},{2,3}}; + CHECK(IntervalVector(3,_x).subvector(0,1)==IntervalVector(2,_x01)); + } + + SECTION("subvector02") + { + double _x12[][2]={{2,3},{4,5}}; + CHECK(IntervalVector(3,_x).subvector(1,2)==IntervalVector(2,_x12)); + } + + SECTION("subvector03") + { + double _x11[][2]={{2,3}}; + CHECK(IntervalVector(3,_x).subvector(1,1)==IntervalVector(1,_x11)); + } + + SECTION("subvector04") + { + double _x22[][2]={{4,5}}; + CHECK(IntervalVector(3,_x).subvector(2,2)==IntervalVector(1,_x22)); + } + + SECTION("subvector05") + { + CHECK(IntervalVector(3,_x).subvector(0,2)==IntervalVector(3,_x)); + } + + SECTION("subvector06") + { + CHECK(IntervalVector::empty_set(3).subvector(1,2).is_empty()); + } + + SECTION("cart_prod01") + { + CHECK(codac2::cart_prod(IntervalVector(3,_x),IntervalVector::empty_set(3)).is_empty()); + CHECK(codac2::cart_prod(IntervalVector::empty_set(3),IntervalVector(3,_x)).is_empty()); + CHECK(codac2::cart_prod(Interval(1,2),Interval(2,3),IntervalVector({{5,6},{8,9}}),Interval(5,6)) == IntervalVector({{1,2},{2,3},{5,6},{8,9},{5,6}})); + } + + SECTION("inter01") + { + double _x1[][2]={{0,2},{4,6}}; + double _x2[][2]={{1,3},{5,7}}; + double _res[][2]={{1,2},{5,6}}; + CHECK(((IntervalVector(2,_x1)) &=IntervalVector(2,_x2))==IntervalVector(2,_res)); + CHECK(((IntervalVector(2,_x1)) & IntervalVector(2,_x2))==IntervalVector(2,_res)); + } + + SECTION("staticcartprod01") + { + IntervalVector_<2> x{{1,2},{3,5}}; + IntervalVector_<3> y{{1,2},{3,5},{-oo,oo}}; + Interval z{6,7}; + CHECK(cart_prod<6>(x,y,z)==IntervalVector({{1,2},{3,5},{1,2},{3,5},{-oo,oo},{6,7}})); + CHECK(cart_prod<2>(z,z)==IntervalVector({{6,7},{6,7}})); + } + + SECTION("inter02") + { + double _x1[][2]={{0,2},{4,6}}; + double _x2[][2]={{1,3},{7,8}}; + CHECK(((IntervalVector(2,_x1)) &=IntervalVector(2,_x2)).is_empty()); + CHECK(((IntervalVector(2,_x1)) & IntervalVector(2,_x2)).is_empty()); + } + + SECTION("inter03") + { + double _x1[][2]={{0,2},{4,6}}; + CHECK(((IntervalVector(2,_x1)) &=IntervalVector::empty_set(2)).is_empty()); + CHECK(((IntervalVector(2,_x1)) & IntervalVector::empty_set(2)).is_empty()); + } + + SECTION("inter04") + { + double _x1[][2]={{0,2},{4,6}}; + CHECK(((IntervalVector::empty_set(2)) &=IntervalVector(2,_x1)).is_empty()); + CHECK(((IntervalVector::empty_set(2)) & IntervalVector(2,_x1)).is_empty()); + } + + SECTION("hull01") + { + double _x1[][2]={{0,1},{4,5}}; + double _x2[][2]={{2,3},{6,7}}; + double _res[][2]={{0,3},{4,7}}; + CHECK(((IntervalVector(2,_x1)) |=IntervalVector(2,_x2))==IntervalVector(2,_res)); + CHECK(((IntervalVector(2,_x1)) | IntervalVector(2,_x2))==IntervalVector(2,_res)); + } + + SECTION("hull02") + { + double _x1[][2]={{0,1},{4,5}}; + IntervalVector x1(2,_x1); + CHECK((x1 |= x1)==x1); + CHECK((x1 | x1)==x1); + } + + SECTION("hull03") + { + double _x1[][2]={{0,2},{4,6}}; + IntervalVector x1(2,_x1); + CHECK((x1 |=IntervalVector::empty_set(2))==x1); + CHECK((x1 | IntervalVector::empty_set(2))==x1); + } + + SECTION("hull04") + { + double _x1[][2]={{0,2},{4,6}}; + IntervalVector x1(2,_x1); + CHECK(((IntervalVector::empty_set(2)) |= x1)==x1); + CHECK(((IntervalVector::empty_set(2)) | x1)==x1); + } + + SECTION("eq01") + { + IntervalVector x(3,_x); + CHECK(x==x); + CHECK(!(x!=x)); + } + + SECTION("eq02") + { + IntervalVector x(3,_x); + double _x01[][2]={{0,1},{2,3}}; + IntervalVector x1(2,_x01); + CHECK(!(x==x1)); + CHECK(x!=x1); + } + + SECTION("eq03") + { + double _x1[][2]={{0,1},{4,5}}; + double _x2[][2]={{2,3},{6,7}}; + IntervalVector x1(2,_x1); + IntervalVector x2(2,_x2); + x1.set_empty(); + x2.set_empty(); + CHECK(x1==x2); + CHECK(!(x1!=x2)); + } + + SECTION("eq04") + { + CHECK(IntervalVector::empty_set(2)==IntervalVector::empty_set(2)); + CHECK(IntervalVector::empty_set(2)!=IntervalVector::empty_set(3)); + IntervalVector x(2); + x.set_empty(); + CHECK(IntervalVector::empty_set(2)==x); + } + + SECTION("mid01") + { + IntervalVector x(3,_x); + Vector m=x.mid(); + CHECK(m[0]==0.5); + CHECK(m[1]==2.5); + CHECK(m[2]==4.5); + } + + SECTION("is_flat01") + { + CHECK(!IntervalVector(3,_x).is_flat()); + } + + SECTION("is_flat02") + { + CHECK(IntervalVector::empty_set(3).is_flat()); + } + + SECTION("is_flat03") + { + CHECK(IntervalVector(1,Interval(0,0)).is_flat()); + CHECK(!IntervalVector(1,Interval(0,1)).is_flat()); + } + + SECTION("is_flat04") + { + double _x1[][2]={{0,1},{2,2},{3,4}}; + CHECK(IntervalVector(3,_x1).is_flat()); + } + + SECTION("is_flat05") + { + double _x1[][2]={{0,1},{2,3},{4,4}}; + CHECK(IntervalVector(3,_x1).is_flat()); + } + + SECTION("is_unbounded01") + { + CHECK(!IntervalVector::empty_set(3).is_unbounded()); + } + + SECTION("is_unbounded02") + { + double _x1[][2]={{0,1},{0,2},{NEG_INFINITY,0}}; + CHECK(IntervalVector(3,_x1).is_unbounded()); + } + + SECTION("is_unbounded03") + { + double _x1[][2]={{0,1},{0,2}}; + CHECK(!IntervalVector(2,_x1).is_unbounded()); + } + + SECTION("is_unbounded04") + { + CHECK(IntervalVector(1).is_unbounded()); + } + + SECTION("is_subset01") + { + double _x1[][2]={{0,2},{2,4}}; + double _x2[][2]={{0,1},{3,4}}; + IntervalVector x1(2,_x1); + IntervalVector x2(2,_x2); + + CHECK(x1.is_superset(x2)); + CHECK(x2.is_subset(x1)); + CHECK(x1.is_strict_superset(x2)); + //CHECK(!x2.is_strict_interior_subset(x1)); + } + + SECTION("is_subset02") + { + double _x1[][2]={{0,2},{2,4}}; + double _x2[][2]={{1,1},{3,4}}; + IntervalVector x1(2,_x1); + IntervalVector x2(2,_x2); + + CHECK(x1.is_superset(x2)); + CHECK(x2.is_subset(x1)); + CHECK(x1.is_strict_superset(x2)); + //CHECK(!x2.is_strict_interior_subset(x1)); + } + + SECTION("is_subset03") + { + double _x1[][2]={{0,2},{2,4}}; + double _x2[][2]={{0,1},{3,3}}; + IntervalVector x1(2,_x1); + IntervalVector x2(2,_x2); + + CHECK(x1.is_superset(x2)); + CHECK(x2.is_subset(x1)); + CHECK(x1.is_strict_superset(x2)); + //CHECK(!x2.is_strict_interior_subset(x1)); + } + + SECTION("is_subset04") + { + double _x1[][2]={{0,2},{2,4}}; + double _x2[][2]={{1,1},{3,3}}; + IntervalVector x1(2,_x1); + IntervalVector x2(2,_x2); + + CHECK(x1.is_superset(x2)); + CHECK(x2.is_subset(x1)); + CHECK(x1.is_strict_superset(x2)); + //CHECK(x2.is_strict_interior_subset(x1)); + } + + SECTION("is_subset05") + { + double _x1[][2]={{0,2},{2,4}}; + IntervalVector x1(2,_x1); + IntervalVector x2(IntervalVector::empty_set(2)); + + CHECK(x1.is_superset(x2)); + CHECK(x2.is_subset(x1)); + CHECK(x1.is_strict_superset(x2)); + //CHECK(x2.is_strict_interior_subset(x1)); + } + + SECTION("is_subset06") + { + double _x2[][2]={{1,1},{3,3}}; + + IntervalVector x1(IntervalVector::empty_set(2)); + IntervalVector x2(2,_x2); + + CHECK(!x1.is_superset(x2)); + CHECK(!x2.is_subset(x1)); + CHECK(!x1.is_strict_superset(x2)); + //CHECK(!x2.is_strict_interior_subset(x1)); + } + + SECTION("is_subset07") + { + double _x1[][2]={{0,2},{2,4}}; + double _x2[][2]={{1,1},{3,5}}; + + IntervalVector x1(2,_x1); + IntervalVector x2(2,_x2); + + CHECK(!x1.is_superset(x2)); + CHECK(!x2.is_subset(x1)); + CHECK(!x1.is_strict_superset(x2)); + //CHECK(!x2.is_strict_interior_subset(x1)); + } + + SECTION("extr_diam_index01") + { + double _x1[][2]={{0,2},{0,1},{0,3}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==1); + CHECK(x1.extr_diam_index(false)==2); + CHECK(x1.min_diam()==1); + CHECK(x1.max_diam()==3); + } + + SECTION("extr_diam_index02") + { + double _x1[][2]={{0,1},{0,3},{0,2}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==0); + CHECK(x1.extr_diam_index(false)==1); + CHECK(x1.min_diam()==1); + CHECK(x1.max_diam()==3); + } + + SECTION("extr_diam_index03") + { + double _x1[][2]={{0,3},{0,2},{0,1}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==2); + CHECK(x1.extr_diam_index(false)==0); + CHECK(x1.min_diam()==1); + CHECK(x1.max_diam()==3); + } + + SECTION("extr_diam_index04") + { + double _x1[][2]={{0,1},{0,2},{NEG_INFINITY,0}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==0); + CHECK(x1.extr_diam_index(false)==2); + CHECK(x1.min_diam()==1); + CHECK(x1.max_diam()==POS_INFINITY); + } + + SECTION("extr_diam_index05") + { + double _x1[][2]={{NEG_INFINITY,0}}; + IntervalVector x1(1,_x1); + CHECK(x1.extr_diam_index(true)==0); + CHECK(x1.extr_diam_index(false)==0); + CHECK(x1.min_diam()==POS_INFINITY); + CHECK(x1.max_diam()==POS_INFINITY); + } + + SECTION("extr_diam_index06") + { + double _x1[][2]={{NEG_INFINITY,0},{0,1},{NEG_INFINITY,1},{1,3}}; + IntervalVector x1(4,_x1); + CHECK(x1.extr_diam_index(true)==1); + CHECK(x1.extr_diam_index(false)==2); + CHECK(x1.min_diam()==1); + CHECK(x1.max_diam()==POS_INFINITY); + } + + SECTION("extr_diam_index07") + { + double _x1[][2]={{NEG_INFINITY,0},{-2,POS_INFINITY},{NEG_INFINITY,1}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==0); + CHECK(x1.extr_diam_index(false)==1); + CHECK(x1.min_diam()==POS_INFINITY); + CHECK(x1.max_diam()==POS_INFINITY); + } + + SECTION("extr_diam_index08") + { + double _x1[][2]={{NEG_INFINITY,0},{NEG_INFINITY,1},{-2,POS_INFINITY}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==0); + CHECK(x1.extr_diam_index(false)==2); + CHECK(x1.min_diam()==POS_INFINITY); + CHECK(x1.max_diam()==POS_INFINITY); + } + + SECTION("extr_diam_index09") + { + double _x1[][2]={{-2,POS_INFINITY},{NEG_INFINITY,0},{NEG_INFINITY,1}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==1); + CHECK(x1.extr_diam_index(false)==0); + CHECK(x1.min_diam()==POS_INFINITY); + CHECK(x1.max_diam()==POS_INFINITY); + } + + SECTION("extr_diam_index10") + { + double _x1[][2]={{-2,POS_INFINITY},{NEG_INFINITY,1},{NEG_INFINITY,0}}; + IntervalVector x1(3,_x1); + CHECK(x1.extr_diam_index(true)==2); + CHECK(x1.extr_diam_index(false)==0); + CHECK(x1.min_diam()==POS_INFINITY); + CHECK(x1.max_diam()==POS_INFINITY); + } + + SECTION("volume01") + { + double _x1[][2]={{0,1},{0,POS_INFINITY}}; + CHECK(IntervalVector(2,_x1).volume()==POS_INFINITY); + } + + SECTION("volume02") + { + double _x1[][2]={{0,1},{1,1}}; + CHECK(IntervalVector(2,_x1).volume()==0); + } + + SECTION("volume03") + { + double _x1[][2]={{0,2},{2,5},{4,8}}; + CHECK(Approx(24.0)==IntervalVector(3,_x1).volume()); + } + + SECTION("minus01") + { + double _x1[][2]={{0,3},{0,2},{0,1}}; + double _x2[][2]={{-3,0},{-2,0},{-1,0}}; + CHECK((-IntervalVector(3,_x1))==IntervalVector(3,_x2)); + } + + SECTION("minus02") + { + double _x1[][2]={{0,1},{0,POS_INFINITY}}; + double _x2[][2]={{-1,0},{NEG_INFINITY,0}}; + CHECK(-IntervalVector(2,_x1)==IntervalVector(2,_x2)); + } + + SECTION("minus03") + { + CHECK(-IntervalVector::empty_set(2)==IntervalVector::empty_set(2)); + } + + SECTION("add01") + { + double _x1[][2]={{0,3},{0,2},{0,1}}; + double _x2[][2]={{0,1},{0,1},{0,1}}; + double _x3[][2]={{0,4},{0,3},{0,2}}; + + IntervalVector x1(3,_x1); + IntervalVector x2(3,_x2); + IntervalVector x3(3,_x3); + IntervalVector e(IntervalVector::empty_set(3)); + + CHECK(x1+x2==x3); + //CHECK(x1+e,e); + CHECK((x1+e).is_empty()); + //CHECK(IntervalVector(x1)+=e,e); + CHECK((IntervalVector(x1)+=e).is_empty()); + + //CHECK(e+x1,e); + CHECK((e+x1).is_empty()); + //CHECK(e+=x1,e); + CHECK((e+=x1).is_empty()); + //CHECK(e+e,e); + CHECK((e+e).is_empty()); + //CHECK(e+=e,e); + CHECK((e+=e).is_empty()); + + CHECK((IntervalVector(x1)+=x2)==x3); + //CHECK(IntervalVector(x1)+=e,e); + CHECK((IntervalVector(x1)+=e).is_empty()); + + CHECK((IntervalVector(x2)+=x1)==x3); + } + + SECTION("sub01") + { + double _x1[][2]={{0,3},{0,2},{0,1}}; + double _x2[][2]={{0,1},{0,1},{0,1}}; + double _x3[][2]={{-1,3},{-1,2},{-1,1}}; + IntervalVector x1(3,_x1); + IntervalVector x2(3,_x2); + IntervalVector x3(3,_x3); + IntervalVector e(IntervalVector::empty_set(3)); + + CHECK(x1-x2==x3); + CHECK(x2-x1==-x3); + //CHECK(x1-e,e); + CHECK((x1-e).is_empty()); + //CHECK(IntervalVector(x1)-=e,e); + CHECK((IntervalVector(x1)-=e).is_empty()); + + //CHECK(e-x1,e); + CHECK((e-x1).is_empty()); + //CHECK(e-=x1,e); + CHECK((e-=x1).is_empty()); + //CHECK(e-e,e); + CHECK((e-e).is_empty()); + //CHECK(e-=e,e); + CHECK((e-=e).is_empty()); + + CHECK((IntervalVector(x1)-=x2)==x3); + CHECK((IntervalVector(x2)-=x1)==-x3); + } +} + +#if 0 + + + +void TestIntervalVector::compl01() { + double _b[][2]={{0,1},{0,1}}; + IntervalVector b(2,_b); + IntervalVector* c; + int n=b.complementary(c); + + CHECK(n==4); + CHECK(c[0].size()==2); + + CHECK(c[0][0]==Interval::neg_reals()); + CHECK(c[0][1]==Interval::all_reals()); + + CHECK(c[1][0]==Interval(1,POS_INFINITY)); + CHECK(c[1][1]==Interval::all_reals()); + + CHECK(c[2][0]==Interval(0,1)); + CHECK(c[2][1]==Interval::neg_reals()); + + CHECK(c[3][0]==Interval(0,1)); + CHECK(c[3][1]==Interval(1,POS_INFINITY)); + + delete[] c; +} + +/** + * complementary of an empty box = (-oo,oo)x...(-oo,oo) + */ +void TestIntervalVector::compl02() { + + IntervalVector* c; + int n=IntervalVector::empty_set(2).complementary(c); + CHECK(n==1); + CHECK(c[0].size()==2); + + CHECK(c[0][0]==Interval::all_reals()); + CHECK(c[0][1]==Interval::all_reals()); + + delete[] c; +} + +bool TestIntervalVector::test_diff(int n, double _x[][2], double _y[][2], int m, double _z[][2], bool compactness, bool debug) { + IntervalVector x(n,_x); + IntervalVector y(n,_y); + IntervalMatrix mz(m,n,_z); + IntervalVector* c; + int nn=x.diff(y,c,compactness); + if (debug) { + cout << x << " diff " << y << " gives:" << endl; + for (int i=0; i& expected, bool compactness = true) +{ + auto c = x.diff(y, compactness); - CHECK(c[0][0]==Interval::all_reals()); - CHECK(c[0][1]==Interval::all_reals()); + CHECK(!c.empty()); + CHECK(c.size()==expected.size()); + CHECK(c.front().size()==x.size()); - delete[] c; -} + auto it = c.begin(); + while(it != c.end()) + { + bool is_same = false; + for(const auto& ri : expected) + if(ri == *it) + { + is_same = true; + break; + } -bool TestIntervalVector::test_diff(int n, double _x[][2], double _y[][2], int m, double _z[][2], bool compactness, bool debug) { - IntervalVector x(n,_x); - IntervalVector y(n,_y); - IntervalMatrix mz(m,n,_z); - IntervalVector* c; - int nn=x.diff(y,c,compactness); - if (debug) { - cout << x << " diff " << y << " gives:" << endl; - for (int i=0; i Date: Mon, 11 Sep 2023 15:57:14 +0200 Subject: [PATCH 119/256] [core] testing IntervalMatrix --- .../domains/interval/codac2_IntervalMatrix.h | 78 ++- .../domains/interval/codac2_IntervalVector.h | 31 +- tests/core/CMakeLists.txt | 1 + tests/core/tests_codac2_intervalmatrix.cpp | 483 ++++++++++++++++++ 4 files changed, 565 insertions(+), 28 deletions(-) create mode 100644 tests/core/tests_codac2_intervalmatrix.cpp diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 559b64d79..e74721fb4 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -51,6 +51,42 @@ namespace codac2 for(size_t i = 0 ; i < size() ; i++) *(this->data()+i) = x; } + + explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols, double bounds[][2]) + : IntervalMatrix_(nb_rows, nb_cols) + { + size_t k = 0; + for(size_t i = 0 ; i < nb_rows ; i++) + for(size_t j = 0 ; j < nb_cols ; j++) + { + if(bounds == 0) // in case the user called IntervalVector(n,0) and 0 is interpreted as NULL! + (*this)(i,j) = Interval::zero(); + else + (*this)(i,j) = Interval(bounds[k][0],bounds[k][1]); + k++; + } + } + + IntervalMatrix_(std::initializer_list> l) + : IntervalMatrix_() + { + assert(R == Dynamic || (int)l.size() == R); + int cols = -1; + for(const auto& ri : l) { + assert(cols == -1 || cols == (int)ri.size()); + cols = (int)ri.size(); + } + this->resize(l.size(),cols); + size_t i = 0; + for(const auto& ri : l) + { + size_t j = 0; + for(const auto& ci : ri) + (*this)(i,j++) = ci; + i++; + } + // todo: use thias as faster? std::copy(l.begin(), l.end(), vec); + } // This constructor allows you to construct IntervalMatrix_ from Eigen expressions template @@ -71,6 +107,16 @@ namespace codac2 return this->Eigen::Matrix::size(); } + void resize(size_t nb_rows, size_t nb_cols) + { + // With resize of Eigen, the data is reallocated and all previous values are lost. + auto copy = *this; + this->Eigen::Matrix::resize(nb_rows, nb_cols); + for(size_t i = 0 ; i < min(copy.rows(),nb_rows) ; i++) + for(size_t j = 0 ; j < min(copy.cols(),nb_cols) ; j++) + (*this)(i,j) = copy(i,j); + } + bool is_empty() const { for(size_t i = 0 ; i < size() ; i++) @@ -79,6 +125,12 @@ namespace codac2 return false; } + static IntervalMatrix_ empty_set(size_t nb_rows = R, size_t nb_cols = C) + { + IntervalMatrix_ x(nb_rows, nb_cols, Interval::empty_set()); + return x; + } + bool is_flat() const { if(is_empty()) return true; @@ -369,12 +421,6 @@ namespace codac2 init(Interval::empty_set()); } - static IntervalMatrix_ empty_set(size_t nb_rows = R, size_t nb_cols = C) - { - IntervalMatrix_ x(nb_rows, nb_cols, Interval::empty_set()); - return x; - } - auto& inflate(double r) { assert(r >= 0.); @@ -385,7 +431,7 @@ namespace codac2 bool operator==(const IntervalMatrix_& x) const { - if(x.size() != this->size()) + if(x.size() != this->size() || x.rows() != this->rows() || x.cols() != this->cols()) return false; if(is_empty() || x.is_empty()) return is_empty() && x.is_empty(); @@ -491,15 +537,31 @@ namespace codac2 : IntervalMatrix_<>(nb_rows, nb_cols) { } + + explicit IntervalMatrix(size_t nb_rows, size_t nb_cols, const Interval& x) + : IntervalMatrix_<>(nb_rows, nb_cols, x) + { } + + explicit IntervalMatrix(size_t nb_rows, size_t nb_cols, double bounds[][2]) + : IntervalMatrix_<>(nb_rows, nb_cols, bounds) + { } + IntervalMatrix(const IntervalMatrix_<>& x) : IntervalMatrix_<>(x) { } + IntervalMatrix(std::initializer_list> l) + : IntervalMatrix_<>(l) + { } + template explicit IntervalMatrix(const Matrix_& v) : IntervalMatrix_<>(v) - { + { } + static IntervalMatrix empty_set(size_t nb_rows, size_t nb_cols) + { + return IntervalMatrix_<>::empty_set(nb_rows,nb_cols); } }; diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index 072ac383e..40a1e8cce 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -68,17 +68,9 @@ namespace codac2 } explicit IntervalVector_(size_t n, double bounds[][2]) - : IntervalMatrix_(n,1) - { - for(size_t i = 0 ; i < n ; i++) - { - if(bounds == 0) // in case the user called IntervalVector(n,0) and 0 is interpreted as NULL! - (*this)[i] = Interval::zero(); - else - (*this)[i] = Interval(bounds[i][0],bounds[i][1]); - } - } - + : IntervalMatrix_(n,1,bounds) + { } + explicit IntervalVector_(double bounds[][2]) : IntervalVector_(this->size(), bounds) { @@ -118,9 +110,12 @@ namespace codac2 static IntervalVector_ empty_set(size_t n = N) { - IntervalVector_ x(n); - x.set_empty(); - return x; + return IntervalMatrix_::empty_set(n,1); + } + + void resize(size_t n) + { + this->IntervalMatrix_::resize(n,1); } template @@ -298,16 +293,12 @@ namespace codac2 void resize(size_t n) { - // With resize of Eigen, the data is reallocated and all previous values are lost. - auto save = *this; - IntervalVector_<>::resize(n); - for(size_t i = 0 ; i < min(save.size(),n) ; i++) - (*this)[i] = save[i]; + this->IntervalVector_<>::resize(n); } static IntervalVector empty_set(size_t n) { - return IntervalVector_<>::empty_set(n); + return IntervalMatrix_<>::empty_set(n,1); } }; diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index 2bedd5190..4cc10e560 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -8,6 +8,7 @@ list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalvector.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalmatrix.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h diff --git a/tests/core/tests_codac2_intervalmatrix.cpp b/tests/core/tests_codac2_intervalmatrix.cpp new file mode 100644 index 000000000..8b8640a27 --- /dev/null +++ b/tests/core/tests_codac2_intervalmatrix.cpp @@ -0,0 +1,483 @@ +#include "catch_interval.hpp" +#include "vibes.h" + +#include "codac2_Matrix.h" +#include "codac2_IntervalVector.h" +#include "codac2_IntervalMatrix.h" + +using namespace Catch; +using namespace Detail; +using namespace std; +using namespace codac2; + +// Most of these tests come from the IBEX library (G. Chabert) +// They have been revised to fit the codac2::IntervalMatrix class + +IntervalMatrix M1() +{ + IntervalMatrix m(2,3); + double _r1[][2]={{0,1},{0,2},{0,3}}; + double _r2[][2]={{-1,0},{-2,0},{-3,0}}; + IntervalVector r1(3,_r1); + IntervalVector r2(3,_r2); + m.row(0)=r1; + m.row(1)=r2; + return m; +} + + +IntervalMatrix M2() // the transpose of M1 +{ + IntervalMatrix m(3,2); + double _c1[][2]={{0,1},{-1,0}}; + double _c2[][2]={{0,2},{-2,0}}; + double _c3[][2]={{0,3},{-3,0}}; + IntervalVector c1(2,_c1); + IntervalVector c2(2,_c2); + IntervalVector c3(2,_c3); + m.row(0)=c1; + m.row(1)=c2; + m.row(2)=c3; + return m; +} + +IntervalMatrix M3() // non-null intersection with M1 +{ + IntervalMatrix m(2,3); + double _r1[][2]={{1,2},{1,2},{2,4}}; + double _r2[][2]={{-2,-1},{-2,-1},{-4,-2}}; + IntervalVector r1(3,_r1); + IntervalVector r2(3,_r2); + m.row(0)=r1; + m.row(1)=r2; + return m; +} + + +TEST_CASE("Tests from IBEX IntervalMatrix") +{ + SECTION("eq01") + { + IntervalMatrix m(2,3); + IntervalMatrix m2(3,2); + CHECK(m!=m2); + CHECK(!(m==m2)); + } + + SECTION("eq02") + { + IntervalMatrix m(3,2); + IntervalMatrix m2(2,2); + CHECK(m!=m2); + CHECK(!(m==m2)); + } + + SECTION("eq03") + { + IntervalMatrix m(2,3); + IntervalMatrix m2(2,3); + + CHECK(m.rows()==2); + CHECK(m.cols()==3); + CHECK(m2.rows()==2); + CHECK(m2.cols()==3); + + m(0,0)=1; + m(0,1)=2; + m(0,2)=3; + m(1,0)=4; + m(1,1)=5; + m(1,2)=6; + m2(0,0)=1; + m2(0,1)=2; + m2(0,2)=3; + m2(1,0)=4; + m2(1,1)=5; + m2(1,2)=6; + + CHECK(m==m2); + CHECK(!(m!=m2)); + + m2(1,2)=7; + CHECK(m!=m2); + CHECK(!(m==m2)); + } + + SECTION("eq04") + { + IntervalMatrix m(2,3); + IntervalMatrix m2(2,3); + m(1,1)=-1; + m2(1,1)=-2; + CHECK(m!=m2); + CHECK(!(m==m2)); + m.set_empty(); + m2.set_empty(); + CHECK(m==m2); + CHECK(!(m!=m2)); + } + + SECTION("cons01") + { + IntervalMatrix m(2,3); + CHECK(m.rows()==2); + CHECK(m.cols()==3); + CHECK(m(0,0)==Interval::all_reals()); + CHECK(m(0,1)==Interval::all_reals()); + CHECK(m(0,2)==Interval::all_reals()); + CHECK(m(1,0)==Interval::all_reals()); + CHECK(m(1,1)==Interval::all_reals()); + CHECK(m(1,2)==Interval::all_reals()); + CHECK(m==IntervalMatrix(m)); + CHECK(m==(IntervalMatrix(2,3)=m)); + } + + SECTION("cons02") + { + IntervalMatrix m(2,3); + double _r1[][2]={{0,1},{0,2},{0,3}}; + double _r2[][2]={{-1,0},{-2,0},{-3,0}}; + IntervalVector r1(3,_r1); + IntervalVector r2(3,_r2); + m.row(0) = r1; + m.row(1) = r2; + + double _c1[][2]={{0,1},{-1,0}}; + double _c2[][2]={{0,2},{-2,0}}; + double _c3[][2]={{0,3},{-3,0}}; + IntervalVector c1(2,_c1); + IntervalVector c2(2,_c2); + IntervalVector c3(2,_c3); + + CHECK(m.rows()==2); + CHECK(m.cols()==3); + // not supported CHECK(m[0]==r1); + // not supported CHECK(m[1]==r2); +// not working CHECK(m.row(0)==r1); +// not working CHECK(m.row(1)==r2); + CHECK(m.col(0)==c1); + CHECK(m.col(1)==c2); + CHECK(m.col(2)==c3); + CHECK(m(0,0)==Interval(0,1)); + CHECK(m(0,1)==Interval(0,2)); + CHECK(m(0,2)==Interval(0,3)); + CHECK(m(1,0)==Interval(-1,0)); + CHECK(m(1,1)==Interval(-2,0)); + CHECK(m(1,2)==Interval(-3,0)); + CHECK(m==IntervalMatrix(m)); + CHECK(m==(IntervalMatrix(2,3)=m)); + } + + SECTION("cons03") + { + Interval x(-1,2); + IntervalMatrix m(2,3,x); + + CHECK(m.rows()==2); + CHECK(m.cols()==3); + for (int i=0; i<2; i++) { + for (int j=0; j<3; j++) + CHECK(m(i,j)==x); + } + + CHECK(m==IntervalMatrix(m)); + CHECK(m==(IntervalMatrix(2,3)=m)); + } + + SECTION("cons04") + { + double _m[][2]={ {0,1}, {0,2}, {0,3}, + {-1,0},{-2,0},{-3,0} }; + IntervalMatrix m(2,3,_m); + CHECK(m==M1()); + } + + SECTION("consInitList") + { + IntervalMatrix m{ + {{0,1}, {0,2}, {0,3}}, + {{-1,0},{-2,0},{-3,0}} + }; + CHECK(m == M1()); + } + + SECTION("empty01") + { + CHECK(IntervalMatrix::empty_set(2,3).rows()==2); + CHECK(IntervalMatrix::empty_set(2,3).cols()==3); + CHECK(IntervalMatrix(IntervalMatrix::empty_set(2,3))==IntervalMatrix::empty_set(2,3)); + CHECK((IntervalMatrix(2,3)=IntervalMatrix::empty_set(2,3))==IntervalMatrix::empty_set(2,3)); + } + + SECTION("is_empty01") + { + CHECK(!IntervalMatrix(2,3).is_empty()); + } + + SECTION("is_empty02") + { + CHECK(IntervalMatrix::empty_set(2,3).is_empty()); + } + + SECTION("set_empty01") + { + IntervalMatrix m(2,3); + m.set_empty(); + CHECK(m.is_empty()); + } + + // intersection of a matrix with itself + SECTION("inter01") + { + CHECK((M1()&=M1())==M1()); + } + + // intersection of two overlapping matrices + SECTION("inter02") + { + double _m[][2]={{1,1}, {1,2}, {2,3}, + {-1,-1},{-2,-1},{-3,-2}}; + + CHECK((M1()&=M3())==IntervalMatrix(2,3,_m)); + } + + // intersection of two non-overlapping matrices + SECTION("inter03") + { + IntervalMatrix m3(M3()); + m3(1,2)=Interval(-5,-4); + CHECK((M1()&=m3).is_empty()); + } + + SECTION("set_col01") + { + IntervalMatrix m(M1()); + + IntervalVector v(2); + v[0]=Interval(1,2); + v[1]=Interval(-2,-1); + + m.col(1)=v; + + double _m2[][2]={ {0,1}, {1,2}, {0,3}, + {-1,0},{-2,-1},{-3,0} }; + IntervalMatrix m2(2,3,_m2); + + CHECK(m==m2); + } + + SECTION("rows01") + { + CHECK(M1().block(0,0,2,3)==M1()); + } + + SECTION("rows02") + { + double _r0[][2]={ {0,1}, {0,2}, {0,3} }; + CHECK(M1().block(0,0,1,3)==IntervalMatrix(1,3,_r0)); + } + + SECTION("rows03") + { + double _r1[][2]={ {-1,0},{-2,0},{-3,0} }; + CHECK(M1().block(1,0,1,3)==IntervalMatrix(1,3,_r1)); + } + + SECTION("cols01") + { + CHECK(M1().block(0,0,2,3)==M1()); + } + + SECTION("cols02") + { + double _c0[][2]={ {0,1}, {-1,0} }; + CHECK(M1().block(0,0,2,1)==IntervalMatrix(2,1,_c0)); + } + + SECTION("cols03") + { + double _c1[][2]={ {0,2}, {-2,0} }; + CHECK(M1().block(0,1,2,1)==IntervalMatrix(2,1,_c1)); + } + + SECTION("cols04") + { + double _c2[][2]={ {0,3}, {-3,0} }; + CHECK(M1().block(0,2,2,1)==IntervalMatrix(2,1,_c2)); + } + + SECTION("cols04") + { + double _c12[][2]={ {0,2}, {0,3}, {-2,0}, {-3,0} }; + CHECK(M1().block(0,1,2,2)==IntervalMatrix(2,2,_c12)); + } + + SECTION("resize01") + { + IntervalMatrix m(2,2); + double _r1[][2]={{0,1},{0,2}}; + double _r2[][2]={{-1,0},{-2,0}}; + IntervalVector r1(2,_r1); + IntervalVector r2(2,_r2); + m.row(0)=r1; + m.row(1)=r2; + m.resize(2,3); + m(0,2)=Interval(0,3); + m(1,2)=Interval(-3,0); + + CHECK(m==M1()); + } + + SECTION("resize02") + { + IntervalMatrix m(1,3); + double _r1[][2]={{0,1},{0,2},{0,3}}; + IntervalVector r1(3,_r1); + m.row(0)=r1; + m.resize(2,3); + m(1,0)=Interval(-1,0); + m(1,1)=Interval(-2,0); + m(1,2)=Interval(-3,0); + + CHECK(m==M1()); + } + + SECTION("resize03") + { + IntervalMatrix e(IntervalMatrix::empty_set(1,1)); + e.resize(2,3); + CHECK(e.is_empty()); + } + + SECTION("minus01") + { + IntervalMatrix m(M1()); + IntervalMatrix m2(-m); + for (int i=0; i<2; i++) { + for (int j=0; j<3; j++) { + CHECK(m2(i,j)==-m(i,j)); + } + } + } + + SECTION("minus02") + { + CHECK(-IntervalMatrix::empty_set(2,3).is_empty()); + } + + SECTION("add01") + { + IntervalMatrix m(M1()); + IntervalMatrix m2(m+m); + + for (int i=0; i<2; i++) { + for (int j=0; j<3; j++) { + CHECK(m2(i,j)==m(i,j)+m(i,j)); + } + } + + CHECK(m2==(IntervalMatrix(m)+=m)); + } + + SECTION("add02") + { + IntervalMatrix m1(IntervalMatrix::empty_set(2,3)); + IntervalMatrix m2(2,3); + + CHECK((m1+m2).is_empty()); + CHECK((m1+=m2).is_empty()); + CHECK((m2+=m1).is_empty()); + } + + SECTION("sub01") + { + IntervalMatrix m(M1()); + IntervalMatrix m2(m-m); + for (int i=0; i<2; i++) { + for (int j=0; j<3; j++) { + CHECK(m2(i,j)==m(i,j)-m(i,j)); + } + } + + CHECK(m2==(IntervalMatrix(m)-=m)); + } + + SECTION("sub02") + { + IntervalMatrix m1(IntervalMatrix::empty_set(2,3)); + IntervalMatrix m2(2,3); + + CHECK((m1-m2).is_empty()); + CHECK((m1-=m2).is_empty()); + CHECK((m2-=m1).is_empty()); + } + + SECTION("mul01") + { + IntervalMatrix m(M1()); + IntervalMatrix m2(M2()); + IntervalMatrix m3(m*m2); + CHECK(m3.rows()==2); + CHECK(m3.cols()==2); + + for (int i=0; i<2; i++) { + for (int j=0; j<2; j++) + CHECK(m3(i,j)==m(i,0)*m2(0,j)+m(i,1)*m2(1,j)+m(i,2)*m2(2,j)); + } + + CHECK(m3==(IntervalMatrix(m)*=m2)); + } + + SECTION("mul02") + { + IntervalMatrix m1(IntervalMatrix::empty_set(2,3)); + IntervalMatrix m2(3,2); + + CHECK(IntervalMatrix(m1*m2).is_empty()); + CHECK(IntervalMatrix(m1*=m2).is_empty()); + CHECK(IntervalMatrix(m2*=m1).is_empty()); + } + + SECTION("put01") + { + // deprecated in codac (use Eigen instead) IntervalMatrix M1=2*Matrix::eye(3); + // deprecated in codac (use Eigen instead) IntervalVector V1(3); + // deprecated in codac (use Eigen instead) V1[0]=3; V1[1]=4; V1[2]=5; + // deprecated in codac (use Eigen instead) IntervalMatrix res(4,4); + // deprecated in codac (use Eigen instead) res.put(0,0,M1); + // deprecated in codac (use Eigen instead) res.put(0,3,V1,false); + // deprecated in codac (use Eigen instead) res.put(3,0,Vector::ones(3),true); + // deprecated in codac (use Eigen instead) res[3][3]=6; + // deprecated in codac (use Eigen instead) double _expected[16] = { 2,0,0,3, + // deprecated in codac (use Eigen instead) 0,2,0,4, + // deprecated in codac (use Eigen instead) 0,0,2,5, + // deprecated in codac (use Eigen instead) 1,1,1,6 }; + // deprecated in codac (use Eigen instead) CHECK(res==(Matrix(4,4,_expected))); + } +} + +#if 0 + +// Tests from IBEX that are not (yet) considered in Codac: + +void TestIntervalMatrix::rad01() { + RNG::srand(1); + IntervalMatrix M=Matrix::rand(2); + Matrix R=M.rad(); + CHECK(R[0][0]==M[0][0].rad()); + CHECK(R[0][1]==M[0][1].rad()); + CHECK(R[1][0]==M[1][0].rad()); + CHECK(R[1][1]==M[1][1].rad()); +} + +void TestIntervalMatrix::diam01() { + RNG::srand(1); + IntervalMatrix M=Matrix::rand(2); + Matrix R=M.diam(); + CHECK(R[0][0]==M[0][0].diam()); + CHECK(R[0][1]==M[0][1].diam()); + CHECK(R[1][0]==M[1][0].diam()); + CHECK(R[1][1]==M[1][1].diam()); +} + +#endif \ No newline at end of file From ae57262774a488bb47748266be145ed2b4ff4b60 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 11 Sep 2023 21:24:54 +0200 Subject: [PATCH 120/256] [core] templated Interval/Vector/Matrix --- .../domains/interval/codac2_IntervalMatrix.h | 6 ++++- src/core/2/domains/paving/codac2_Paving.h | 4 ++-- src/core/2/variables/codac2_Matrix.h | 24 +++++++++++++++++++ src/core/2/variables/codac2_Vector.h | 21 +++++++++++++--- 4 files changed, 49 insertions(+), 6 deletions(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index e74721fb4..55e288c13 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -59,7 +59,7 @@ namespace codac2 for(size_t i = 0 ; i < nb_rows ; i++) for(size_t j = 0 ; j < nb_cols ; j++) { - if(bounds == 0) // in case the user called IntervalVector(n,0) and 0 is interpreted as NULL! + if(bounds == 0) // in case the user called IntervalMatrix_(r,c,0) and 0 is interpreted as NULL! (*this)(i,j) = Interval::zero(); else (*this)(i,j) = Interval(bounds[k][0],bounds[k][1]); @@ -67,6 +67,10 @@ namespace codac2 } } + explicit IntervalMatrix_(double bounds[][2]) + : IntervalMatrix_(R, C, bounds) + { } + IntervalMatrix_(std::initializer_list> l) : IntervalMatrix_() { diff --git a/src/core/2/domains/paving/codac2_Paving.h b/src/core/2/domains/paving/codac2_Paving.h index 027295a09..932bbe658 100644 --- a/src/core/2/domains/paving/codac2_Paving.h +++ b/src/core/2/domains/paving/codac2_Paving.h @@ -25,13 +25,13 @@ namespace codac2 { public: - Paving(size_t n) + explicit Paving(size_t n) : _x(IntervalVector_(n)) { } - Paving(const IntervalVector_& x) + explicit Paving(const IntervalVector_& x) : _x(x) { diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index 7a93622a5..e0203e4b8 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -38,6 +38,25 @@ namespace codac2 assert(C == Dynamic || C == (int)nb_cols); } + explicit Matrix_(size_t nb_rows, size_t nb_cols, double values[]) + : Matrix_(nb_rows, nb_cols) + { + size_t k = 0; + for(size_t i = 0 ; i < nb_rows ; i++) + for(size_t j = 0 ; j < nb_cols ; j++) + { + if(values == 0) // in case the user called Matrix_(r,c,0) and 0 is interpreted as NULL! + (*this)(i,j) = 0.; + else + (*this)(i,j) = values[k]; + k++; + } + } + + explicit Matrix_(double values[]) + : Matrix_(R, C, values) + { } + template Matrix_(const Eigen::MatrixBase& other) : Eigen::Matrix(other) @@ -92,6 +111,11 @@ namespace codac2 return *this; } + static Matrix_ zeros() + { + return Eigen::Matrix::Zero(); + } + }; } // namespace codac diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index 271efc37f..3538dff50 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -49,7 +49,15 @@ namespace codac2 { assert(M == Dynamic || M == N); } - + + explicit Vector_(size_t n, double values[]) + : Matrix_(n,1,values) + { } + + explicit Vector_(double values[]) + : Matrix_(N,1,values) + { } + template Vector_(const Eigen::MatrixBase& other) : Matrix_(other) @@ -70,8 +78,15 @@ namespace codac2 static Vector_ zeros() { - Vector_ v; - return v; + return Eigen::Matrix::Zero(); + } + + // todo: place this in common inheritance with IntervalVector_ + template + Vector_ subvector() const + { + assert(N1 >= 0 && N1 < N && N2 >= 0 && N2 < N && N1 <= N2); + return this->template block(N1,0); } }; From 067f1b9f14cd11758b76f012a351a1abbbb5e4aa Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 14 Sep 2023 15:22:07 +0200 Subject: [PATCH 121/256] [core] templated Interval/Vector/Matrix --- src/core/2/3rd/codac2_eigen.h | 48 ++++++++++ src/core/2/domains/interval/codac2_Interval.h | 33 ------- .../domains/interval/codac2_IntervalMatrix.h | 51 ++++++++-- .../domains/interval/codac2_IntervalVector.h | 26 ++++-- .../2/domains/interval/codac2_cart_prod.cpp | 50 ++++++++++ .../2/domains/interval/codac2_cart_prod.h | 39 ++------ src/core/2/domains/paving/codac2_Paving.h | 48 +++++++--- src/core/2/variables/codac2_Matrix.h | 93 +++++++++++++++++-- src/core/2/variables/codac2_Vector.h | 24 ++++- src/core/CMakeLists.txt | 3 + 10 files changed, 313 insertions(+), 102 deletions(-) create mode 100644 src/core/2/3rd/codac2_eigen.h create mode 100644 src/core/2/domains/interval/codac2_cart_prod.cpp diff --git a/src/core/2/3rd/codac2_eigen.h b/src/core/2/3rd/codac2_eigen.h new file mode 100644 index 000000000..0f26dbced --- /dev/null +++ b/src/core/2/3rd/codac2_eigen.h @@ -0,0 +1,48 @@ +#ifndef EIGEN_NO_DEBUG +/* Disables Eigen's assertions if defined. + * Not defined by default, unless the NDEBUG macro is defined + * (this is a standard C++ macro which disables all asserts). + * https://eigen.tuxfamily.org/dox/TopicPreprocessorDirectives.html + */ +#define EIGEN_NO_DEBUG +#endif + +#ifndef __CODAC2_EIGEN_H__ +#define __CODAC2_EIGEN_H__ + +#include +#include +#include "codac2_Interval.h" + +namespace Eigen +{ + template<> struct NumTraits + : NumTraits // permits to get the epsilon, dummy_precision, lowest, highest functions + { + typedef codac2::Interval Real; + typedef codac2::Interval NonInteger; + typedef codac2::Interval Nested; + + enum { + IsComplex = 0, + IsInteger = 0, + IsSigned = 1, + RequireInitialization = 1, + ReadCost = 1, + AddCost = 3, + MulCost = 3 + }; + }; +} + +namespace codac2 +{ + inline const Interval& conj(const Interval& x) { return x; } + inline const Interval& real(const Interval& x) { return x; } + inline Interval imag(const Interval&) { return 0.; } + inline Interval abs(const Interval& x) { return ibex::abs(x); } + inline Interval abs2(const Interval& x) { return ibex::sqr(x); } + +} // namespace codac + +#endif \ No newline at end of file diff --git a/src/core/2/domains/interval/codac2_Interval.h b/src/core/2/domains/interval/codac2_Interval.h index 2b417a05a..5e4360577 100644 --- a/src/core/2/domains/interval/codac2_Interval.h +++ b/src/core/2/domains/interval/codac2_Interval.h @@ -13,8 +13,6 @@ #define __CODAC2_INTERVAL_H__ #include -#include -#include namespace codac2 { @@ -24,35 +22,4 @@ namespace codac2 } // namespace codac -namespace Eigen -{ - template<> struct NumTraits - : NumTraits // permits to get the epsilon, dummy_precision, lowest, highest functions - { - typedef codac2::Interval Real; - typedef codac2::Interval NonInteger; - typedef codac2::Interval Nested; - - enum { - IsComplex = 0, - IsInteger = 0, - IsSigned = 1, - RequireInitialization = 1, - ReadCost = 1, - AddCost = 3, - MulCost = 3 - }; - }; -} - -namespace codac2 -{ - inline const Interval& conj(const Interval& x) { return x; } - inline const Interval& real(const Interval& x) { return x; } - inline Interval imag(const Interval&) { return 0.; } - inline Interval abs(const Interval& x) { return ibex::abs(x); } - inline Interval abs2(const Interval& x) { return ibex::sqr(x); } - -} // namespace codac - #endif \ No newline at end of file diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 55e288c13..2747e80a1 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -18,8 +18,7 @@ #define __CODAC2_INTERVALMATRIX_H__ #include -#include -#include +#include #include #include @@ -34,9 +33,7 @@ namespace codac2 IntervalMatrix_() : Eigen::Matrix() - { - - } + { } explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols) : Eigen::Matrix(nb_rows, nb_cols) @@ -71,13 +68,28 @@ namespace codac2 : IntervalMatrix_(R, C, bounds) { } + explicit IntervalMatrix_(const Matrix_& lb, const Matrix_& ub) + : IntervalMatrix_(R, C) + { + for(size_t i = 0 ; i < this->rows() ; i++) + for(size_t j = 0 ; j < this->cols() ; j++) + (*this)(i,j) = Interval(lb(i,j),ub(i,j)); + } + + explicit IntervalMatrix_(const IntervalMatrix_& x) + : IntervalMatrix_(R, C) + { + for(size_t i = 0 ; i < size() ; i++) + *(this->data()+i) = *(x.data()+i); + } + IntervalMatrix_(std::initializer_list> l) : IntervalMatrix_() { - assert(R == Dynamic || (int)l.size() == R); + assert((R == Dynamic || (int)l.size() == R) && "ill-formed matrix"); int cols = -1; for(const auto& ri : l) { - assert(cols == -1 || cols == (int)ri.size()); + assert((cols == -1 || cols == (int)ri.size()) && "ill-formed matrix"); cols = (int)ri.size(); } this->resize(l.size(),cols); @@ -433,6 +445,14 @@ namespace codac2 return *this; } + auto& inflate(const Matrix_& r) + { + assert(r.minCoeff() >= 0.); + for(size_t i = 0 ; i < this->size() ; i++) + (this->data()+i)->inflate(*(r.data()+i)); + return *this; + } + bool operator==(const IntervalMatrix_& x) const { if(x.size() != this->size() || x.rows() != this->rows() || x.cols() != this->cols()) @@ -525,6 +545,23 @@ namespace codac2 } }; + template + std::ostream& operator<<(std::ostream& os, const IntervalMatrix_& x) + { + if(x.is_empty()) return os << "empty matrix"; + os << "("; + for(size_t i = 0 ; i < x.rows() ; i++) + { + os << "("; + for(size_t j = 0 ; j < x.cols() ; j++) + os << x(i,j) << (j auto operator-(const IntervalMatrix_& x) { diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index 40a1e8cce..c9c353afd 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -17,14 +17,15 @@ #ifndef __CODAC2_INTERVALVECTOR_H__ #define __CODAC2_INTERVALVECTOR_H__ +#include #include #include #include -#include -#include #include #include "codac2_Interval.h" #include "codac2_IntervalMatrix.h" +#include "codac2_Vector.h" +#include namespace codac2 { @@ -55,7 +56,7 @@ namespace codac2 } explicit IntervalVector_(const Interval& x) - : IntervalMatrix_(1,1,x) + : IntervalMatrix_(N,1,x) { } template @@ -73,9 +74,11 @@ namespace codac2 explicit IntervalVector_(double bounds[][2]) : IntervalVector_(this->size(), bounds) - { - - } + { } + + explicit IntervalVector_(const Vector_& lb, const Vector_& ub) + : IntervalMatrix_(lb, ub) + { } IntervalVector_(std::initializer_list l) : IntervalMatrix_(l.size(),1) @@ -225,6 +228,17 @@ namespace codac2 } }; + template + std::ostream& operator<<(std::ostream& os, const IntervalVector_& x) + { + if(x.is_empty()) return os << "empty vector"; + os << "("; + for(size_t i = 0 ; i < x.size() ; i++) + os << x[i] << (i codac::IntervalVector to_codac1(const IntervalVector_& x) { diff --git a/src/core/2/domains/interval/codac2_cart_prod.cpp b/src/core/2/domains/interval/codac2_cart_prod.cpp new file mode 100644 index 000000000..b154fc36f --- /dev/null +++ b/src/core/2/domains/interval/codac2_cart_prod.cpp @@ -0,0 +1,50 @@ +/** + * \file + * + * ---------------------------------------------------------------------------- + * \date 2022 + * \author Simon Rohou + * \copyright Copyright 2022 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include "codac2_cart_prod.h" + +using namespace std; + +namespace codac2 +{ + IntervalVector cart_prod_dyn(const Interval& x1, const Interval& x2) + { + return IntervalVector({x1,x2}); + } + + IntervalVector_<2> cart_prod_static(const Interval& x1, const Interval& x2) + { + return IntervalVector_<2>({x1,x2}); + } + + IntervalVector cart_prod_dyn(const IntervalVector& x1, const Interval& x2) + { + IntervalVector x(x1.size()+1); + x << x1,x2; + return x; + } + + IntervalVector cart_prod_dyn(const Interval& x1, const IntervalVector& x2) + { + IntervalVector x(x2.size()+1); + x << x1,x2; + return x; + } + + IntervalVector cart_prod_dyn(const IntervalVector& x1, const IntervalVector& x2) + { + IntervalVector x(x1.size()+x2.size()); + x << x1,x2; + return x; + } + +} // namespace codac \ No newline at end of file diff --git a/src/core/2/domains/interval/codac2_cart_prod.h b/src/core/2/domains/interval/codac2_cart_prod.h index 2f499b2fe..f9a939b6d 100644 --- a/src/core/2/domains/interval/codac2_cart_prod.h +++ b/src/core/2/domains/interval/codac2_cart_prod.h @@ -17,55 +17,32 @@ namespace codac2 { - IntervalVector cart_prod_dyn(const Interval& x1, const Interval& x2) - { - return IntervalVector({x1,x2}); - } - - auto cart_prod_static(const Interval& x1, const Interval& x2) - { - return IntervalVector_<2>({x1,x2}); - } - - auto cart_prod_dyn(const IntervalVector& x1, const Interval& x2) - { - IntervalVector x(x1.size()+1); - x << x1,x2; - return x; - } + IntervalVector cart_prod_dyn(const Interval& x1, const Interval& x2); + IntervalVector_<2> cart_prod_static(const Interval& x1, const Interval& x2); + IntervalVector cart_prod_dyn(const IntervalVector& x1, const Interval& x2); template - auto cart_prod_static(const IntervalVector_& x1, const Interval& x2) + IntervalVector_ cart_prod_static(const IntervalVector_& x1, const Interval& x2) { IntervalVector_ x; x << x1,x2; return x; } - auto cart_prod_dyn(const Interval& x1, const IntervalVector& x2) - { - IntervalVector x(x2.size()+1); - x << x1,x2; - return x; - } + IntervalVector cart_prod_dyn(const Interval& x1, const IntervalVector& x2); template - auto cart_prod_static(const Interval& x1, const IntervalVector_& x2) + IntervalVector_ cart_prod_static(const Interval& x1, const IntervalVector_& x2) { IntervalVector_ x; x << x1,x2; return x; } - auto cart_prod_dyn(const IntervalVector& x1, const IntervalVector& x2) - { - IntervalVector x(x1.size()+x2.size()); - x << x1,x2; - return x; - } + IntervalVector cart_prod_dyn(const IntervalVector& x1, const IntervalVector& x2); template - auto cart_prod_static(const IntervalVector_& x1, const IntervalVector_& x2) + IntervalVector_ cart_prod_static(const IntervalVector_& x1, const IntervalVector_& x2) { IntervalVector_ x; x << x1,x2; diff --git a/src/core/2/domains/paving/codac2_Paving.h b/src/core/2/domains/paving/codac2_Paving.h index 932bbe658..92409fee2 100644 --- a/src/core/2/domains/paving/codac2_Paving.h +++ b/src/core/2/domains/paving/codac2_Paving.h @@ -20,26 +20,32 @@ namespace codac2 { - template - class Paving : public std::enable_shared_from_this> + template + class PavingBase { public: - explicit Paving(size_t n) - : _x(IntervalVector_(n)) + explicit PavingBase(const IntervalVector_& x) + : _x(x) { } - explicit Paving(const IntervalVector_& x) - : _x(x) + virtual ~PavingBase() = default; + + const IntervalVector_& box() const { + return _x; + } + std::shared_ptr

left() + { + return _left; } - const IntervalVector_& box() const + std::shared_ptr

right() { - return _x; + return _right; } bool is_empty() const @@ -66,13 +72,14 @@ namespace codac2 return v; } - void bisect(float ratio = 0.49) + virtual void bisect(float ratio = 0.49) { assert(Interval(0.,1.).interior_contains(ratio)); assert(is_leaf() && "only leaves can be bisected"); + assert(_x.is_bisectable()); auto p = _x.bisect(ratio); - _left = std::make_shared(p.first); - _right = std::make_shared(p.second); + _left = std::make_shared

(p.first); + _right = std::make_shared

(p.second); } IntervalVector_ hull_box() const @@ -92,9 +99,9 @@ namespace codac2 return l; } - std::list*> leaves_list() + std::list leaves_list() { - std::list*> l; + std::list l; leaves_list_push(l); return l; } @@ -112,7 +119,7 @@ namespace codac2 } } - void leaves_list_push(std::list*>& l) + void leaves_list_push(std::list& l) { if(is_leaf() && !_x.is_empty()) l.push_back(this); @@ -126,9 +133,20 @@ namespace codac2 public: // todo IntervalVector_ _x; - std::shared_ptr _left = nullptr, _right = nullptr; + std::shared_ptr

_left = nullptr, _right = nullptr; + }; + + template + class Paving : public PavingBase,N> + { + public: + + explicit Paving(size_t n) + : PavingBase,N>(IntervalVector_(n)) + { } }; + } // namespace codac #endif \ No newline at end of file diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index e0203e4b8..22229c39f 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -12,9 +12,8 @@ #ifndef __CODAC2_MATRIX_H__ #define __CODAC2_MATRIX_H__ -#include -#include -#include +#include +#include namespace codac2 { @@ -27,9 +26,7 @@ namespace codac2 Matrix_() : Eigen::Matrix() - { - - } + { } Matrix_(size_t nb_rows, size_t nb_cols) : Eigen::Matrix(nb_rows, nb_cols) @@ -56,6 +53,27 @@ namespace codac2 explicit Matrix_(double values[]) : Matrix_(R, C, values) { } + + Matrix_(std::initializer_list> l) + : Matrix_() + { + assert((R == Dynamic || (int)l.size() == R) && "ill-formed matrix"); + int cols = -1; + for(const auto& ri : l) { + assert(cols == -1 || cols == (int)ri.size() && "ill-formed matrix"); + cols = (int)ri.size(); + } + this->resize(l.size(),cols); + size_t i = 0; + for(const auto& ri : l) + { + size_t j = 0; + for(const auto& ci : ri) + (*this)(i,j++) = ci; + i++; + } + // todo: use thias as faster? std::copy(l.begin(), l.end(), vec); + } template Matrix_(const Eigen::MatrixBase& other) @@ -75,6 +93,16 @@ namespace codac2 return Eigen::Matrix::Identity(); } + double min() const + { + return Eigen::Matrix::minCoeff(); + } + + double max() const + { + return Eigen::Matrix::maxCoeff(); + } + auto operator+(const Matrix_& x) const { auto y = *this; @@ -115,9 +143,60 @@ namespace codac2 { return Eigen::Matrix::Zero(); } - }; + template + std::ostream& operator<<(std::ostream& os, const Matrix_& x) + { + os << "("; + for(size_t i = 0 ; i < x.rows() ; i++) + { + os << "("; + for(size_t j = 0 ; j < x.cols() ; j++) + os << x(i,j) << (j + Matrix_ floor(const Matrix_& x) + { + Matrix_ f(x.rows(), x.cols()); + for(size_t i = 0 ; i < x.size() ; i++) + *(f.data()+i) = std::floor(*(x.data()+i)); + return f; + } + + template + Matrix_ round(const Matrix_& x) + { + Matrix_ f(x.rows(), x.cols()); + for(size_t i = 0 ; i < x.size() ; i++) + *(f.data()+i) = std::round(*(x.data()+i)); + return f; + } + + template + Matrix_ ceil(const Matrix_& x) + { + Matrix_ f(x.rows(), x.cols()); + for(size_t i = 0 ; i < x.size() ; i++) + *(f.data()+i) = std::ceil(*(x.data()+i)); + return f; + } + + template + Matrix_ abs(const Matrix_& x) + { + Matrix_ f(x.rows(), x.cols()); + for(size_t i = 0 ; i < x.size() ; i++) + *(f.data()+i) = std::fabs(*(x.data()+i)); + return f; + } + } // namespace codac #endif \ No newline at end of file diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index 3538dff50..a7fa84c75 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -12,6 +12,7 @@ #ifndef __CODAC2_VECTOR_H__ #define __CODAC2_VECTOR_H__ +#include #include #include @@ -25,9 +26,7 @@ namespace codac2 public: Vector_() - { - - } + { } Vector_(size_t n) : Matrix_(n,1) @@ -90,12 +89,31 @@ namespace codac2 } }; + template + std::ostream& operator<<(std::ostream& os, const Vector_& x) + { + os << "("; + for(size_t i = 0 ; i < x.size() ; i++) + os << x[i] << (i Matrix_ diag(const Vector_ v) { return v.as_diag(); } + template + codac::Vector to_codac1(const Vector_& x) + { + ibex::Vector x_(x.size()); + for(size_t i = 0 ; i < x.size() ; i++) + x_[i] = x[i]; + return x_; + } + template Vector_ to_codac2(const codac::Vector& x) { diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 33c832456..2717733c0 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -180,9 +180,11 @@ ${CMAKE_CURRENT_SOURCE_DIR}/sivia/codac_sivia.h) list(APPEND CODAC2_SRC # Files related to codac2 + ${CMAKE_CURRENT_SOURCE_DIR}/2/3rd/codac2_eigen.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_Interval.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalMatrix.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_IntervalVector.h + ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_cart_prod.cpp ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval/codac2_cart_prod.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractConstTube.h ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube/codac2_AbstractSlice.cpp @@ -242,6 +244,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/cn ${CMAKE_CURRENT_SOURCE_DIR}/tools ${CMAKE_CURRENT_SOURCE_DIR}/sivia + ${CMAKE_CURRENT_SOURCE_DIR}/2/3rd ${CMAKE_CURRENT_SOURCE_DIR}/2/contractors ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/interval ${CMAKE_CURRENT_SOURCE_DIR}/2/domains/tube From bc79874b081fa900e2b6a4fd84c7933e7357dd03 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 14 Sep 2023 16:05:48 +0200 Subject: [PATCH 122/256] [codac2] corrected error on min function --- src/core/2/domains/interval/codac2_IntervalMatrix.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 2747e80a1..16fa84ac0 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -128,8 +128,8 @@ namespace codac2 // With resize of Eigen, the data is reallocated and all previous values are lost. auto copy = *this; this->Eigen::Matrix::resize(nb_rows, nb_cols); - for(size_t i = 0 ; i < min(copy.rows(),nb_rows) ; i++) - for(size_t j = 0 ; j < min(copy.cols(),nb_cols) ; j++) + for(size_t i = 0 ; i < min((size_t)copy.rows(),nb_rows) ; i++) + for(size_t j = 0 ; j < min((size_t)copy.cols(),nb_cols) ; j++) (*this)(i,j) = copy(i,j); } From d967d8934dcccea2d237972da4d32c478939887b Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 15 Sep 2023 15:03:58 +0200 Subject: [PATCH 123/256] [codac2] templated Interval/Vector/Matrix --- .../domains/interval/codac2_IntervalMatrix.h | 21 ++++++++++--------- .../domains/interval/codac2_IntervalVector.h | 5 ----- src/core/2/variables/codac2_Matrix.h | 19 +++++++++++++++++ src/core/2/variables/codac2_Vector.h | 11 +++++----- tests/core/CMakeLists.txt | 2 +- 5 files changed, 37 insertions(+), 21 deletions(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 16fa84ac0..88995034f 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -33,7 +33,9 @@ namespace codac2 IntervalMatrix_() : Eigen::Matrix() - { } + { + + } explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols) : Eigen::Matrix(nb_rows, nb_cols) @@ -45,8 +47,7 @@ namespace codac2 explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols, const Interval& x) : IntervalMatrix_(nb_rows, nb_cols) { - for(size_t i = 0 ; i < size() ; i++) - *(this->data()+i) = x; + init(x); } explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols, double bounds[][2]) @@ -62,6 +63,7 @@ namespace codac2 (*this)(i,j) = Interval(bounds[k][0],bounds[k][1]); k++; } + assert(k == this->size()); } explicit IntervalMatrix_(double bounds[][2]) @@ -69,15 +71,16 @@ namespace codac2 { } explicit IntervalMatrix_(const Matrix_& lb, const Matrix_& ub) - : IntervalMatrix_(R, C) + : IntervalMatrix_(lb.rows(), lb.cols()) { + assert(lb.rows() == ub.rows() && lb.cols() == ub.cols()); for(size_t i = 0 ; i < this->rows() ; i++) for(size_t j = 0 ; j < this->cols() ; j++) (*this)(i,j) = Interval(lb(i,j),ub(i,j)); } explicit IntervalMatrix_(const IntervalMatrix_& x) - : IntervalMatrix_(R, C) + : IntervalMatrix_(x.rows(), x.cols()) { for(size_t i = 0 ; i < size() ; i++) *(this->data()+i) = *(x.data()+i); @@ -101,7 +104,6 @@ namespace codac2 (*this)(i,j++) = ci; i++; } - // todo: use thias as faster? std::copy(l.begin(), l.end(), vec); } // This constructor allows you to construct IntervalMatrix_ from Eigen expressions @@ -143,8 +145,7 @@ namespace codac2 static IntervalMatrix_ empty_set(size_t nb_rows = R, size_t nb_cols = C) { - IntervalMatrix_ x(nb_rows, nb_cols, Interval::empty_set()); - return x; + return IntervalMatrix_(nb_rows, nb_cols, Interval::empty_set()); } bool is_flat() const @@ -550,10 +551,10 @@ namespace codac2 { if(x.is_empty()) return os << "empty matrix"; os << "("; - for(size_t i = 0 ; i < x.rows() ; i++) + for(int i = 0 ; i < x.rows() ; i++) { os << "("; - for(size_t j = 0 ; j < x.cols() ; j++) + for(int j = 0 ; j < x.cols() ; j++) os << x(i,j) << (j empty_set(size_t n = N) - { - return IntervalMatrix_::empty_set(n,1); - } - void resize(size_t n) { this->IntervalMatrix_::resize(n,1); diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index 22229c39f..af0dc3951 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -34,6 +34,14 @@ namespace codac2 assert(R == Dynamic || R == (int)nb_rows); assert(C == Dynamic || C == (int)nb_cols); } + + Matrix_(size_t nb_rows, size_t nb_cols, double x) + : Eigen::Matrix(nb_rows, nb_cols) + { + assert(R == Dynamic || R == (int)nb_rows); + assert(C == Dynamic || C == (int)nb_cols); + init(x); + } explicit Matrix_(size_t nb_rows, size_t nb_cols, double values[]) : Matrix_(nb_rows, nb_cols) @@ -88,6 +96,12 @@ namespace codac2 return *this; } + void init(double x) + { + for(size_t i = 0 ; i < this->size() ; i++) + *(this->data()+i) = x; + } + static Matrix_ eye() { return Eigen::Matrix::Identity(); @@ -143,6 +157,11 @@ namespace codac2 { return Eigen::Matrix::Zero(); } + + static Matrix_ ones() + { + return Eigen::Matrix::Ones(); + } }; template diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index a7fa84c75..8080b63bd 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -34,6 +34,12 @@ namespace codac2 assert(N == Dynamic || N == (int)n); } + Vector_(size_t n, double x) + : Matrix_(n,1,x) + { + assert(N == Dynamic || N == (int)n); + } + Vector_(std::initializer_list l) : Matrix_(l.size(),1) { assert(N == (int)l.size() || N == -1); @@ -75,11 +81,6 @@ namespace codac2 return Matrix_(Eigen::Matrix(this->asDiagonal())); } - static Vector_ zeros() - { - return Eigen::Matrix::Zero(); - } - // todo: place this in common inheritance with IntervalVector_ template Vector_ subvector() const diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index 4cc10e560..dc44acb6d 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -6,7 +6,7 @@ set(TESTS_NAME codac-tests-core) list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalvector.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalmatrix.cpp From e89ad5d1d4ee34b3f43e1c85ad4ef297874d81fc Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 18 Sep 2023 11:19:23 +0200 Subject: [PATCH 124/256] [codac2] templated Interval/Vector/Matrix --- src/core/2/domains/interval/codac2_IntervalMatrix.h | 5 +++-- src/core/2/variables/codac2_Vector.h | 8 ++++++++ src/core/arithmetic/codac_polygon_arithmetic.cpp | 9 +++++++-- src/core/arithmetic/codac_polygon_arithmetic.h | 1 + 4 files changed, 19 insertions(+), 4 deletions(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 88995034f..1f0692ad3 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -17,6 +17,7 @@ #ifndef __CODAC2_INTERVALMATRIX_H__ #define __CODAC2_INTERVALMATRIX_H__ +#include #include #include #include @@ -130,8 +131,8 @@ namespace codac2 // With resize of Eigen, the data is reallocated and all previous values are lost. auto copy = *this; this->Eigen::Matrix::resize(nb_rows, nb_cols); - for(size_t i = 0 ; i < min((size_t)copy.rows(),nb_rows) ; i++) - for(size_t j = 0 ; j < min((size_t)copy.cols(),nb_cols) ; j++) + for(size_t i = 0 ; i < std::min((size_t)copy.rows(),nb_rows) ; i++) + for(size_t j = 0 ; j < std::min((size_t)copy.cols(),nb_cols) ; j++) (*this)(i,j) = copy(i,j); } diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index 8080b63bd..14a0ede33 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -63,6 +63,14 @@ namespace codac2 : Matrix_(N,1,values) { } + template + explicit Vector_(const std::array& array) + : Matrix_(N,1) + { + for(size_t i = 0 ; i < N ; i++) + *(this->data()+i) = array[i]; + } + template Vector_(const Eigen::MatrixBase& other) : Matrix_(other) diff --git a/src/core/arithmetic/codac_polygon_arithmetic.cpp b/src/core/arithmetic/codac_polygon_arithmetic.cpp index 4ccc7a04f..cb7394def 100644 --- a/src/core/arithmetic/codac_polygon_arithmetic.cpp +++ b/src/core/arithmetic/codac_polygon_arithmetic.cpp @@ -67,7 +67,7 @@ namespace codac return ConvexPolygon(v_result_thick_pts); } - const ConvexPolygon operator&(const ConvexPolygon& p1, const ConvexPolygon& p2) + vector inter_thickpoints(const ConvexPolygon& p1, const ConvexPolygon& p2) { vector v_pts; @@ -116,7 +116,12 @@ namespace codac } } - return ConvexPolygon(v_pts); + return v_pts; + } + + const ConvexPolygon operator&(const ConvexPolygon& p1, const ConvexPolygon& p2) + { + return ConvexPolygon(inter_thickpoints(p1,p2)); } const ConvexPolygon operator&(const IntervalVector& p1, const ConvexPolygon& p2) diff --git a/src/core/arithmetic/codac_polygon_arithmetic.h b/src/core/arithmetic/codac_polygon_arithmetic.h index 251bd323c..fd1f2bdb4 100644 --- a/src/core/arithmetic/codac_polygon_arithmetic.h +++ b/src/core/arithmetic/codac_polygon_arithmetic.h @@ -28,6 +28,7 @@ namespace codac const ConvexPolygon operator*(const IntervalMatrix& m, const ConvexPolygon& x); + std::vector inter_thickpoints(const ConvexPolygon& p1, const ConvexPolygon& p2); const ConvexPolygon operator&(const ConvexPolygon& p1, const ConvexPolygon& p2); const ConvexPolygon operator&(const IntervalVector& p1, const ConvexPolygon& p2); const ConvexPolygon operator&(const ConvexPolygon& p1, const IntervalVector& p2); From 33d09f9af2efb3cef062fac593320197a43d72ad Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 18 Sep 2023 14:08:33 +0200 Subject: [PATCH 125/256] [codac2] corrected cast in Paving --- src/core/2/domains/paving/codac2_Paving.h | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/core/2/domains/paving/codac2_Paving.h b/src/core/2/domains/paving/codac2_Paving.h index 92409fee2..0e137b0eb 100644 --- a/src/core/2/domains/paving/codac2_Paving.h +++ b/src/core/2/domains/paving/codac2_Paving.h @@ -122,7 +122,7 @@ namespace codac2 void leaves_list_push(std::list& l) { if(is_leaf() && !_x.is_empty()) - l.push_back(this); + l.push_back(dynamic_cast(this)); else { if(_left) _left->leaves_list_push(l); @@ -144,6 +144,10 @@ namespace codac2 explicit Paving(size_t n) : PavingBase,N>(IntervalVector_(n)) { } + + explicit Paving(const IntervalVector_& x) + : PavingBase,N>(x) + { } }; From 11ea9b5fd62810144a39f126212502662ab8ca1b Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 18 Sep 2023 14:09:14 +0200 Subject: [PATCH 126/256] [codac2] Vector_: corrected wrong cast in template arguments --- src/core/2/variables/codac2_Vector.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index 14a0ede33..4c23ed330 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -52,7 +52,7 @@ namespace codac2 Vector_(const Matrix_& x) : Matrix_(x) { - assert(M == Dynamic || M == N); + static_assert(M == Dynamic || M == N); } explicit Vector_(size_t n, double values[]) @@ -63,11 +63,12 @@ namespace codac2 : Matrix_(N,1,values) { } - template - explicit Vector_(const std::array& array) + template + explicit Vector_(const std::array& array) : Matrix_(N,1) { - for(size_t i = 0 ; i < N ; i++) + static_assert(N == Dynamic || N == (int)M); + for(size_t i = 0 ; i < M ; i++) *(this->data()+i) = array[i]; } From e91bca4e23fa63da80a0e4a617ef7b3c242e36a4 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 18 Sep 2023 17:41:15 +0200 Subject: [PATCH 127/256] [codac2] allowing Tube> --- src/core/2/domains/tube/codac2_Slice.h | 13 ++++-- src/core/2/domains/tube/codac2_Tube.h | 16 ++++---- tests/core/CMakeLists.txt | 55 +++++++++++++------------- 3 files changed, 44 insertions(+), 40 deletions(-) diff --git a/src/core/2/domains/tube/codac2_Slice.h b/src/core/2/domains/tube/codac2_Slice.h index 1810111bf..7d54928c0 100644 --- a/src/core/2/domains/tube/codac2_Slice.h +++ b/src/core/2/domains/tube/codac2_Slice.h @@ -122,7 +122,7 @@ namespace codac2 BoolInterval contains(const TrajectoryVector& x) const { - if constexpr(std::is_same::value) + if constexpr(!std::is_same::value) { assert(false && "not implemented"); return BoolInterval::MAYBE; @@ -303,10 +303,15 @@ namespace codac2 void set_unbounded() { - if constexpr(std::is_same::value || std::is_same::value) // 'if' to be removed with virtual set classes - _codomain = T(); - else + if constexpr(std::is_same::value) _codomain = T(size()); + else + _codomain = T(); + + //if constexpr(std::is_same::value || std::is_same::value) // 'if' to be removed with virtual set classes + // _codomain = T(); + //else + // _codomain = T(size()); } void set_component(size_t i, const Interval& xi) diff --git a/src/core/2/domains/tube/codac2_Tube.h b/src/core/2/domains/tube/codac2_Tube.h index 3090e2aa2..6f94728ad 100644 --- a/src/core/2/domains/tube/codac2_Tube.h +++ b/src/core/2/domains/tube/codac2_Tube.h @@ -43,11 +43,9 @@ namespace codac2 { public: - // need to specify T (dim at least) explicit Tube(const std::shared_ptr& tdomain) : - // need to specify T (dim at least) Tube(tdomain, T()) - // need to specify T (dim at least) { - // need to specify T (dim at least) - // need to specify T (dim at least) } + explicit Tube(const std::shared_ptr& tdomain) : + Tube(tdomain, T()) + { } explicit Tube(const std::shared_ptr& tdomain, const TFnc& f) : Tube(tdomain, (std::is_same::value ? T() : T(f.image_dim()))) @@ -267,7 +265,7 @@ namespace codac2 { if(!tdomain()->t0_tf().contains(t)) { - if constexpr(std::is_same::value || std::is_same::value) + if constexpr(!std::is_same::value) return T(); else return T(size()); @@ -284,7 +282,7 @@ namespace codac2 { if(!tdomain()->t0_tf().is_superset(t)) { - if constexpr(std::is_same::value || std::is_same::value) + if constexpr(!std::is_same::value) return T(); else return T(size()); @@ -308,7 +306,7 @@ namespace codac2 void set(const T& codomain) { - if constexpr(!std::is_same::value) { + if constexpr(std::is_same::value) { assert((size_t)codomain.size() == size()); } for(auto& s : *this) @@ -321,7 +319,7 @@ namespace codac2 void set(const T& codomain, double t) { - if constexpr(!std::is_same::value) { + if constexpr(std::is_same::value) { assert((size_t)codomain.size() == size()); } std::list::iterator it = _tdomain->sample(t,true); diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index dc44acb6d..e33acb3cb 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -9,34 +9,35 @@ list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalvector.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalmatrix.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes_templated_types.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h - #${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polygon.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_qinterprojf.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_fixpoint_proj.cpp - #${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polar.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h + ${CMAKE_CURRENT_SOURCE_DIR}/tests_arithmetic.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_cn.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_box.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_cart_prod.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_delay.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_deriv.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_chain.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_eval.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_picard.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_lohner.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_ctc_static.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_definition.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_functions.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_values.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polygon.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_qinterprojf.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_fixpoint_proj.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/tests_sep_polar.cpp ) add_executable(${TESTS_NAME} ${SRC_TESTS}) From 75e6381df27c261326316443f19efbb9e153bb55 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 18 Sep 2023 17:42:08 +0200 Subject: [PATCH 128/256] [codac2] allowing Tube> --- .../tests_codac2_tubes_templated_types.cpp | 32 +++++++++++++++++++ 1 file changed, 32 insertions(+) create mode 100644 tests/core/tests_codac2_tubes_templated_types.cpp diff --git a/tests/core/tests_codac2_tubes_templated_types.cpp b/tests/core/tests_codac2_tubes_templated_types.cpp new file mode 100644 index 000000000..a27f1a989 --- /dev/null +++ b/tests/core/tests_codac2_tubes_templated_types.cpp @@ -0,0 +1,32 @@ +#include "catch_interval.hpp" +#include "vibes.h" + +#include "codac2_Tube.h" +#include "codac2_Interval.h" +#include "codac2_IntervalMatrix.h" + +using namespace Catch; +using namespace Detail; +using namespace std; +using namespace codac2; + +TEST_CASE("Test codac2::tubes templated") +{ + SECTION("Testing tube of templated IntervalMatrix") + { + auto tdomain = create_tdomain(); + Tube> a(tdomain); + a(2.3) = IntervalMatrix_<2,3>({{1.,2.,3.},{4.,5.,6.}}); + CHECK(a.nb_slices() == 3); + + vector>*> v; + for(const auto& s : a) + v.push_back(&s); + CHECK(v[0]->t0_tf() == Interval(-codac2::oo,2.3)); + CHECK(v[0]->codomain() == (IntervalMatrix_<2,3>())); + CHECK(v[1]->t0_tf() == Interval(2.3)); + CHECK(v[1]->codomain() == (IntervalMatrix_<2,3>({{1.,2.,3.},{4.,5.,6.}}))); + CHECK(v[2]->t0_tf() == Interval(2.3,codac2::oo)); + CHECK(v[2]->codomain() == (IntervalMatrix_<2,3>())); + } +} \ No newline at end of file From 608202a0201b26c8659b1bca96696bbbb91f2b5c Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 25 Sep 2023 22:46:34 +0200 Subject: [PATCH 129/256] Force doxygen v1.9.6 on Windows since latest causes issues --- .github/workflows/vcmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 10015d8a5..1f9e24eab 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -54,7 +54,7 @@ jobs: if: runner.os=='Windows' - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} if: runner.os=='Windows' - - run: choco install -y -r --no-progress doxygen.install graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects + - run: choco install -y -r --no-progress doxygen.install --version=1.9.6 & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv From ee082308ac4cda3e5e7b69aab65136cbe15bf21c Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 26 Sep 2023 23:00:08 +0200 Subject: [PATCH 130/256] Workaround for error "NumPy requires GCC >= 8.4" in CentOS docker --- scripts/docker/build_pybinding.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index c40c31d1a..db1526b54 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -30,7 +30,7 @@ for PYBIN in /opt/python/cp3*/bin; do auditwheel repair "$whl" -w /io/wheelhouse/ done - "${PYBIN}/python" -m pip install numpy + "${PYBIN}/python" -m pip install "numpy<1.23" # Recent versions of numpy require GCC >= 8.4... "${PYBIN}/python" -m pip install codac --no-deps --no-index -f /io/wheelhouse (cd "$HOME"; "${PYBIN}/python" -m unittest discover codac.tests) cd /io From 65784a201dda9841194fb581e689247adab07ef7 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 26 Sep 2023 00:22:39 +0200 Subject: [PATCH 131/256] Workaround of square bracket operator for MATLAB compatibility --- python/src/core/cn/codac_py_Variable.cpp | 9 +++++ .../domains/interval/codac_py_Interval.cpp | 14 ++++++++ .../interval/codac_py_IntervalMatrix.cpp | 15 +++++++++ .../interval/codac_py_IntervalVector.cpp | 15 +++++++++ .../core/domains/tube/codac_py_TubeVector.cpp | 33 +++++++++++++++++++ .../src/core/functions/codac_py_TFunction.cpp | 10 ++++++ .../trajectory/codac_py_TrajectoryVector.cpp | 33 +++++++++++++++++++ .../thickset/codac_ThickInterval.cpp | 8 +++++ 8 files changed, 137 insertions(+) diff --git a/python/src/core/cn/codac_py_Variable.cpp b/python/src/core/cn/codac_py_Variable.cpp index bd5762552..2b6a44020 100644 --- a/python/src/core/cn/codac_py_Variable.cpp +++ b/python/src/core/cn/codac_py_Variable.cpp @@ -63,6 +63,15 @@ void export_IntervalVectorVar(py::module& m) "todo", py::return_value_policy::reference_internal) + .def("getitem", [](IntervalVectorVar& s, size_t index) -> IntervalVar& + { + if(index >= static_cast(s.size())) + throw py::index_error(); + return s[static_cast(index)]; + }, + "todo", + py::return_value_policy::reference_internal) + .def("__eq__", [](const IntervalVectorVar& s1, const IntervalVectorVar& s2) { return reinterpret_cast(&s1) == reinterpret_cast(&s2); }) .def("__hash__", [](const IntervalVectorVar& s1) { return reinterpret_cast(&s1); }) diff --git a/python/src/core/domains/interval/codac_py_Interval.cpp b/python/src/core/domains/interval/codac_py_Interval.cpp index 3903f4970..ce7b3511c 100644 --- a/python/src/core/domains/interval/codac_py_Interval.cpp +++ b/python/src/core/domains/interval/codac_py_Interval.cpp @@ -111,6 +111,20 @@ void export_Interval(py::module& m) else return NAN; }, py::return_value_policy::reference_internal) + + .def("getitem", [](Interval& s, size_t index) -> double + { + if(index < 0 || index > 1) + throw py::index_error(); + + cout << "Warning: indexing on intervals is deprecated." << endl + << " Use .lb(), .ub() methods instead of []." << endl; + + if(index == 0) return s.lb(); + else if(index == 1) return s.ub(); + else return NAN; + }, + py::return_value_policy::reference_internal) // Arithmetic diff --git a/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp b/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp index 0552b8747..e7aac5f25 100644 --- a/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp @@ -103,6 +103,14 @@ void export_IntervalMatrix(py::module& m) }, py::return_value_policy::reference_internal) + .def("getitem", [](IntervalMatrix& s, size_t index) -> IntervalVector& + { + if(index < 0 || index >= static_cast(s.nb_rows())) + throw py::index_error(); + return s[static_cast(index)]; + }, + py::return_value_policy::reference_internal) + .def("__setitem__", [](IntervalMatrix& s, size_t index, IntervalVector& t) { if(index < 0 || index >= static_cast(s.nb_rows())) @@ -110,6 +118,13 @@ void export_IntervalMatrix(py::module& m) s[static_cast(index)] = t; }) + .def("setitem", [](IntervalMatrix& s, size_t index, IntervalVector& t) + { + if(index < 0 || index >= static_cast(s.nb_rows())) + throw py::index_error(); + s[static_cast(index)] = t; + }) + .def("assign", &assign_IntervalMatrix) .def(py::self == py::self) .def(py::self != py::self) diff --git a/python/src/core/domains/interval/codac_py_IntervalVector.cpp b/python/src/core/domains/interval/codac_py_IntervalVector.cpp index d9336906d..d14372136 100644 --- a/python/src/core/domains/interval/codac_py_IntervalVector.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalVector.cpp @@ -183,12 +183,27 @@ void export_IntervalVector(py::module& m) }, py::return_value_policy::reference_internal) + .def("getitem", [](IntervalVector& s, size_t index) -> Interval& + { + if(index < 0 || index >= static_cast(s.size())) + throw py::index_error(); + return s[static_cast(index)]; + }, + py::return_value_policy::reference_internal) + .def("__setitem__", [](IntervalVector& s, size_t index, Interval& t) { if(index < 0 || index >= static_cast(s.size())) throw py::index_error(); s[static_cast(index)] = t; }) + + .def("setitem", [](IntervalVector& s, size_t index, Interval& t) + { + if(index < 0 || index >= static_cast(s.size())) + throw py::index_error(); + s[static_cast(index)] = t; + }) .def("__iter__", [](const IntervalVector& s) diff --git a/python/src/core/domains/tube/codac_py_TubeVector.cpp b/python/src/core/domains/tube/codac_py_TubeVector.cpp index b0f11fc5b..aca0dd891 100644 --- a/python/src/core/domains/tube/codac_py_TubeVector.cpp +++ b/python/src/core/domains/tube/codac_py_TubeVector.cpp @@ -479,6 +479,15 @@ void export_TubeVector(py::module& m) TUBEVECTOR_TUBE_OPERATORB_INT, py::return_value_policy::reference_internal) + .def("getitem", [](TubeVector& s, size_t index) -> Tube& + { + if(index >= static_cast(s.size())) + throw py::index_error(); + return s[static_cast(index)]; + }, + TUBEVECTOR_TUBE_OPERATORB_INT, + py::return_value_policy::reference_internal) + .def("__getitem__", [](const TubeVector& s, py::slice slice) -> TubeVector { size_t start, stop, step, slicelength; @@ -495,6 +504,22 @@ void export_TubeVector(py::module& m) }, TUBEVECTOR_CONSTTUBE_OPERATORB_INT) + .def("getitem", [](const TubeVector& s, py::slice slice) -> TubeVector + { + size_t start, stop, step, slicelength; + + if(!slice.compute(s.size(), &start, &stop, &step, &slicelength)) + throw py::error_already_set(); + + if(step != 1) + cout << "Warning slice step must be equal to 1\n"; + + // To respect the python convention, the stop index + // is not included in slice + return s.subvector(start, start+slicelength-1); + }, + TUBEVECTOR_CONSTTUBE_OPERATORB_INT) + .def("__setitem__", [](TubeVector& s, size_t index, Tube& t) { if(index >= static_cast(s.size())) @@ -503,6 +528,14 @@ void export_TubeVector(py::module& m) }, TUBEVECTOR_TUBE_OPERATORB_INT) + .def("setitem", [](TubeVector& s, size_t index, Tube& t) + { + if(index >= static_cast(s.size())) + throw py::index_error(); + s[static_cast(index)] = t; + }, + TUBEVECTOR_TUBE_OPERATORB_INT) + // Operators .def("__add__", [](const TubeVector& x) { return +x; }) diff --git a/python/src/core/functions/codac_py_TFunction.cpp b/python/src/core/functions/codac_py_TFunction.cpp index 9a78ffaec..63c55e1b6 100644 --- a/python/src/core/functions/codac_py_TFunction.cpp +++ b/python/src/core/functions/codac_py_TFunction.cpp @@ -150,5 +150,15 @@ void export_TFunction(py::module& m, py::class_& fnc) }, TFUNCTION_CONSTTFUNCTION_OPERATORB_INT, py::return_value_policy::reference_internal) + + .def("getitem", [](TFunction& s, size_t index) + { + if((int)index >= s.nb_var()) + throw py::index_error(); + + return s[static_cast(index)]; + }, + TFUNCTION_CONSTTFUNCTION_OPERATORB_INT, + py::return_value_policy::reference_internal) ; } diff --git a/python/src/core/variables/trajectory/codac_py_TrajectoryVector.cpp b/python/src/core/variables/trajectory/codac_py_TrajectoryVector.cpp index b5835d84c..af9b59c50 100644 --- a/python/src/core/variables/trajectory/codac_py_TrajectoryVector.cpp +++ b/python/src/core/variables/trajectory/codac_py_TrajectoryVector.cpp @@ -273,6 +273,15 @@ void export_TrajectoryVector(py::module& m) TRAJECTORYVECTOR_TRAJECTORY_OPERATORB_INT, py::return_value_policy::reference_internal) + .def("getitem", [](TrajectoryVector& s, size_t index) -> Trajectory& + { + if(index >= static_cast(s.size())) + throw py::index_error(); + return s[static_cast(index)]; + }, + TRAJECTORYVECTOR_TRAJECTORY_OPERATORB_INT, + py::return_value_policy::reference_internal) + .def("__getitem__", [](const TrajectoryVector& s, py::slice slice) -> TrajectoryVector { size_t start, stop, step, slicelength; @@ -289,6 +298,22 @@ void export_TrajectoryVector(py::module& m) }, TRAJECTORYVECTOR_CONSTTRAJECTORYVECTOR_SUBVECTOR_INT_INT) + .def("getitem", [](const TrajectoryVector& s, py::slice slice) -> TrajectoryVector + { + size_t start, stop, step, slicelength; + + if(!slice.compute(s.size(), &start, &stop, &step, &slicelength)) + throw py::error_already_set(); + + if(step != 1) + cout << "Warning slice step must be equal to 1\n"; + + // To respect the python convention, the stop index + // is not included in slice + return s.subvector(start, start+slicelength-1); + }, + TRAJECTORYVECTOR_CONSTTRAJECTORYVECTOR_SUBVECTOR_INT_INT) + .def("__setitem__", [](TrajectoryVector& s, size_t index, Trajectory& t) { if(index >= static_cast(s.size())) @@ -297,6 +322,14 @@ void export_TrajectoryVector(py::module& m) }, TRAJECTORYVECTOR_TRAJECTORY_OPERATORB_INT) + .def("setitem", [](TrajectoryVector& s, size_t index, Trajectory& t) + { + if(index >= static_cast(s.size())) + throw py::index_error(); + s[static_cast(index)] = t; + }, + TRAJECTORYVECTOR_TRAJECTORY_OPERATORB_INT) + // Operators .def("__add__", [](const TrajectoryVector& x) { return +x; }) diff --git a/python/src/unsupported/thickset/codac_ThickInterval.cpp b/python/src/unsupported/thickset/codac_ThickInterval.cpp index 0caf35ef6..795d365ee 100644 --- a/python/src/unsupported/thickset/codac_ThickInterval.cpp +++ b/python/src/unsupported/thickset/codac_ThickInterval.cpp @@ -96,10 +96,18 @@ void export_thickInterval(py::module& m) if (idx > self.size()) throw py::index_error(); return self[idx]; }) + .def("getitem", [](ThickBox& self, size_t idx){ + if (idx > self.size()) throw py::index_error(); + return self[idx]; + }) .def("__setitem__", [](ThickBox& self, size_t idx, ThickInterval& itv){ if (idx > self.size()) throw py::index_error(); self[idx]=itv; }) + .def("setitem", [](ThickBox& self, size_t idx, ThickInterval& itv){ + if (idx > self.size()) throw py::index_error(); + self[idx]=itv; + }) .def("superset", &ThickBox::superset) .def("to_string", &ThickBox::to_string) .def("__repr__", &ThickBox::to_string) From 5a12473d368672df667622503d168920dfdf9eb5 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 27 Sep 2023 11:33:38 +0200 Subject: [PATCH 132/256] Add preliminary MATLAB example --- .../01_getting_started/a01_getting_started.m | 91 +++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 examples/tuto/01_getting_started/a01_getting_started.m diff --git a/examples/tuto/01_getting_started/a01_getting_started.m b/examples/tuto/01_getting_started/a01_getting_started.m new file mode 100644 index 000000000..030702085 --- /dev/null +++ b/examples/tuto/01_getting_started/a01_getting_started.m @@ -0,0 +1,91 @@ +% Codac - Examples +% Dynamic range-only localization +% ---------------------------------------------------------------------------- + +import py.codac.* + + +% =================== 0. Parameters, truth and data ==================== + +dt = 0.01; % timestep for tubes accuracy +tdomain = Interval(0, 3); % temporal limits [t_0,t_f]=[0,3] + +x = TubeVector(tdomain, dt, int32(4)); % 4d tube for state vectors +v = TubeVector(tdomain, dt, int32(4)); % 4d tube for derivatives of the states +u = TubeVector(tdomain, dt, int32(2)); % 2d tube for inputs of the system + +x_truth = TrajectoryVector(tdomain, TFunction(['(' ... + '10*cos(t)+t ;' ... + '5*sin(2*t)+t ;' ... + 'atan2((10*cos(2*t)+1),(-10*sin(t)+1)) ;' ... + 'sqrt((-10*sin(t)+1)^2+(10*cos(2*t)+1)^2))'])); % actual trajectory + +% Continuous measurements coming from the truth +measured_psi = x_truth.getitem(int32(2)).sample(dt).make_continuous(); +measured_psi = measured_psi + RandTrajectory(tdomain, dt, Interval(-0.01,0.01)); % adding some noise +measured_speed = x_truth.getitem(int32(3)).sample(dt); +measured_speed = measured_speed + RandTrajectory(tdomain, dt, Interval(-0.01,0.01)); % adding some noise + + +% =============== 1. Defining domains for our variables ================ + +x.setitem(int32(2), Tube(measured_psi, dt).inflate(0.01)); % measured_psi is a set of measurements +x.setitem(int32(3), Tube(measured_speed, dt).inflate(0.01)); + +e_y = Interval(-0.1,0.1); +y = {Interval(1.9+e_y), Interval(3.6+e_y), ... + Interval(2.8+e_y)}; % set of range-only observations +b = {[8,3],[0,5],[-2,1]}; % positions of the three 2d landmarks +t = [0.3, 1.5, 2.0]; % times of measurements + + +% =========== 2. Defining contractors to deal with equations =========== + +ctc_f = CtcFunction(Function('v[4]', 'x[4]', 'u[2]', '(v[0]-x[3]*cos(x[2]) ; v[1]-x[3]*sin(x[2]) ; v[2]-u[0] ; v[3]-u[1])')); + + +% =============== 3. Adding the contractors to a network =============== + +cn = ContractorNetwork(); % creating a network + +cn.add(ctc_f, py.list({v, x, u})); % adding the f constraint + +for i=1:length(y) % we add the observ. constraint for each range-only measurement + + p = cn.create_interm_var(IntervalVector(int32(4))); % intermed. variable (state at t_i) + + % Distance constraint: relation between the state at t_i and the ith beacon position + cn.add(CtcDist(), py.list({cn.subvector(p,int32(0),int32(1)), py.list(b{i}), y{i}})); + + % Eval constraint: relation between the state at t_i and all the states over [t_0,t_f]= + cn.add(CtcEval(), py.list({t(i), p, x, v})); +end + + +% ======================= 4. Solving the problem ======================= + +cn.contract(true); + + +% ============================ 5. Graphics ============================= + +beginDrawing(); +fig = VIBesFigMap('fig'); +fig.set_properties(int32(50), int32(50), int32(900), int32(550)); +fig.add_trajectory(x_truth, 'xtruth', int32(0), int32(1), 'white'); +fig.add_tube(x, 'x', int32(0), int32(1)); +fig.smooth_tube_drawing(true); + +for i=1:3 + fig.add_beacon(py.list(b{i}), 0.2); % drawing beacons + fig.draw_ring(b{i}(1), b{i}(2), y{i}, 'darkGray'); % drawing range-only measurements + fig.draw_vehicle(t(i), x_truth, 0.7); % drawing robot position at t +end + +fig.show(0); +endDrawing(); + + +% Checking if this example still works: +if x.volume() < 5; check = true; else; check = false; end % todo: x.contains(x_truth) +assert(check) From 189980b47dd06ecc4f537aabf95d36bf5d4af0b5 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 7 Oct 2023 18:05:48 +0200 Subject: [PATCH 133/256] Add preliminary MATLAB documentation --- doc/doc/index.rst | 2 +- doc/doc/install/01-installation.rst | 2 +- doc/doc/install/02-start-py-project.rst | 6 +-- doc/doc/install/03-start-cpp-project.rst | 6 +-- doc/doc/install/04-start-matlab-project.rst | 42 +++++++++++++++++++++ doc/doc/toctree.rst | 1 + 6 files changed, 47 insertions(+), 12 deletions(-) create mode 100644 doc/doc/install/04-start-matlab-project.rst diff --git a/doc/doc/index.rst b/doc/doc/index.rst index 6c99cbe43..d9ee818c2 100644 --- a/doc/doc/index.rst +++ b/doc/doc/index.rst @@ -227,7 +227,7 @@ The distance function :math:`g(\mathbf{x},\mathbf{b})` between the robot and a l .. figure:: img/rangeonly-nox0.png | *You just solved a non-linear state-estimation without knowledge about initial condition.* -| See the full example on Github: `in C++ `_ or `in Python `_. +| See the full example on Github: `in C++ `_, `in Python `__ or `in MATLAB `_. In the tutorial and in the examples folder of this library, you will find more advanced problems such as Simultaneous Localization And Mapping (SLAM), data association problems or delayed systems. diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index 28245c0d0..0fb0dae8d 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -4,7 +4,7 @@ Installing the Codac library ############################ -Codac is available in both C++17 and Python3. Note that you can also :ref:`use Codac online in Python `, without having to install the library on your machine. +Codac is available in both C++17 and Python3 (:ref:`as well as MATLAB through its Python interface `). Note that you can also :ref:`use Codac online in Python `, without having to install the library on your machine. .. role:: gbg diff --git a/doc/doc/install/02-start-py-project.rst b/doc/doc/install/02-start-py-project.rst index 5f120567f..5a40f330b 100644 --- a/doc/doc/install/02-start-py-project.rst +++ b/doc/doc/install/02-start-py-project.rst @@ -30,11 +30,7 @@ Start a Python project python3 myscript.py -In order to visualize the tube, you need to launch the VIBes viewer independently. On Linux, you can for instance execute: - -.. code-block:: bash - - VIBes-viewer +In order to visualize the tube, you need to launch before the :ref:`VIBes viewer ` independently. If everything is well installed on your computer, you should see the following window appear: diff --git a/doc/doc/install/03-start-cpp-project.rst b/doc/doc/install/03-start-cpp-project.rst index 357004ece..49f1b5335 100644 --- a/doc/doc/install/03-start-cpp-project.rst +++ b/doc/doc/install/03-start-cpp-project.rst @@ -113,11 +113,7 @@ Lastly, the project can be run with: ./build/my_project | This script will create a simple tube and display it. -| In order to visualize the tube, you need to launch the VIBes viewer independently. On Linux, you can for instance execute: - -.. code-block:: bash - - VIBes-viewer +| In order to visualize the tube, you need to launch before the :ref:`VIBes viewer ` independently. If everything is well installed on your computer, you should see the following window appear: diff --git a/doc/doc/install/04-start-matlab-project.rst b/doc/doc/install/04-start-matlab-project.rst new file mode 100644 index 000000000..f62a1e11e --- /dev/null +++ b/doc/doc/install/04-start-matlab-project.rst @@ -0,0 +1,42 @@ +.. _sec-start-matlab-project: + +###################### +Start a MATLAB project +###################### + +.. tip:: + | You are using Python? + | :ref:`sec-start-py-project` + +.. warning:: + + | MATLAB support is preliminary, limited tests have been made for now. See `this example `_. + +| Codac is ready to be used if you have at least MATLAB R2019b, `a supported version of Python `_ and :ref:`installed Codac Python package `. + +.. admonition:: MATLAB specificities + + | Integers in function calls from the Codac library should be cast to `int32`, e.g. `4` would be `int32(4)` (however do not change those that are in strings), otherwise remember that all numbers are `double` by default in MATLAB. + | The operator `[index]` for a Codac object should be replaced with `.getitem(int32(index))` when getting its value while it should be replaced with `.setitem(int32(index))` when setting its value (please note that indices of Codac objects start at `0` contrary to typical MATLAB objects such as MATLAB arrays or cell arrays). + | Python lists of objects should be converted to MATLAB cell arrays. + | Also, when a Codac function needs a Python list parameter, the corresponding MATLAB cell array should be given as `py.list(...)`. + +.. code-block:: matlab + + import py.codac.* + + x = Tube(Interval(0,10), 0.01, TFunction("cos(t)+abs(t-5)*[-0.1,0.1]")); + + beginDrawing(); + fig = VIBesFigTube("My first tube"); + fig.add_tube(x, "x"); + fig.show(); + endDrawing(); + +| This script will create a simple tube and display it. + +In order to visualize the tube, you need to launch before the :ref:`VIBes viewer ` independently. + +If everything is well installed on your computer, you should see the following window appear: + +.. Figure:: img/helloworld.png diff --git a/doc/doc/toctree.rst b/doc/doc/toctree.rst index 0cbc450cc..3a5f68eb7 100644 --- a/doc/doc/toctree.rst +++ b/doc/doc/toctree.rst @@ -13,6 +13,7 @@ Codac: constraint-programming for robotics /install/01-installation /install/02-start-py-project /install/03-start-cpp-project + /install/04-start-matlab-project .. toctree:: From f727e17ca301671c67bf8582cc1cf23823bd3926 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 7 Oct 2023 18:24:33 +0200 Subject: [PATCH 134/256] Add Python 3.12 support for Windows and macOS --- .github/workflows/macosmatrix.yml | 2 ++ .github/workflows/vcmatrix.yml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 272b2999c..9ae62fb2c 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -19,12 +19,14 @@ jobs: fail-fast: false matrix: cfg: + - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Big Sur Python 3.12 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 arm64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 arm64' } + - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Big Sur Python 3.12 x86_64' } - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 x86_64' } - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 x86_64' } - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 x86_64' } diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 1f9e24eab..70a4c18d9 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -16,10 +16,12 @@ jobs: fail-fast: false matrix: cfg: + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 12, desc: 'Windows Visual Studio 2022 x86 Python 3.12' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x86 Python 3.11' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x86 Python 3.10' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x86 Python 3.9' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x86 Python 3.8' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 12, desc: 'Windows Visual Studio 2022 x64 Python 3.12' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x64 Python 3.11' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x64 Python 3.10' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x64 Python 3.9' } From 47470a9d6527f31a52aea8f7867550e4fafb61e8 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 7 Oct 2023 21:47:57 +0200 Subject: [PATCH 135/256] Add macOS 13 support --- .github/workflows/unixmatrix.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 86be07424..1e55f8775 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -42,6 +42,8 @@ jobs: - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - { os: ubuntu-22.04, shell: bash, arch: amd64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - { os: ubuntu-20.04, shell: bash, arch: amd64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } + - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Ventura arm64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Ventura x86_64' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Big Sur arm64' } From e5bc9ab5a25fb2ff1da7c541d7bdf38cf1366923 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 7 Oct 2023 21:55:57 +0200 Subject: [PATCH 136/256] Test specific IBEX version --- .github/workflows/dockerpi.yml | 2 +- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 14 +++++++------- .github/workflows/vcmatrix.yml | 6 +++--- scripts/docker/build_pybinding.sh | 2 +- 5 files changed, 13 insertions(+), 13 deletions(-) diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml index 5b4767369..a07c4e506 100644 --- a/.github/workflows/dockerpi.yml +++ b/.github/workflows/dockerpi.yml @@ -16,7 +16,7 @@ jobs: fetch-depth: 0 clean: false - run: docker run --rm --privileged multiarch/qemu-user-static:register --reset - - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" + - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 9ae62fb2c..c05777c35 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -57,7 +57,7 @@ jobs: - run: wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 1e55f8775..2d0dc1479 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -85,23 +85,23 @@ jobs: - run: | choco install -y -r --no-progress checksum wget zip choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20230510 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20230510.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20231007.nupkg if: runner.os=='Windows' - run: | # Replace these 2 lines by the next ones to test a specific binary package of IBEX. #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv - sudo dpkg -i libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb - rm -Rf libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + rm -Rf libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb shell: bash if: runner.os=='Linux' - run: | brew install eigen - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 70a4c18d9..88b6bb5ce 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -59,9 +59,9 @@ jobs: - run: choco install -y -r --no-progress doxygen.install --version=1.9.6 & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20230510 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20230510.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20231007.nupkg - run: | mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index db1526b54..292d9e0b3 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,7 +2,7 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv unzip -q ibex_x86_64_manylinux2010.zip rm -Rf ibex_x86_64_manylinux2010.zip sudo cp -Rf ibex/* /usr/local/ From 1f5a4b9b1ec786ba518a93f38e92bb5464423edd Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 8 Oct 2023 16:56:08 +0200 Subject: [PATCH 137/256] numpy>=1.25 on macOS need to be imported before codac due to specific checks related to floating point (however python -m unittest discover codac.tests probably imports codac first anyway) --- .github/workflows/macosmatrix.yml | 3 +-- python/codac/tests/test_actions.py | 5 ++++- .../codac/tests/tests_from_pyibex/test_image.py | 16 ++++++++-------- .../tests/tests_from_pyibex/test_thickImage.py | 11 +++++------ 4 files changed, 18 insertions(+), 17 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index c05777c35..ee8a629a7 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -69,8 +69,7 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - # numpy v1.25.0 causes issues... - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install "numpy<1.25" ; python -m unittest discover codac.tests + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests shell: bash if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') - uses: xresloader/upload-to-github-release@v1 diff --git a/python/codac/tests/test_actions.py b/python/codac/tests/test_actions.py index 426bc1ac7..cca74b28f 100644 --- a/python/codac/tests/test_actions.py +++ b/python/codac/tests/test_actions.py @@ -9,9 +9,12 @@ # the GNU Lesser General Public License (LGPL). import unittest +try: + import numpy as np +except: + print("NUMPY UNAVAILABLE") from codac import * from codac.codac2 import * -import numpy as np class TestActions(unittest.TestCase): diff --git a/python/codac/tests/tests_from_pyibex/test_image.py b/python/codac/tests/tests_from_pyibex/test_image.py index f39efb29a..72757eeb9 100644 --- a/python/codac/tests/tests_from_pyibex/test_image.py +++ b/python/codac/tests/tests_from_pyibex/test_image.py @@ -10,15 +10,15 @@ # the GNU Lesser General Public License (LGPL). import unittest -from codac import * -from codac.unsupported import * -import sys try: import numpy as np has_np = True -except ImportError: - print("NUMPY NOT FOUND") +except: + print("NUMPY UNAVAILABLE") has_np = False +from codac import * +from codac.unsupported import * +import sys # Interval.__str__=lambda x: "("+str(x[0])+', '+str(x[1])+")" # Interval.__repr__=lambda x: "("+x[0]+', '+x[1]+")" @@ -51,7 +51,7 @@ def test_points_upperLeft(self): IntervalVector([[-5, -4], [4, 5]])) -@unittest.skipUnless(has_np, "Numpy not found") +@unittest.skipUnless(has_np, "Numpy unavailable") class TestImage(unittest.TestCase): def test_world_to_grid(self): @@ -85,7 +85,7 @@ def test_1(self): # print(im.pixelAt(i,j), end=' ') # print('') -@unittest.skipUnless(has_np, "Numpy not found") +@unittest.skipUnless(has_np, "Numpy unavailable") class TestWorldToGrid(unittest.TestCase): def setUp(self): @@ -142,7 +142,7 @@ def test_boundingBox(self): # X0 = IntervalVector([[-7, -6], [0,1]]) # self.assertEqual(self.im.test(X0), MAYBE) -@unittest.skipUnless(has_np, "Numpy not found") +@unittest.skipUnless(has_np, "Numpy unavailable") class TestCtcRaster(unittest.TestCase): def setUp(self): diff --git a/python/codac/tests/tests_from_pyibex/test_thickImage.py b/python/codac/tests/tests_from_pyibex/test_thickImage.py index f18f582e6..ec459a770 100644 --- a/python/codac/tests/tests_from_pyibex/test_thickImage.py +++ b/python/codac/tests/tests_from_pyibex/test_thickImage.py @@ -10,17 +10,16 @@ # the GNU Lesser General Public License (LGPL). import unittest -from codac import * -from codac.unsupported import * - try: import numpy as np has_np = True -except ImportError: - print("NUMPY NOT FOUND") +except: + print("NUMPY UNAVAILABLE") has_np = False +from codac import * +from codac.unsupported import * -@unittest.skipUnless(has_np, "Numpy not found") +@unittest.skipUnless(has_np, "Numpy unavailable") class TestThickImage(unittest.TestCase): def setUp(self): From 2cdee1c4c2a3509036be4f2b389964b38edad68d Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 10 Oct 2023 18:16:29 +0200 Subject: [PATCH 138/256] [codac2] added operators --- python/src/core/cn/codac_py_ContractorNetwork.cpp | 2 +- .../src/core/contractors/dyn/codac_py_CtcLohner.cpp | 4 ++-- src/core/2/domains/interval/codac2_IntervalMatrix.h | 11 +++++++++++ src/core/2/variables/codac2_Matrix.h | 5 +++++ src/core/2/variables/codac2_Vector.h | 5 +++++ 5 files changed, 24 insertions(+), 3 deletions(-) diff --git a/python/src/core/cn/codac_py_ContractorNetwork.cpp b/python/src/core/cn/codac_py_ContractorNetwork.cpp index 6eda95f97..51495f2bb 100644 --- a/python/src/core/cn/codac_py_ContractorNetwork.cpp +++ b/python/src/core/cn/codac_py_ContractorNetwork.cpp @@ -243,7 +243,7 @@ void export_ContractorNetwork(py::module& m) .def("contract", [](ContractorNetwork& cn, py::dict var_dom, bool verbose) { - cn.contract(pydict_to_unorderedmapdomains(var_dom), verbose); + return cn.contract(pydict_to_unorderedmapdomains(var_dom), verbose); }, CONTRACTORNETWORK_DOUBLE_CONTRACT_UNORDEREDMAPDOMAINDOMAIN_BOOL, "var_dom"_a, "verbose"_a=false) diff --git a/python/src/core/contractors/dyn/codac_py_CtcLohner.cpp b/python/src/core/contractors/dyn/codac_py_CtcLohner.cpp index 89a5b1358..889de3edb 100644 --- a/python/src/core/contractors/dyn/codac_py_CtcLohner.cpp +++ b/python/src/core/contractors/dyn/codac_py_CtcLohner.cpp @@ -28,8 +28,8 @@ using namespace pybind11::literals; void export_CtcLohner(py::module& m, py::class_& dyn_ctc) { - py::class_ ctc_picard(m, "CtcLohner", dyn_ctc, CTCLOHNER_MAIN); - ctc_picard + py::class_ ctc_lohner(m, "CtcLohner", dyn_ctc, CTCLOHNER_MAIN); + ctc_lohner .def(py::init(), CTCLOHNER_CTCLOHNER_FUNCTION_INT_DOUBLE, diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 1f0692ad3..fc2121e15 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -149,6 +149,11 @@ namespace codac2 return IntervalMatrix_(nb_rows, nb_cols, Interval::empty_set()); } + static IntervalMatrix_ eye() + { + return Eigen::Matrix::Identity(); + } + bool is_flat() const { if(is_empty()) return true; @@ -572,6 +577,12 @@ namespace codac2 return y -= x; } + template + auto operator*(double a, const IntervalMatrix_& x) + { + return Interval(a)*x; + } + class IntervalMatrix : public IntervalMatrix_<> { public: diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index af0dc3951..3cf9c142d 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -129,6 +129,11 @@ namespace codac2 return y -= x; } + auto operator-() const + { + return Eigen::Matrix::operator-(); + } + auto operator&(const Matrix_& x) const { auto y = *this; diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index 4c23ed330..fe9bb8476 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -90,6 +90,11 @@ namespace codac2 return Matrix_(Eigen::Matrix(this->asDiagonal())); } + Matrix_<1,N> transpose() const + { + return Matrix_<1,N>(Eigen::Matrix::transpose()); + } + // todo: place this in common inheritance with IntervalVector_ template Vector_ subvector() const From 4dabfb6d706ad5c82cb76de59ee0e4eb48480676 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 11 Oct 2023 11:36:51 +0200 Subject: [PATCH 139/256] Potential bug for IntervalVector += in Python --- python/src/core/domains/interval/codac_py_IntervalVector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/src/core/domains/interval/codac_py_IntervalVector.cpp b/python/src/core/domains/interval/codac_py_IntervalVector.cpp index d14372136..31fd80d1f 100644 --- a/python/src/core/domains/interval/codac_py_IntervalVector.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalVector.cpp @@ -260,7 +260,7 @@ void export_IntervalVector(py::module& m) .def(py::self |= py::self) .def("__add__", [](IntervalVector& a, const Vector& x) { return a+x; }) - .def("__iadd__", [](IntervalVector& a, const Vector& x) { return a+x; }) + .def("__iadd__", [](IntervalVector& a, const Vector& x) { return a+=x; }) .def("__radd__", [](IntervalVector& a, const Vector& x) { return a+x; }) .def("__sub__", [](IntervalVector& a, const Vector& x) { return a-x; }) From 54966a6be0ddd6fafe64bd90fe6401822ba49587 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 10 Oct 2023 22:53:37 +0200 Subject: [PATCH 140/256] Workarounds of unsupported operators or special functions for MATLAB compatibility, see https://fr.mathworks.com/help/matlab/matlab_external/differences-between-matlab-python.html --- .../domains/interval/codac_py_Interval.cpp | 34 +++++++++++- .../interval/codac_py_IntervalMatrix.cpp | 2 + .../interval/codac_py_IntervalVector.cpp | 12 +++++ .../src/core/domains/tube/codac_py_Tube.cpp | 52 +++++++++++++++++++ .../core/domains/tube/codac_py_TubeVector.cpp | 44 ++++++++++++++++ 5 files changed, 143 insertions(+), 1 deletion(-) diff --git a/python/src/core/domains/interval/codac_py_Interval.cpp b/python/src/core/domains/interval/codac_py_Interval.cpp index ce7b3511c..616e82d9d 100644 --- a/python/src/core/domains/interval/codac_py_Interval.cpp +++ b/python/src/core/domains/interval/codac_py_Interval.cpp @@ -134,7 +134,15 @@ void export_Interval(py::module& m) .def(py::self * py::self) .def(py::self / py::self) .def(py::self & py::self) + // For MATLAB compatibility. + //.def_static("inter", [](const Interval& x, const Interval& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Interval& s, const Interval& y) { return s&y; }) .def(py::self | py::self) + // For MATLAB compatibility. + //.def_static("union", [](const Interval& x, const Interval& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Interval& s, const Interval& y) { return s|y; }) .def("__iadd__", [](Interval& x, Interval& o) { return x += o; }) .def("__isub__", [](Interval& x, Interval& o) { return x -= o; }) @@ -143,7 +151,11 @@ void export_Interval(py::module& m) .def("__ifloordiv__", [](Interval& x, Interval& o) { return x /= o; }) .def(py::self &= py::self) + // For MATLAB compatibility. + .def("inter_self", [](Interval& s, const Interval& a) { return s&=a; }) .def(py::self |= py::self) + // For MATLAB compatibility. + .def("union_self", [](Interval& s, const Interval& a) { return s|=a; }) .def(py::self + double()) .def(py::self += double()) @@ -160,9 +172,25 @@ void export_Interval(py::module& m) .def(-py::self) .def("__abs__", [](const Interval& a) { return ibex::abs(a); }) + // For MATLAB compatibility. + //.def_static("abs", [](const Interval& a) { return ibex::abs(a); }) + // For MATLAB compatibility. + .def("abs", [](const Interval& s) { return ibex::abs(s); }) .def("__pow__", [](const Interval& x, int n) { return ibex::pow(x, n); }) + // For MATLAB compatibility. + //.def_static("pow", [](const Interval& x, int n) { return ibex::pow(x, n); }) + // For MATLAB compatibility. + .def("pow", [](const Interval& s, int n) { return ibex::pow(s, n); }) .def("__pow__", [](const Interval& x, double d) { return ibex::pow(x, d); }) - .def("__pow__", [](const Interval &x, const Interval &y) { return ibex::pow(x, y); }) + // For MATLAB compatibility. + //.def_static("pow", [](const Interval& x, double d) { return ibex::pow(x, d); }) + // For MATLAB compatibility. + .def("pow", [](const Interval& s, double d) { return ibex::pow(s, d); }) + .def("__pow__", [](const Interval& x, const Interval& y) { return ibex::pow(x, y); }) + // For MATLAB compatibility. + //.def_static("pow", [](const Interval& x, const Interval& y) { return ibex::pow(x, y); }) + // For MATLAB compatibility. + .def("pow", [](const Interval& s, const Interval& y) { return ibex::pow(s, y); }) .def("lb", &Interval::lb, "return the upper bound") .def("ub", &Interval::ub, "return the lower bound") @@ -212,8 +240,12 @@ void export_Interval(py::module& m) .def("bisect", &Interval::bisect, DOCS_INTERVAL_BISECT, py::arg("ratio")=0.5) .def("__get_item__", get_item, "x[0] returns the lb and x[1] returns ub") + // For MATLAB compatibility. + .def_static("get_item", [](Interval& x, size_t i) { return get_item(x, i); }) .def("copy", &interval_copy, "return a new object which is the copy of x") .def("__hash__", [](const Interval& s1) { return reinterpret_cast(&s1); }) + // For MATLAB compatibility. + .def("hash", [](const Interval& s1) { return reinterpret_cast(&s1); }) //.def( "__pow__", pow__) // Constants diff --git a/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp b/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp index e7aac5f25..abac3d269 100644 --- a/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp @@ -132,6 +132,8 @@ void export_IntervalMatrix(py::module& m) .def(py::self - py::self) .def(py::self * py::self) .def(py::self &= py::self) + // For MATLAB compatibility. + .def("inter_self", [](IntervalMatrix& s, const IntervalMatrix& a) { return s&=a; }) .def(-py::self) .def(py::self += py::self) // todo: .def(py::self += other()) diff --git a/python/src/core/domains/interval/codac_py_IntervalVector.cpp b/python/src/core/domains/interval/codac_py_IntervalVector.cpp index 31fd80d1f..1d7670dc6 100644 --- a/python/src/core/domains/interval/codac_py_IntervalVector.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalVector.cpp @@ -243,7 +243,15 @@ void export_IntervalVector(py::module& m) .def(py::self - py::self) .def(py::self * py::self) .def(py::self & py::self) + // For MATLAB compatibility. + //.def_static("inter", [](const IntervalVector& x, const IntervalVector& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const IntervalVector& s, const IntervalVector& y) { return s&y; }) .def(py::self | py::self) + // For MATLAB compatibility. + //.def_static("union", [](const IntervalVector& x, const IntervalVector& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const IntervalVector& s, const IntervalVector& y) { return s|y; }) .def(-py::self) .def(py::self += py::self) @@ -257,7 +265,11 @@ void export_IntervalVector(py::module& m) .def("__rmul__", [](IntervalVector& a, const Interval& x) { return x*a; }) .def(py::self &= py::self) + // For MATLAB compatibility. + .def("inter_self", [](IntervalVector& s, const IntervalVector& a) { return s&=a; }) .def(py::self |= py::self) + // For MATLAB compatibility. + .def("union_self", [](IntervalVector& s, const IntervalVector& a) { return s|=a; }) .def("__add__", [](IntervalVector& a, const Vector& x) { return a+x; }) .def("__iadd__", [](IntervalVector& a, const Vector& x) { return a+=x; }) diff --git a/python/src/core/domains/tube/codac_py_Tube.cpp b/python/src/core/domains/tube/codac_py_Tube.cpp index 9bff4710f..8892ebd9b 100644 --- a/python/src/core/domains/tube/codac_py_Tube.cpp +++ b/python/src/core/domains/tube/codac_py_Tube.cpp @@ -370,21 +370,45 @@ void export_Tube(py::module& m) .def("__ior__", [](Tube& s,const Interval& o) { return s |= o; }, TUBE_CONSTTUBE_OPERATORUNIEQ_INTERVAL) + // For MATLAB compatibility. + .def("union_self", [](Tube& s,const Interval& o) { return s |= o; }, + TUBE_CONSTTUBE_OPERATORUNIEQ_INTERVAL) + .def("__ior__", [](Tube& s,const Trajectory& o) { return s |= o; }, TUBE_CONSTTUBE_OPERATORUNIEQ_TRAJECTORY) + // For MATLAB compatibility. + .def("union_self", [](Tube& s,const Trajectory& o) { return s |= o; }, + TUBE_CONSTTUBE_OPERATORUNIEQ_TRAJECTORY) + .def("__ior__", [](Tube& s,const Tube& o) { return s |= o; }, TUBE_CONSTTUBE_OPERATORUNIEQ_TUBE) + // For MATLAB compatibility. + .def("union_self", [](Tube& s,const Tube& o) { return s |= o; }, + TUBE_CONSTTUBE_OPERATORUNIEQ_TUBE) + .def("__iand__", [](Tube& s,const Interval& o) { return s &= o; }, TUBE_CONSTTUBE_OPERATORINTEQ_INTERVAL) + // For MATLAB compatibility. + .def("inter_self", [](Tube& s,const Interval& o) { return s &= o; }, + TUBE_CONSTTUBE_OPERATORINTEQ_INTERVAL) + .def("__iand__", [](Tube& s,const Trajectory& o) { return s &= o; }, TUBE_CONSTTUBE_OPERATORINTEQ_TRAJECTORY) + // For MATLAB compatibility. + .def("inter_self", [](Tube& s,const Trajectory& o) { return s &= o; }, + TUBE_CONSTTUBE_OPERATORINTEQ_TRAJECTORY) + .def("__iand__", [](Tube& s,const Tube& o) { return s &= o; }, TUBE_CONSTTUBE_OPERATORINTEQ_TUBE) + // For MATLAB compatibility. + .def("inter_self", [](Tube& s,const Tube& o) { return s &= o; }, + TUBE_CONSTTUBE_OPERATORINTEQ_TUBE) + // String .def("class_name", &Tube::class_name, @@ -493,21 +517,49 @@ void export_Tube(py::module& m) .def("__rtruediv__", [](const Tube& y, const TubeVector& x) { return x/y; }) .def("__or__", [](const Tube& x, const Tube& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Tube& x, const Tube& y) { return x|y; }) .def("__or__", [](const Tube& x, double y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Tube& x, double y) { return x|y; }) .def("__or__", [](const Tube& x, const Interval& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Tube& x, const Interval& y) { return x|y; }) .def("__or__", [](const Tube& x, const Trajectory& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Tube& x, const Trajectory& y) { return x|y; }) .def("__ror__", [](const Tube& y, double x) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Tube& y, double x) { return x|y; }) .def("__ror__", [](const Tube& y, const Interval& x) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Tube& y, const Interval& x) { return x|y; }) .def("__ror__", [](const Tube& y, const Trajectory& x) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const Tube& y, const Trajectory& x) { return x|y; }) .def("__and__", [](const Tube& x, const Tube& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Tube& x, const Tube& y) { return x&y; }) .def("__and__", [](const Tube& x, double y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Tube& x, double y) { return x&y; }) .def("__and__", [](const Tube& x, const Interval& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Tube& x, const Interval& y) { return x&y; }) .def("__and__", [](const Tube& x, const Trajectory& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Tube& x, const Trajectory& y) { return x&y; }) .def("__rand__", [](const Tube& y, double x) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Tube& y, double x) { return x&y; }) .def("__rand__", [](const Tube& y, const Interval& x) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Tube& y, const Interval& x) { return x&y; }) .def("__rand__", [](const Tube& y, const Trajectory& x) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Tube& y, const Trajectory& x) { return x&y; }) ; } \ No newline at end of file diff --git a/python/src/core/domains/tube/codac_py_TubeVector.cpp b/python/src/core/domains/tube/codac_py_TubeVector.cpp index aca0dd891..720237e8a 100644 --- a/python/src/core/domains/tube/codac_py_TubeVector.cpp +++ b/python/src/core/domains/tube/codac_py_TubeVector.cpp @@ -394,21 +394,45 @@ void export_TubeVector(py::module& m) .def("__ior__", [](TubeVector& s,const IntervalVector& o) { return s |= o;}, TUBEVECTOR_CONSTTUBEVECTOR_OPERATORUNIEQ_INTERVALVECTOR) + // For MATLAB compatibility. + .def("union_self", [](TubeVector& s,const IntervalVector& o) { return s |= o;}, + TUBEVECTOR_CONSTTUBEVECTOR_OPERATORUNIEQ_INTERVALVECTOR) + .def("__ior__", [](TubeVector& s,const TrajectoryVector& o) { return s |= o;}, TUBEVECTOR_CONSTTUBEVECTOR_OPERATORUNIEQ_TRAJECTORYVECTOR) + // For MATLAB compatibility. + .def("union_self", [](TubeVector& s,const TrajectoryVector& o) { return s |= o;}, + TUBEVECTOR_CONSTTUBEVECTOR_OPERATORUNIEQ_TRAJECTORYVECTOR) + .def("__ior__", [](TubeVector& s,const TubeVector& o) { return s |= o;}, TUBEVECTOR_CONSTTUBEVECTOR_OPERATORUNIEQ_TUBEVECTOR) + // For MATLAB compatibility. + .def("union_self", [](TubeVector& s,const TubeVector& o) { return s |= o;}, + TUBEVECTOR_CONSTTUBEVECTOR_OPERATORUNIEQ_TUBEVECTOR) + .def("__iand__", [](TubeVector& s,const IntervalVector& o) { return s &= o;}, TUBEVECTOR_CONSTTUBEVECTOR_OPERATORINTEQ_INTERVALVECTOR) + // For MATLAB compatibility. + .def("inter_self", [](TubeVector& s,const IntervalVector& o) { return s &= o;}, + TUBEVECTOR_CONSTTUBEVECTOR_OPERATORINTEQ_INTERVALVECTOR) + .def("__iand__", [](TubeVector& s,const TrajectoryVector& o) { return s &= o;}, TUBEVECTOR_CONSTTUBEVECTOR_OPERATORINTEQ_TRAJECTORYVECTOR) + // For MATLAB compatibility. + .def("inter_self", [](TubeVector& s,const TrajectoryVector& o) { return s &= o;}, + TUBEVECTOR_CONSTTUBEVECTOR_OPERATORINTEQ_TRAJECTORYVECTOR) + .def("__iand__", [](TubeVector& s,const TubeVector& o) { return s &= o;}, TUBEVECTOR_CONSTTUBEVECTOR_OPERATORINTEQ_TUBEVECTOR) + // For MATLAB compatibility. + .def("inter_self", [](TubeVector& s,const TubeVector& o) { return s &= o;}, + TUBEVECTOR_CONSTTUBEVECTOR_OPERATORINTEQ_TUBEVECTOR) + // String .def("class_name", &TubeVector::class_name, @@ -568,17 +592,37 @@ void export_TubeVector(py::module& m) // todo .def("__truediv__", [](const IntervalVector& x, const Tube& y); .def("__or__", [](const TubeVector& x, const TubeVector& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const TubeVector& x, const TubeVector& y) { return x|y; }) .def("__or__", [](const TubeVector& x, const IntervalVector& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const TubeVector& x, const IntervalVector& y) { return x|y; }) .def("__or__", [](const TubeVector& x, const TrajectoryVector& y) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const TubeVector& x, const TrajectoryVector& y) { return x|y; }) .def("__ror__", [](const TubeVector& y, const IntervalVector& x) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const TubeVector& y, const IntervalVector& x) { return x|y; }) .def("__ror__", [](const TubeVector& y, const TrajectoryVector& x) { return x|y; }) + // For MATLAB compatibility. + .def("union", [](const TubeVector& y, const TrajectoryVector& x) { return x|y; }) .def("__and__", [](const TubeVector& x, const TubeVector& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const TubeVector& x, const TubeVector& y) { return x&y; }) .def("__and__", [](const TubeVector& x, const IntervalVector& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const TubeVector& x, const IntervalVector& y) { return x&y; }) .def("__and__", [](const TubeVector& x, const TrajectoryVector& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const TubeVector& x, const TrajectoryVector& y) { return x&y; }) .def("__rand__", [](const TubeVector& y, const IntervalVector& x) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const TubeVector& y, const IntervalVector& x) { return x&y; }) .def("__rand__", [](const TubeVector& y, const TrajectoryVector& x) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const TubeVector& y, const TrajectoryVector& x) { return x&y; }) ; } \ No newline at end of file From d8a498e8fd2b884020ae3e9b7847fb5d9ae4a3d2 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 10 Oct 2023 23:25:04 +0200 Subject: [PATCH 141/256] Update examples --- .../01_getting_started/01_getting_started.py | 2 +- .../01_getting_started/a01_getting_started.m | 5 +- .../a03_static_rangebearing.m | 86 ++++++++++++++ .../05_dyn_rangebearing.py | 2 +- .../a05_dyn_rangebearing.m | 111 ++++++++++++++++++ 5 files changed, 201 insertions(+), 5 deletions(-) create mode 100644 examples/tuto/03_static_rangebearing/a03_static_rangebearing.m create mode 100644 examples/tuto/05_dyn_rangebearing/a05_dyn_rangebearing.m diff --git a/examples/tuto/01_getting_started/01_getting_started.py b/examples/tuto/01_getting_started/01_getting_started.py index f6f1c5379..692375f1f 100644 --- a/examples/tuto/01_getting_started/01_getting_started.py +++ b/examples/tuto/01_getting_started/01_getting_started.py @@ -1,5 +1,5 @@ # Codac - Examples -# Dynamic range-only localization +# Getting started: 2 minutes to Codac # ---------------------------------------------------------------------------- from codac import * diff --git a/examples/tuto/01_getting_started/a01_getting_started.m b/examples/tuto/01_getting_started/a01_getting_started.m index 030702085..e593481f9 100644 --- a/examples/tuto/01_getting_started/a01_getting_started.m +++ b/examples/tuto/01_getting_started/a01_getting_started.m @@ -1,5 +1,5 @@ % Codac - Examples -% Dynamic range-only localization +% Getting started: 2 minutes to Codac % ---------------------------------------------------------------------------- import py.codac.* @@ -87,5 +87,4 @@ % Checking if this example still works: -if x.volume() < 5; check = true; else; check = false; end % todo: x.contains(x_truth) -assert(check) +assert(x.volume() < 5) % todo: x.contains(x_truth) diff --git a/examples/tuto/03_static_rangebearing/a03_static_rangebearing.m b/examples/tuto/03_static_rangebearing/a03_static_rangebearing.m new file mode 100644 index 000000000..95abb361c --- /dev/null +++ b/examples/tuto/03_static_rangebearing/a03_static_rangebearing.m @@ -0,0 +1,86 @@ +% Codac - Examples +% Static range-bearing localization +% ---------------------------------------------------------------------------- + +import py.codac.* + +% =================== 0. Parameters, truth and data ==================== + +% Truth (unknown pose) +x_truth = [0,0,pi/6]; % (x,y,heading) + +% Creating random map of landmarks +map_area = IntervalVector(int32(2), [-8,8]); +v_map = DataLoader().generate_landmarks_boxes(map_area, int32(1)); + +% The following function generates a set of [range]x[bearing] values +v_obs = DataLoader().generate_static_observations(py.list(x_truth), v_map, false); + +% Adding uncertainties on the measurements +for i=1:length(v_obs) % for each observation: + v_obs{i}.getitem(int32(0)).inflate(0.3); % range + v_obs{i}.getitem(int32(1)).inflate(0.1); % bearing +end + + +% =============== 1. Defining domains for our variables ================ + +x = IntervalVector(int32(2)); % unknown position +heading = Interval(x_truth(3)).inflate(0.01); % measured heading + + +% =========== 2. Defining contractors to deal with equations =========== + +ctc_plus = CtcFunction(Function('a', 'b', 'c', 'a+b-c')); % a+b=c +ctc_minus = CtcFunction(Function('a', 'b', 'c', 'a-b-c')); % a-b=c +% We also use the predefined contractor CtcPolar(), no need to build it + + +% =============== 3. Adding the contractors to a network =============== + +cn = ContractorNetwork(); + +for i=1:length(v_obs) + + % Intermediate variables + alpha = cn.create_interm_var(Interval()); + d = cn.create_interm_var(IntervalVector(int32(2))); + + cn.add(ctc_plus, py.list({v_obs{i}.getitem(int32(1)), heading, alpha})); + cn.add(ctc_minus, py.list({v_map{i}, x, d})); + cn.add(CtcPolar(), py.list({d, v_obs{i}.getitem(int32(0)), alpha})); +end + + +% ======================= 4. Solving the problem ======================= + +cn.contract(); + + +% ============================ 5. Graphics ============================= + +beginDrawing(); + +fig = VIBesFigMap('Map'); +fig.set_properties(int32(50), int32(50), int32(600), int32(600)); + +for i=1:length(v_map) + iv = v_map{i}; + fig.add_beacon(iv.mid(), 0.2); +end + +for i=1:length(v_obs) + y = v_obs{i}; + fig.draw_pie(x_truth(1), x_truth(2), y.getitem(int32(0)).union(Interval(0)), heading+y.getitem(int32(1)), 'lightGray'); + fig.draw_pie(x_truth(1), x_truth(2), y.getitem(int32(0)), heading+y.getitem(int32(1)), 'gray'); +end + +fig.draw_vehicle(py.list(x_truth),0.5); +fig.draw_box(x); % estimated position +fig.show(); + +endDrawing(); + + +% Checking if this example still works: +assert(x.contains(py.list(x_truth(1:2)))) diff --git a/examples/tuto/05_dyn_rangebearing/05_dyn_rangebearing.py b/examples/tuto/05_dyn_rangebearing/05_dyn_rangebearing.py index 0104b19e4..3e4256fa7 100644 --- a/examples/tuto/05_dyn_rangebearing/05_dyn_rangebearing.py +++ b/examples/tuto/05_dyn_rangebearing/05_dyn_rangebearing.py @@ -1,5 +1,5 @@ # Codac - Examples -# Dynamic range-only localization +# Dynamic range-bearing localization # ---------------------------------------------------------------------------- from codac import * diff --git a/examples/tuto/05_dyn_rangebearing/a05_dyn_rangebearing.m b/examples/tuto/05_dyn_rangebearing/a05_dyn_rangebearing.m new file mode 100644 index 000000000..1bf058759 --- /dev/null +++ b/examples/tuto/05_dyn_rangebearing/a05_dyn_rangebearing.m @@ -0,0 +1,111 @@ +% Codac - Examples +% Dynamic range-bearing localization +% ---------------------------------------------------------------------------- + +import py.codac.* + + +% =================== 0. Parameters, truth and data ==================== + +dt = 0.05; % timestep for tubes accuracy +tdomain = Interval(0,3); % temporal limits [t_0,t_f]=[0,3] + +x_truth = TrajectoryVector(tdomain, TFunction(['(' ... + '10*cos(t)+t ;' ... + '5*sin(2*t)+t ;' ... + 'atan2((10*cos(2*t)+1),(-10*sin(t)+1)) ;' ... + 'sqrt((-10*sin(t)+1)^2+(10*cos(2*t)+1)^2))'])); % actual trajectory + +% Continuous measurements coming from the truth +measured_psi = x_truth.getitem(int32(2)).sample(dt).make_continuous(); +measured_psi = measured_psi + RandTrajectory(tdomain, dt, Interval(-0.01,0.01)); % adding some noise +measured_speed = x_truth.getitem(int32(3)).sample(dt); +measured_speed = measured_speed + RandTrajectory(tdomain, dt, Interval(-0.01,0.01)); % adding some noise + +% Creating random map of landmarks +map_area = IntervalVector(int32(2), [-8,8]); +v_map = DataLoader().generate_landmarks_boxes(map_area, int32(30)); + +% The following function generates a set of [range]x[bearing] values +v_obs = DataLoader().generate_observations(x_truth, v_map, int32(10)); + +% Adding uncertainties on the measurements +for i=1:length(v_obs) % for each observation: + obs = v_obs{i}; + obs.getitem(int32(1)).inflate(0.3); % range + obs.getitem(int32(2)).inflate(0.1); % bearing +end + +% =============== 1. Defining domains for our variables ================ + +x = TubeVector(tdomain, dt, int32(4)); % 4d tube for state vectors +v = TubeVector(tdomain, dt, int32(4)); % 4d tube for derivatives of the states +u = TubeVector(tdomain, dt, int32(2)); % 2d tube for inputs of the system + +x.setitem(int32(2), Tube(measured_psi, dt).inflate(0.01)); % measured_psi is a set of measurements +x.setitem(int32(3), Tube(measured_speed, dt).inflate(0.01)); + + +% =========== 2. Defining contractors to deal with equations =========== + +ctc_f = CtcFunction(Function('v[4]', 'x[4]', 'u[2]', ... + '(v[0]-x[3]*cos(x[2]) ; v[1]-x[3]*sin(x[2]) ; v[2]-u[0] ; v[3]-u[1])')); +ctc_plus = CtcFunction(Function('a', 'b', 'c', 'a+b-c')); % a+b=c +ctc_minus = CtcFunction(Function('a', 'b', 'c', 'a-b-c')); % a-b=c +% We also use the predefined contractors CtcPolar(), CtcEval(), no need to build them + + +% =============== 3. Adding the contractors to a network =============== + +cn = ContractorNetwork(); % creating a network +cn.add(ctc_f, py.list({v, x, u})); % adding the f constraint + +for i=1:length(v_obs) % we add the observ. constraint for each range-only measurement + y = v_obs{i}; + + % Intermediate variables + alpha = cn.create_interm_var(Interval()); % absolute angle robot-landmark + d = cn.create_interm_var(IntervalVector(int32(2))); % dist robot-landmark + p = cn.create_interm_var(IntervalVector(int32(4))); % state at t_i + + cn.add(ctc_plus, py.list({y.getitem(int32(2)), p.getitem(int32(2)), alpha})); + cn.add(ctc_minus, py.list({cn.subvector(y,int32(3),int32(4)), cn.subvector(p,int32(0),int32(1)), d})); + cn.add(CtcPolar(), py.list({d, y.getitem(int32(1)), alpha})); + cn.add(CtcEval(), py.list({y.getitem(int32(0)), p, x, v})); +end + + +% ======================= 4. Solving the problem ======================= + +cn.contract(true); + + +% ============================ 5. Graphics ============================= + +beginDrawing(); +fig = VIBesFigMap('fig'); +fig.set_properties(int32(50), int32(50), int32(900), int32(550)); +fig.add_trajectory(x_truth, 'xtruth', int32(0), int32(1), int32(2)); +fig.add_tube(x, 'x', int32(0), int32(1)); +fig.smooth_tube_drawing(true); + +for i=1:length(v_map) + b = v_map{i}; + fig.add_beacon(b.mid(), 0.2); % drawing beacons +end + +for i=1:length(v_obs) + y = v_obs{i}; + t_obs = y.getitem(int32(0)).mid(); + t_state = x_truth(t_obs); + fig.draw_pie(t_state{1}, t_state{2}, y.getitem(int32(1)).union(Interval(0.01)), t_state{3} + y.getitem(int32(2)), 'lightGray'); % drawing range-bearing measurements + fig.draw_pie(t_state{1}, t_state{2}, y.getitem(int32(1)), t_state{3} + y.getitem(int32(2)), 'darkGray'); % drawing range-bearing measurements + fig.draw_vehicle(t_obs, x_truth, 0.7); +end + +fig.show(double(0)); +endDrawing(); + + +% Checking if this example still works: +assert(x.contains(x_truth) == py.codac.core.BoolInterval(int32(2))); From db14531410fa2aaa0fb1d473fd70e4fea3c591f3 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 11 Oct 2023 22:53:34 +0200 Subject: [PATCH 142/256] Update MATLAB documentation --- doc/doc/install/04-start-matlab-project.rst | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/doc/doc/install/04-start-matlab-project.rst b/doc/doc/install/04-start-matlab-project.rst index f62a1e11e..b69699ea5 100644 --- a/doc/doc/install/04-start-matlab-project.rst +++ b/doc/doc/install/04-start-matlab-project.rst @@ -18,8 +18,15 @@ Start a MATLAB project | Integers in function calls from the Codac library should be cast to `int32`, e.g. `4` would be `int32(4)` (however do not change those that are in strings), otherwise remember that all numbers are `double` by default in MATLAB. | The operator `[index]` for a Codac object should be replaced with `.getitem(int32(index))` when getting its value while it should be replaced with `.setitem(int32(index))` when setting its value (please note that indices of Codac objects start at `0` contrary to typical MATLAB objects such as MATLAB arrays or cell arrays). + | The operators/functions `x&y` (intersection) for a Codac object should be replaced with `x.inter(y)`, `x|y` (union) with `x.union(y)`, `x&=y` (intersection and update of x) with `x.inter_self(y)`, `x|=y` (union and update of x) with `x.union_self(y)`, `x**y` (power) with `x.pow(y)`, `abs(x)` (absolute) with `x.abs()`. | Python lists of objects should be converted to MATLAB cell arrays. - | Also, when a Codac function needs a Python list parameter, the corresponding MATLAB cell array should be given as `py.list(...)`. + | Also, when a Codac function needs a `py.list` or `Vector` parameter, the corresponding MATLAB cell array should be given as `py.list(...)` (however when the Codac function do not need a `py.list` or `Vector` parameter but just an element of a MATLAB cell array, do not convert with `py.list(...)` and be sure to get the cell array element with `{}` operator). + | Be sure that Python multiline strings are correctly converted to multiline MATLAB strings between `'`. Remember that multiline statements in MATLAB need `...` before next line. + | Please also convert Python `for` loops to typical MATLAB `for` loops, same for `if-else`, `+=` statements. + +.. admonition:: Automating Python to MATLAB conversions + + | `Bing Chat with GPT-4 `_ in `Precise` conversation style has been used successfully to help convert Python examples to MATLAB, using the description above and by providing `01_getting_started.py` and the corresponding `a01_getting_started.m` as example (about 80% of the code for `03_static_rangebearing.m` and `05_dyn_rangebearing.m` was correctly converted this way). .. code-block:: matlab From 1c90377fdabdc4193ecd47deaec5351063dbbbbe Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 15 Oct 2023 00:59:51 +0200 Subject: [PATCH 143/256] Update examples --- doc/doc/tutorial/08-rangeonly-slam/solution.m | 125 ++++++++++++++++++ 1 file changed, 125 insertions(+) create mode 100644 doc/doc/tutorial/08-rangeonly-slam/solution.m diff --git a/doc/doc/tutorial/08-rangeonly-slam/solution.m b/doc/doc/tutorial/08-rangeonly-slam/solution.m new file mode 100644 index 000000000..5560d2cd6 --- /dev/null +++ b/doc/doc/tutorial/08-rangeonly-slam/solution.m @@ -0,0 +1,125 @@ +% Codac - Examples +% Dynamic range-bearing localization +% ---------------------------------------------------------------------------- + +import py.codac.* + +% =========== CREATING DATA =========== + +dt = 0.05; +iteration_dt = 0.2; +tdomain = Interval(0,15); % [t0,tf] + +% Initial pose x0=(0,0,2) +x0 = [0, 0, 2]; + +% System input +u = Trajectory(tdomain, TFunction('3*(sin(t)^2)+t/100'), dt); + +% Noise +i_n = Interval(-0.03,0.03); % the noises are known to be bounded by i_n + +n_u = RandTrajectory(tdomain, dt, i_n); % input noise +n_theta = RandTrajectory(tdomain, dt, i_n); % heading noise + +% Actual trajectories (state + derivative) +v_truth = TrajectoryVector(int32(3)); +x_truth = TrajectoryVector(int32(3)); +v_truth.setitem(int32(2), u + n_u); +x_truth.setitem(int32(2), v_truth.getitem(int32(2)).primitive() + x0(3)); +v_truth.setitem(int32(0), 10*cos(x_truth.getitem(int32(2)))); +v_truth.setitem(int32(1), 10*sin(x_truth.getitem(int32(2)))); +x_truth.setitem(int32(0), v_truth.getitem(int32(0)).primitive() + x0(1)); +x_truth.setitem(int32(1), v_truth.getitem(int32(1)).primitive() + x0(2)); + +% Bounded trajectories (dead reckoning) +v = TubeVector(tdomain, dt, int32(3)); +x = TubeVector(tdomain, dt, int32(3)); +v.setitem(int32(2), Tube(u, dt).inflate(i_n.rad())); % command u with bounded uncertainties +x.setitem(int32(2), Tube(x_truth.getitem(int32(2))+n_theta, dt).inflate(i_n.rad())); % heading measurement with bounded uncertainties +v.setitem(int32(0), 10*cos(x.getitem(int32(2)))); +v.setitem(int32(1), 10*sin(x.getitem(int32(2)))); +x = v.primitive()+IntervalVector(x0); % dead reckoning + +% Set of landmarks +v_m = { py.list([6,12]), py.list([-2,-5]), py.list([-3,20]), py.list([3,4]) }; + +% =========== GRAPHICS =========== + +beginDrawing(); + +fig_map = VIBesFigMap('slam'); +fig_map.set_properties(int32(50), int32(50), int32(1200), int32(600)); +fig_map.add_tube(x, 'x', int32(0), int32(1)); +fig_map.add_trajectory(x_truth, 'truth', int32(0), int32(1), 'white'); +fig_map.smooth_tube_drawing(true); +fig_map.add_landmarks(py.list(v_m), single(0.4)); +fig_map.show(double(1)); + +% =========== CONTRACTOR NETWORK =========== + +v_m_boxes = cell(size(v_m)); +for i=1:length(v_m) + v_m_boxes(i) = {IntervalVector(int32(2))}; +end + +% Contractor Network: + +cn = ContractorNetwork(); + +t = tdomain.lb(); +prev_t_obs = t; + +while t < tdomain.ub() + + if t-prev_t_obs > 2*dt % new observation each 2*delta + + % Creating new observation to a random landmark + + landmark_id = randi([1 length(v_m)]); % a random landmark is perceived + + xt = double(x_truth(t)); + pos_x = [xt(1), xt(2)]; + pos_b = double(v_m{landmark_id}); + + yi = Interval(sqrt((pos_x(1)-pos_b(1))^2+(pos_x(2)-pos_b(2))^2)); + yi.inflate(0.03); % adding range bounded uncertainty + + prev_t_obs = t; + + % Adding related observation constraints to the network + + % Alias (for ease of reading) + b = v_m_boxes{landmark_id}; + + % Intermediate variables + ti = Interval(t); + xi = IntervalVector(int32(3)); + + % Contractors + cn.add(CtcEval(), py.list({ti, xi, x, v})); + cn.add(CtcDist(), py.list({xi.getitem(int32(0)), xi.getitem(int32(1)), b.getitem(int32(0)), b.getitem(int32(1)), yi})); + + end + + contraction_dt = cn.contract_during(iteration_dt); + if iteration_dt>contraction_dt + pause(iteration_dt-contraction_dt); % iteration delay + end + + % Display the current slice x + fig_map.draw_box(x(t).subvector(int32(0),int32(1))); + + t = t + dt; + +end + +cn.contract(true); % lets the solver run the remaining contractions + +fig_map.show(); +for i=1:length(v_m_boxes) + b = v_m_boxes{i}; + fig_map.draw_box(b); +end + +endDrawing(); From a4500627cafd21a45b1d15bcb37352746482d33a Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 15 Oct 2023 01:36:55 +0200 Subject: [PATCH 144/256] Corrections in union and inter for MATLAB compatibility --- python/src/core/domains/tube/codac_py_Tube.cpp | 12 ++++++------ python/src/core/domains/tube/codac_py_TubeVector.cpp | 8 ++++---- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/python/src/core/domains/tube/codac_py_Tube.cpp b/python/src/core/domains/tube/codac_py_Tube.cpp index 8892ebd9b..a77f3a8db 100644 --- a/python/src/core/domains/tube/codac_py_Tube.cpp +++ b/python/src/core/domains/tube/codac_py_Tube.cpp @@ -531,13 +531,13 @@ void export_Tube(py::module& m) .def("__ror__", [](const Tube& y, double x) { return x|y; }) // For MATLAB compatibility. - .def("union", [](const Tube& y, double x) { return x|y; }) + .def("union", [](double x, const Tube& y) { return x|y; }) .def("__ror__", [](const Tube& y, const Interval& x) { return x|y; }) // For MATLAB compatibility. - .def("union", [](const Tube& y, const Interval& x) { return x|y; }) + .def("union", [](const Interval& x, const Tube& y) { return x|y; }) .def("__ror__", [](const Tube& y, const Trajectory& x) { return x|y; }) // For MATLAB compatibility. - .def("union", [](const Tube& y, const Trajectory& x) { return x|y; }) + .def("union", [](const Trajectory& x, const Tube& y) { return x|y; }) .def("__and__", [](const Tube& x, const Tube& y) { return x&y; }) // For MATLAB compatibility. @@ -554,12 +554,12 @@ void export_Tube(py::module& m) .def("__rand__", [](const Tube& y, double x) { return x&y; }) // For MATLAB compatibility. - .def("inter", [](const Tube& y, double x) { return x&y; }) + .def("inter", [](double x, const Tube& y) { return x&y; }) .def("__rand__", [](const Tube& y, const Interval& x) { return x&y; }) // For MATLAB compatibility. - .def("inter", [](const Tube& y, const Interval& x) { return x&y; }) + .def("inter", [](const Interval& x, const Tube& y) { return x&y; }) .def("__rand__", [](const Tube& y, const Trajectory& x) { return x&y; }) // For MATLAB compatibility. - .def("inter", [](const Tube& y, const Trajectory& x) { return x&y; }) + .def("inter", [](const Trajectory& x, const Tube& y) { return x&y; }) ; } \ No newline at end of file diff --git a/python/src/core/domains/tube/codac_py_TubeVector.cpp b/python/src/core/domains/tube/codac_py_TubeVector.cpp index 720237e8a..06078f9a8 100644 --- a/python/src/core/domains/tube/codac_py_TubeVector.cpp +++ b/python/src/core/domains/tube/codac_py_TubeVector.cpp @@ -603,10 +603,10 @@ void export_TubeVector(py::module& m) .def("__ror__", [](const TubeVector& y, const IntervalVector& x) { return x|y; }) // For MATLAB compatibility. - .def("union", [](const TubeVector& y, const IntervalVector& x) { return x|y; }) + .def("union", [](const IntervalVector& x, const TubeVector& y) { return x|y; }) .def("__ror__", [](const TubeVector& y, const TrajectoryVector& x) { return x|y; }) // For MATLAB compatibility. - .def("union", [](const TubeVector& y, const TrajectoryVector& x) { return x|y; }) + .def("union", [](const TrajectoryVector& x, const TubeVector& y) { return x|y; }) .def("__and__", [](const TubeVector& x, const TubeVector& y) { return x&y; }) // For MATLAB compatibility. @@ -620,9 +620,9 @@ void export_TubeVector(py::module& m) .def("__rand__", [](const TubeVector& y, const IntervalVector& x) { return x&y; }) // For MATLAB compatibility. - .def("inter", [](const TubeVector& y, const IntervalVector& x) { return x&y; }) + .def("inter", [](const IntervalVector& x, const TubeVector& y) { return x&y; }) .def("__rand__", [](const TubeVector& y, const TrajectoryVector& x) { return x&y; }) // For MATLAB compatibility. - .def("inter", [](const TubeVector& y, const TrajectoryVector& x) { return x&y; }) + .def("inter", [](const TrajectoryVector& x, const TubeVector& y) { return x&y; }) ; } \ No newline at end of file From b5da8ce2214c962ae7ce6bfecd2b8dafda253056 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Sun, 15 Oct 2023 11:50:22 +0200 Subject: [PATCH 145/256] [doc] minor update --- doc/doc/tutorial/01-basics/index.rst | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/doc/doc/tutorial/01-basics/index.rst b/doc/doc/tutorial/01-basics/index.rst index 97cc17f65..77963deda 100644 --- a/doc/doc/tutorial/01-basics/index.rst +++ b/doc/doc/tutorial/01-basics/index.rst @@ -12,7 +12,11 @@ This will allow use to perform the state estimation of a static robot between so Start a new project ------------------- -Start a new project as explained in :ref:`sec-start-py-project` or :ref:`sec-start-cpp-project`. +Start a new project as explained in: + +* :ref:`sec-start-py-project` +* or :ref:`sec-start-cpp-project` +* or :ref:`sec-start-matlab-project` .. admonition:: Exercise @@ -28,6 +32,10 @@ Start a new project as explained in :ref:`sec-start-py-project` or :ref:`sec-sta cout << x << endl; + .. code-tab:: MATLAB + + x + You should see the following output: .. code-block:: bash @@ -57,6 +65,12 @@ Start a new project as explained in :ref:`sec-start-py-project` or :ref:`sec-sta // .. next questions will be here } + .. code-tab:: MATLAB + + import py.codac.* + + % .. next questions will be here + Using intervals for handling uncertainties ------------------------------------------ From e6cd9086c120a5e9ae6ca9054ed9344f1447124a Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Sun, 15 Oct 2023 15:26:19 +0200 Subject: [PATCH 146/256] [doc] updated conf.py for Sphinx and matlab code tab --- doc/CMakeLists.txt | 2 +- doc/doc/conf.py.in | 10 +++++++++- doc/doc/dev/info_dev.rst | 5 +++++ doc/doc/tutorial/01-basics/index.rst | 4 ++-- 4 files changed, 17 insertions(+), 4 deletions(-) diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt index 85b09f4bd..19e5f7112 100644 --- a/doc/CMakeLists.txt +++ b/doc/CMakeLists.txt @@ -82,7 +82,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/mathjax_stmaryrd.js if(WIN32) set(SPHINX_EXECUTABLE "sphinx-build") else() - set(SPHINX_EXECUTABLE "python3" "-msphinx") + set(SPHINX_EXECUTABLE "python3.6" "-msphinx") # todo: replace python3.6 by python3 endif() add_custom_target(doc diff --git a/doc/doc/conf.py.in b/doc/doc/conf.py.in index a1f0ed504..a9266e764 100644 --- a/doc/doc/conf.py.in +++ b/doc/doc/conf.py.in @@ -112,7 +112,7 @@ version = release # # This is also used if you do content translation via gettext catalogs. # Usually you set "language" from the command line for these cases. -language = None +language = 'en' # There are two options for replacing |today|: either, you set today to some # non-false value, then it is used: @@ -385,3 +385,11 @@ texinfo_documents = [ # If true, do not generate a @detailmenu in the "Top" node's menu. # # texinfo_no_detailmenu = False + + + +# TO BE IMPROVED: +# Add +# LEXER_MAP['matlab'] = "MATLAB" +# in ~/.local/lib/python3.6/site-packages/sphinx_tabs/tabs.py +# for allowing MATLAB code tabs \ No newline at end of file diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index 85c284d68..e42f7ee13 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -53,7 +53,12 @@ In case you are willing to contribute to Codac, here are some information that m This configuration generates header files containing docstrings for Python, based on the content of XML files made by Doxygen. The documentation of any C++/Python function is then located in the C++ header files of the :file:`/src` directory. + ---------------------- -------------------------------------------------------------------------------------- + PYTHON_EXECUTABLE (optional) Specifies the executable (and version) of Python. For instance: + + .. code-block:: bash + cmake -DPYTHON_EXECUTABLE=/usr/bin/python3.10 .. ====================== ====================================================================================== diff --git a/doc/doc/tutorial/01-basics/index.rst b/doc/doc/tutorial/01-basics/index.rst index 77963deda..02b114262 100644 --- a/doc/doc/tutorial/01-basics/index.rst +++ b/doc/doc/tutorial/01-basics/index.rst @@ -32,7 +32,7 @@ Start a new project as explained in: cout << x << endl; - .. code-tab:: MATLAB + .. code-tab:: matlab x @@ -65,7 +65,7 @@ Start a new project as explained in: // .. next questions will be here } - .. code-tab:: MATLAB + .. code-tab:: matlab import py.codac.* From 58ed839fc8d3bf80cdc4f05aa084770a58db820d Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 17 Oct 2023 19:16:00 +0200 Subject: [PATCH 147/256] [tuto] minor update, question E9 --- doc/doc/tutorial/05-tubes/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/doc/tutorial/05-tubes/index.rst b/doc/doc/tutorial/05-tubes/index.rst index 20cc27a12..3928e8ffb 100644 --- a/doc/doc/tutorial/05-tubes/index.rst +++ b/doc/doc/tutorial/05-tubes/index.rst @@ -245,7 +245,7 @@ Tubes can also be built from trajectories. In this example, we could have define Is the actual trajectory :math:`\mathbf{x}^*(\cdot)` enclosed in :math:`[\mathbf{x}](\cdot)` at any time? - **E.9.** Create a tube :math:`[y](\cdot)` for enclosing the trajectory of distances between the robot and the landmark. + **E.9.** Create a tube :math:`[y](\cdot)` for enclosing the actual trajectory :math:`y^{*}(\cdot)` of distances between the robot and the landmark. For now, we will not consider uncertainties on :math:`y^{*}(\cdot)`. Therefore, the tube :math:`[y](\cdot)` should enclose :math:`y^{*}(\cdot)` in a minimal way according to the discretization step ``dt``. Note that all the tubes of this lesson have to share the same ``tdomain`` and ``dt`` parameters. From 5934288d5bc67f98e440d4c466967640c356ac86 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 17 Oct 2023 19:16:35 +0200 Subject: [PATCH 148/256] [graphics] restoring axis limits in VIBesFigMap --- src/robotics/graphics/codac_VIBesFigMap.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/robotics/graphics/codac_VIBesFigMap.cpp b/src/robotics/graphics/codac_VIBesFigMap.cpp index 1bfdd4a73..b8efd5f98 100644 --- a/src/robotics/graphics/codac_VIBesFigMap.cpp +++ b/src/robotics/graphics/codac_VIBesFigMap.cpp @@ -61,7 +61,7 @@ namespace codac for(it_trajs = m_map_trajs.begin(); it_trajs != m_map_trajs.end(); it_trajs++) m_view_box |= draw_trajectory(it_trajs->first); - //axis_limits(m_view_box, true, 0.02); + axis_limits(m_view_box, true, 0.02); } void VIBesFigMap::show(float robot_size) @@ -710,7 +710,7 @@ namespace codac assert(pose.size() == 2 || pose.size() == 3); float robot_size = size == -1 ? m_robot_size : size; double robot_heading = pose.size() == 3 ? pose[2] : 0.; - //axis_limits(m_view_box | pose.subvector(0,1), true); + axis_limits(m_view_box | pose.subvector(0,1), true); //vibes::drawTank(pose[0], pose[1], robot_heading * 180. / M_PI, robot_size, "black[yellow]", params); vibes::drawAUV(pose[0], pose[1], robot_heading * 180. / M_PI, robot_size, "black[yellow]", params); } From c2dbb7cc15d315232cd2bdae204f4d9b8cd199e0 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 17 Oct 2023 19:16:49 +0200 Subject: [PATCH 149/256] [py] binding for CtcCN --- python/CMakeLists.txt | 1 + python/codac_py_core.cpp | 2 ++ src/core/cn/codac_Variable.h | 2 +- 3 files changed, 4 insertions(+), 1 deletion(-) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 680ce863e..a8aa2a1c0 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -57,6 +57,7 @@ src/core/contractors/static/codac_py_Ctc.cpp src/core/contractors/static/codac_py_CtcBox.cpp + src/core/contractors/static/codac_py_CtcCN.cpp src/core/contractors/static/codac_py_CtcCartProd.cpp src/core/contractors/static/codac_py_CtcDist.cpp src/core/contractors/static/codac_py_CtcFunction.cpp diff --git a/python/codac_py_core.cpp b/python/codac_py_core.cpp index 49b111895..b80934a2b 100644 --- a/python/codac_py_core.cpp +++ b/python/codac_py_core.cpp @@ -33,6 +33,7 @@ void export_IntervalVectorVar(py::module& m); py::class_ export_Ctc(py::module& m); void export_CtcBox(py::module& m, py::class_& ctc); +void export_CtcCN(py::module& m, py::class_& ctc); void export_CtcCartProd(py::module& m, py::class_& ctc); void export_CtcDist(py::module& m, py::class_& ctc); void export_CtcFunction(py::module& m, py::class_& ctc); @@ -100,6 +101,7 @@ PYBIND11_MODULE(core, m) py::class_ ctc = export_Ctc(m); export_CtcBox(m, ctc); + export_CtcCN(m, ctc); export_CtcCartProd(m, ctc); export_CtcDist(m, ctc); export_CtcFunction(m, ctc); diff --git a/src/core/cn/codac_Variable.h b/src/core/cn/codac_Variable.h index 386c2efdc..36af76416 100644 --- a/src/core/cn/codac_Variable.h +++ b/src/core/cn/codac_Variable.h @@ -62,7 +62,7 @@ namespace codac IntervalVectorVar(int n) : IntervalVector(n) { - + } /** From d4d4b67583cf11638a07ec199b6eab22a6329d9e Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Tue, 17 Oct 2023 19:17:52 +0200 Subject: [PATCH 150/256] [py] binding for CtcCN (with file) --- .../contractors/static/codac_py_CtcCN.cpp | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 python/src/core/contractors/static/codac_py_CtcCN.cpp diff --git a/python/src/core/contractors/static/codac_py_CtcCN.cpp b/python/src/core/contractors/static/codac_py_CtcCN.cpp new file mode 100644 index 000000000..8015ab7a7 --- /dev/null +++ b/python/src/core/contractors/static/codac_py_CtcCN.cpp @@ -0,0 +1,42 @@ +/** + * \file + * CtcCN Python binding + * ---------------------------------------------------------------------------- + * \date 2020 + * \author Simon Rohou, Benoît Desrochers + * \copyright Copyright 2021 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include +#include +#include "codac_type_caster.h" + +#include "codac_py_Ctc.h" +#include "codac_CtcCN.h" +// Generated file from Doxygen XML (doxygen2docstring.py): +#include "codac_py_CtcCN_docs.h" + +using namespace std; +using namespace codac; +namespace py = pybind11; +using namespace pybind11::literals; + + +void export_CtcCN(py::module& m, py::class_& ctc) +{ + py::class_ ctc_cn(m, "CtcCN", ctc, CTCCN_MAIN); + ctc_cn + + .def(py::init(), + CTCCN_CTCCN_CONTRACTORNETWORK_INTERVALVECTORVAR, + "cn"_a.noconvert(), "box"_a.noconvert()) + + .def("contract", &CtcCN::contract, + CTCCN_VOID_CONTRACT_INTERVALVECTOR, + "x"_a.noconvert()) + ; +} \ No newline at end of file From 8d28895e8616cbc5197178429707e78fa29d21da Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 19 Oct 2023 11:33:14 +0200 Subject: [PATCH 151/256] [doc] added JNRR tuto --- doc/doc/conf.py.in | 1 + doc/doc/tmp/jnrr-2023/exercice.py | 26 + doc/doc/tmp/jnrr-2023/exercice_slam.pdf | Bin 0 -> 384722 bytes doc/doc/toctree.rst | 22 +- .../01-basics/img/ctc_dist.png | Bin 0 -> 29521 bytes doc/doc/tutorial-jnrr23/01-basics/index.rst | 462 ++++++++++++++++++ .../02-static-rangeonly/img/final_result.png | Bin 0 -> 44927 bytes .../img/fixedpoint_animation.gif | Bin 0 -> 223843 bytes .../02-static-rangeonly/img/prior_result.png | Bin 0 -> 48530 bytes .../02-static-rangeonly/index.rst | 211 ++++++++ .../03-towards-slam/img/final_result.png | Bin 0 -> 44927 bytes .../img/fixedpoint_animation.gif | Bin 0 -> 223843 bytes .../03-towards-slam/img/prior_result.png | Bin 0 -> 48530 bytes .../tutorial-jnrr23/03-towards-slam/index.rst | 8 + doc/doc/tutorial-jnrr23/index.rst | 15 + doc/doc/tutorial/01-basics/index.rst | 2 +- 16 files changed, 740 insertions(+), 7 deletions(-) create mode 100644 doc/doc/tmp/jnrr-2023/exercice.py create mode 100644 doc/doc/tmp/jnrr-2023/exercice_slam.pdf create mode 100644 doc/doc/tutorial-jnrr23/01-basics/img/ctc_dist.png create mode 100644 doc/doc/tutorial-jnrr23/01-basics/index.rst create mode 100644 doc/doc/tutorial-jnrr23/02-static-rangeonly/img/final_result.png create mode 100644 doc/doc/tutorial-jnrr23/02-static-rangeonly/img/fixedpoint_animation.gif create mode 100644 doc/doc/tutorial-jnrr23/02-static-rangeonly/img/prior_result.png create mode 100644 doc/doc/tutorial-jnrr23/02-static-rangeonly/index.rst create mode 100644 doc/doc/tutorial-jnrr23/03-towards-slam/img/final_result.png create mode 100644 doc/doc/tutorial-jnrr23/03-towards-slam/img/fixedpoint_animation.gif create mode 100644 doc/doc/tutorial-jnrr23/03-towards-slam/img/prior_result.png create mode 100644 doc/doc/tutorial-jnrr23/03-towards-slam/index.rst create mode 100644 doc/doc/tutorial-jnrr23/index.rst diff --git a/doc/doc/conf.py.in b/doc/doc/conf.py.in index a9266e764..6b58c1fe6 100644 --- a/doc/doc/conf.py.in +++ b/doc/doc/conf.py.in @@ -50,6 +50,7 @@ redirects = { "sivia": "manual/11-separators/index.html", "installation": "install/01-installation.html", "brunovsky": "use-cases/brunovsky/index.html", + "jnrr": "tutorial-jnrr23/index.html", } breathe_projects = { diff --git a/doc/doc/tmp/jnrr-2023/exercice.py b/doc/doc/tmp/jnrr-2023/exercice.py new file mode 100644 index 000000000..66ee813f3 --- /dev/null +++ b/doc/doc/tmp/jnrr-2023/exercice.py @@ -0,0 +1,26 @@ +from codac import * +import math +import random +import time +import numpy as np + +dt = 0.02 # temporal discretization +tdomain = Interval(0,15) # [t0,tf] + +# System input +u = Trajectory(tdomain, TFunction("3*(sin(t)^2)+t/100"), dt) + +# Actual state trajectory +# Note that this trajectory is unknown of the resolution +x_truth = TrajectoryVector(3) +x_truth[2] = u.primitive() +x_truth[0] = (10*cos(x_truth[2])).primitive() +x_truth[1] = (10*sin(x_truth[2])).primitive() + +beginDrawing() +fig_map = VIBesFigMap("Top view") 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3a5f68eb7..3e33db033 100644 --- a/doc/doc/toctree.rst +++ b/doc/doc/toctree.rst @@ -37,15 +37,13 @@ Codac: constraint-programming for robotics .. toctree:: - :caption: Use cases + :caption: Tutorial JNRR23 :maxdepth: 2 :titlesonly: - Lie symmetries for guaranteed integ. - Pose estimation with range-only obs. - -.. /use-cases/set-inversion/index -.. /use-cases/loops/index + JNRR-1. Intervals and contractors + JNRR-2. Static range-only localization + JNRR-3. Towards SLAM .. toctree:: @@ -69,6 +67,18 @@ Codac: constraint-programming for robotics H. 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and get used to intervals, constraints and networks of contractors. +This will allow you to perform the state estimation of a static robot between some landmarks by the end of :ref:`Lesson JNRR-2 `. + +.. contents:: Content of this lesson + + +Getting started +--------------- + +To get ready for the tutorial, you need to install the Codac library on your computer. +Please follow the related page of the manual to see how to do it: + +.. toctree:: + :maxdepth: 1 + + /install/01-installation + +Then, depending on your preference between C++ or Python (Matlab now available), you can run some *Hello World!* program to be sure everything is working well: + +.. toctree:: + :maxdepth: 1 + + /install/02-start-py-project + /install/03-start-cpp-project + /install/04-start-matlab-project + + +Start a new project +------------------- + +Start a new project as explained in: + +* :ref:`sec-start-py-project` +* or :ref:`sec-start-cpp-project` +* or :ref:`sec-start-matlab-project` + +.. admonition:: Exercise + + **1.0.** Check that it is displaying a tube in a graphical view and print the tube in the terminal using: + + .. tabs:: + + .. code-tab:: py + + print(x) + + .. code-tab:: c++ + + cout << x << endl; + + .. code-tab:: matlab + + x + + You should see the following output: + + .. code-block:: bash + + Tube [0, 10]↦([-1.448469806203122, 1.500000000000001]), 1000 slices + + | This was to be sure that everything is working well in your environment. + | Now, we will start from the following code: + + .. tabs:: + + .. code-tab:: py + + from codac import * + + # .. next questions will be here + + .. code-tab:: c++ + + #include + + using namespace std; + using namespace codac; + + int main() + { + // .. next questions will be here + } + + .. code-tab:: matlab + + import py.codac.* + + % .. next questions will be here + + +Using intervals for handling uncertainties +------------------------------------------ + +The values involved in robotic problems will be represented by **sets**. This allows to hold in the very same structure both the value (a measurement, or a model parameter) together with the related uncertainty. Therefore, a measurement :math:`x` will be handled by a set, more precisely an **interval**, denoted between brackets: :math:`[x]`. :math:`[x]` is made of two real bounds, :math:`x^-` and :math:`x^+`, and we say that a value :math:`x\in\mathbb{R}` belongs to :math:`[x]=[x^-,x^+]` iff :math:`x^-\leqslant x\leqslant x^+`. + +This can be extended to other types of values such as vectors, matrices or trajectories. Then, + +* reals :math:`x` of :math:`\mathbb{R}` will be enclosed in intervals: :math:`[x]` +* vectors :math:`\mathbf{x}` of :math:`\mathbb{R}^n` will be enclosed in interval-vectors (also called boxes): :math:`[\mathbf{x}]` +* later on, trajectories :math:`x(t)` will belong to tubes: :math:`[x](t)` + +The initial definition of the bounds of these sets will be done according to the **amount of uncertainties** we are considering. For measurements, we will rely on the datasheet of the sensor to define for instance that a measurement :math:`y` will be represented by the interval :math:`[y − 2\sigma, y + 2\sigma]`, where :math:`\sigma` is the standard deviation coming from sensors specifications. In this case, we assume that the interval :math:`[y]` is **guaranteed to contain** the actual but unknown value with a 95% confidence rate. + +The main advantage of this representation is that we will be able to apply lot of **reliable** operations on these sets while preserving the actual but unknown values. This means that we will never lose a feasible solution in the initial sets throughout the operations we will perform. This is done by performing the computations on the bounds of the sets. For instance, the difference of two intervals is also an interval defined by: :math:`[x]-[y]=[x^--y^+,x^+-y^-]`. Mathematically, we can prove that :math:`\forall x\in[x]` and :math:`\forall y\in[y]`, we have :math:`(x-y)\in([x]-[y])`. + +| *Example:* :math:`[3,4]-[2,6]=[-3,2]`. +| If we take :math:`x=3\in[3,4]` and :math:`y=5\in[2,6]`, we check that :math:`-2\in[-3,2]`. + +These simple operations on intervals can be extended to elementary functions such as :math:`\cos`, :math:`\exp`, :math:`\tan`, *etc*. +It must be emphasized that there is no need to make linearizations when dealing with **non-linear functions**. +Sometimes, when functions are monotonic, the computation is simple: :math:`\exp([x])=[\exp(x^-),\exp(x^+)]`. Otherwise, several algorithms and libraries exist to allow any mathematical operations on intervals such as :math:`\sin([x])`, :math:`\sqrt{([x])}`, *etc*. + +The asset of reliability coming with interval analysis will help us to estimate difficult solutions and **make proofs**. + + +Hello Interval Analysis! +------------------------ + +Codac is using C++/Python objects to represent intervals and boxes [#f1]_: + +* ``Interval(lb, ub)`` will be used to create an interval :math:`[x]=[\textrm{lb},\textrm{ub}]`. There exists predefined values for intervals. Here are some examples of ``Interval`` objects: + + .. tabs:: + + .. code-tab:: py + + x = Interval() # [-∞,∞] (default value) + x = Interval(0, 10) # [0,10] + x = Interval(1, oo) # [1,∞] + x = Interval(-oo,3) # [-∞,3] + x = Interval.EMPTY_SET # ∅ + # ... + + .. code-tab:: c++ + + Interval x; // [-∞,∞] (default value) + Interval x(0, 10); // [0,10] + Interval x(1, oo); // [1,∞] + Interval x(-oo, 3); // [-∞,3] + Interval x = Interval::EMPTY_SET; // ∅ + // ... + + +* | ``IntervalVector(n)`` is used for :math:`n`-d vectors of intervals, also called *boxes*. + | For instance: + + .. tabs:: + + .. code-tab:: py + + x = IntervalVector(2, [-1,3]) # creates [x]=[-1,3]×[-1,3]=[-1,3]^2 + y = IntervalVector([[3,4],[4,6]]) # creates [y]= [3,4]×[4,6] + z = IntervalVector(3, [0,oo]) # creates [z]=[0,∞]^3 + w = IntervalVector(y) # creates a copy: [w]=[y] + + v = (0.42,0.42,0.42) # one vector (0.42;0.42;0.42) + iv = IntervalVector(v) # creates one box that wraps v: + # [0.42,0.42]×[0.42,0.42]×[0.42,0.42] + + .. code-tab:: c++ + + IntervalVector x(2, Interval(-1,3)); // creates [x]=[-1,3]×[-1,3]=[-1,3]^2 + IntervalVector y{{3,4},{4,6}}; // creates [y]= [3,4]×[4,6] + IntervalVector z(3, Interval(0,oo)); // creates [z]=[0,∞]^3 + IntervalVector w(y); // creates a copy: [w]=[y] + + Vector v(3, 0.42); // one vector (0.42;0.42;0.42) + IntervalVector iv(v); // creates one box that wraps v: + // [0.42,0.42]×[0.42,0.42]×[0.42,0.42] + + One can access vector components as we do classically: + + .. tabs:: + + .. code-tab:: py + + x[1] = Interval(0,10) # updates to [x]=[-1,3]×[0,10] + + .. code-tab:: c++ + + x[1] = Interval(0,10); // updates to [x]=[-1,3]×[0,10] + + +.. admonition:: Technical documentation + + For full details about ``Interval`` and ``IntervalVector`` objects, please read the :ref:`sec-manual-intervals` page of the user manual. + + +.. admonition:: Exercise + + **1.1.** Let us consider two intervals :math:`[x]=[8,10]` and :math:`[y]=[1,2]`. Without coding the operation, what would be the result of :math:`[x]/[y]` (:math:`[x]` divided by :math:`[y]`)? Remember that the result of this interval-division is also an interval enclosing all feasible divisions. + + **1.2.** In your new project, compute and print the following simple operations on intervals: + + * :math:`[-2,4]\cdot[1,3]` + * :math:`[8,10]/[-1,0]` + * :math:`[-2,4]\sqcup[6,7]` with operator ``|`` + * :math:`\max([2,7],[1,9])` + * :math:`\max(\varnothing,[1,2])` + * :math:`\cos([-\infty,\infty])` + * :math:`[-1,4]^2` with function ``sqr()`` + * :math:`([1,2]\cdot[-1,3]) + \max([1,3]\cap[6,7],[1,2])` + + | Note that :math:`\sqcup` is the hull union (``|``), *i.e.*, :math:`[x]\sqcup[y] = [[x]\cup[y]]`. + | *For instance:* :math:`[-1,2]\sqcup[4,6]=[-1,6]` + + + **1.3.** Create a 2d box :math:`[\mathbf{y}]=[0,\pi]\times[-\pi/6,\pi/6]` and print the result of :math:`|[\mathbf{y}]|` with ``abs()``. + +.. hint:: + + .. rubric:: How to use :math:`\pi`? + + .. tabs:: + + .. code-tab:: py + + # In Python, you can use the math module: + import math + x = math.pi + + .. code-tab:: c++ + + // In C++, you can use : + #include + double x = M_PI; + + Note that in this code, the variable ``x`` is not the exact :math:`\pi`! Of course, the mathematical one cannot be represented in a computer. But with intervals, we can manage reliable representations of floating point numbers. :ref:`See more `. + + +Functions, :math:`f([x])` +------------------------- + +Custom functions can be used on sets. For instance, to compute: + +.. math:: + + f(x)=x^2+2x-\exp(x), + +a ``Function`` object can be created by ``Function("", "", ..., "")`` and then evaluated over the set :math:`[x]`: + +.. tabs:: + + .. code-tab:: py + + x = Interval(-2,2) + f = Function("x", "x^2+2*x-exp(x)") + y = f.eval(x) + + .. code-tab:: c++ + + Interval x(-2,2); + Function f("x", "x^2+2*x-exp(x)"); + Interval y = f.eval(x); + +The first arguments of the function (only one in the above example) are its input variables. The last argument is the expression of the output. The result is the set of images of all defined inputs through the function: :math:`[f]([x])=[\{f(x)\mid x\in[x]\}]`. + +We can also define vector input variables and access their components in the function definition: + +.. tabs:: + + .. code-tab:: py + + f = Function("x[2]", "cos(x[0])^2+sin(x[1])^2") # the input x is a 2d vector + + .. code-tab:: c++ + + Function f("x[2]", "cos(x[0])^2+sin(x[1])^2"); // the input x is a 2d vector + +.. admonition:: Exercise + + **1.4.** For our robotic applications, we often need to define the distance function :math:`g`: + + .. math:: + + g(\mathbf{x},\mathbf{b})=\sqrt{\displaystyle(x_1-b_1)^2+(x_2-b_2)^2}, + + where :math:`\mathbf{x}\in\mathbb{R}^2` would represent for instance the 2d position of a robot, and :math:`\mathbf{b}\in\mathbb{R}^2` the 2d location of some landmark. Create :math:`g` and compute the interval distance :math:`[d]` between the boxes :math:`[\mathbf{x}]=[0,0]\times[0,0]` and :math:`[\mathbf{b}]=[3,4]\times[2,3]`. Note that in the library, the ``.eval()`` of functions only takes one argument: we have to concatenate the boxes :math:`[\mathbf{x}]` and :math:`[\mathbf{b}]` into one 4d interval-vector :math:`[\mathbf{c}]` and then compute :math:`g([\mathbf{c}])`. The concatenation can be done with the ``cart_prod`` function, :ref:`see an example here `. + + Print the result that you obtain for :math:`[d]=g([\mathbf{x}],[\mathbf{b}])`. + + +Graphics +-------- + +The graphical tool `VIBes `_ has been created to Visualize Intervals and BoxES. It is compatible with simple objects such as ``Interval`` and ``IntervalVector``. Its features have been extended in the Codac library with objects such as ``VIBesFigMap``. + +.. admonition:: Exercise + + **1.5.** Create a view with: + + .. tabs:: + + .. code-tab:: py + + beginDrawing() + fig = VIBesFigMap("Map") + fig.set_properties(50, 50, 400, 400) # position and size + + # ... draw objects here + + fig.show() # display all items of the figure + endDrawing() + + .. code-tab:: c++ + + vibes::beginDrawing(); + VIBesFigMap fig("Map"); + fig.set_properties(50, 50, 400, 400); // position and size + + // ... draw objects here + + fig.show(); // display all items of the figure + vibes::endDrawing(); + + | **1.6.** Before the ``.show()`` method, draw the boxes :math:`[\mathbf{x}]` and :math:`[\mathbf{b}]` with the ``fig.draw_box(..)`` method. The computed interval range :math:`[d]` can be displayed as a ring centered on :math:`\mathbf{x}=(0,0)`. The ring will contain the set of all positions that are :math:`d`-distant from :math:`\mathbf{x}=(0,0)`, with :math:`d\in[d]`. + + To display each bound of the ring, you can use ``fig.draw_circle(x, y, rad)`` where ``x``, ``y``, ``rad`` are *double* values. + + .. hint:: + + To access *double* bounds of an interval object ``x``, you can use the ``x.lb()``/``x.ub()`` methods for lower and upper bounds. + + | **1.7.** Now, repeat the operation with :math:`[\mathbf{x}]=[-0.1,0.1]\times[-0.1,0.1]`. You can for instance use the ``.inflate(0.1)`` method on ``x``. + | Is the result reliable, according to the sets :math:`[\mathbf{x}]` and :math:`[\mathbf{b}]`? You may display the box :math:`([\mathbf{x}]+[\mathbf{b}])` to understand how the reliable interval distance is computed. + + +.. from codac import * +.. +.. x = IntervalVector([[0,0],[0,0]]) +.. b = IntervalVector([[3,4],[2,3]]) +.. print(b) +.. +.. x.inflate(0.1) +.. +.. f = Function("a[2]", "b[2]", "sqrt((a[0]-b[0])^2+(a[1]-b[1])^2)") +.. +.. box = cart_prod(x,b) +.. r = f.eval(box) +.. +.. beginDrawing() +.. fig = VIBesFigMap("Map") +.. fig.set_properties(50, 50, 400, 400) # position and size +.. fig.draw_box(x, "red") +.. fig.draw_box(b) +.. fig.draw_box(b+x, "blue") +.. fig.draw_ring(0,0,r) +.. fig.show() # display all items of the figure +.. endDrawing() + + +.. admonition:: Technical documentation + + For full details about graphical features, please read the :ref:`sec-manual-vibes` page of the user manual. + + .. rubric:: Want to use colors? Here is an example you can try: + + .. tabs:: + + .. code-tab:: py + + fig.draw_box(x, "red[yellow]") # red: edge color of the box, yellow: fill color + + .. code-tab:: c++ + + fig.draw_box(x, "red[yellow]"); // red: edge color of the box, yellow: fill color + + +Contractors, :math:`\mathcal{C}([x])` +------------------------------------- + +This was an initial overview of what is Interval Analysis. Now, we will introduce concepts from Constraint Programming and see how the two approaches can be coupled for solving problems. + +In robotics, **constraints** are coming from the equations of the robot. They can be for instance the evolution function :math:`\mathbf{f}` or the observation equation with :math:`\mathbf{g}`. In the case of :abbr:`SLAM (Simultaneous Localization And Mapping)`, we may also define a constraint to express the inter-temporal relation between different states :math:`\mathbf{x}_1`, :math:`\mathbf{x}_2` at times :math:`t_1`, :math:`t_2`, for instance when a landmark has been seen two times. + +Now, we want to apply the constraints in order to solve our problem. In the Constraint Programming community, we apply constraints on **domains** that represent sets of feasible values. The previously mentioned sets (intervals, boxes, tubes) will be used as domains. + +We will use **contractors** to implement constraints on sets. They are mathematical operators used to *contract* (reduce) a set, for instance a box, without losing any feasible solution. This way, contractors can be applied safely any time we want on our domains. + +In Codac, the contractors are also defined by C++/Python objects and are prefixed with ``Ctc``. For this lesson, we will use the ``CtcFunction`` class to define a contractor according to a function :math:`f`. Note that the resulting contractor will aim at solving a constraint in the form :math:`f(\mathbf{x})=0`. This contractor has to be instantiated from a ``Function`` object defining the constraint. For instance, the simple constraint :math:`(x+y=a)` is expressed as :math:`f(x,y,a)=x+y-a=0`, and can be implemented as a contractor :math:`\mathcal{C}_+` with: + +.. tabs:: + + .. code-tab:: py + + ctc_add = CtcFunction(Function("x", "y", "a", "x+y-a")) + + .. code-tab:: c++ + + CtcFunction ctc_add(Function("x", "y", "a", "x+y-a")); + +.. admonition:: Exercise + + **1.8.** Define a contractor :math:`\mathcal{C}_\textrm{dist}` related to the distance constraint between two 2d positions :math:`\mathbf{x}` and :math:`\mathbf{b}\in\mathbb{R}^2`. We will use the distance function previously defined, but in the form :math:`f(\mathbf{x},\mathbf{b},d)=0`. + +| The contractor is then simply added to a **Contractor Network** (CN) that will manage the constraints on the different variables for solving the problem. +| For instance, we can use the previously defined :math:`\mathcal{C}_+` as: + +.. tabs:: + + .. code-tab:: py + + x = Interval(0,1) + y = Interval(-2,3) + a = Interval(1,20) + + cn = ContractorNetwork() # Creating a Contractor Network + cn.add(ctc_add, [x, y, a]) # Adding the C+ contractor to the network, + # applied on three domains listed between braces + cn.contract() + + # The three domains are then contracted as: + # x=[0, 1], y=[0, 3], a=[1, 4] + + .. code-tab:: c++ + + Interval x(0,1), y(-2,3), a(1,20); + + ContractorNetwork cn; // Creating a Contractor Network + cn.add(ctc_add, {x, y, a}); // Adding the C+ contractor to the network, + // applied on three domains listed between braces + cn.contract(); + + // The three domains are then contracted as: + // x=[0, 1], y=[0, 3], a=[1, 4] + +Note that one contractor can be added several times in the CN. This is useful to apply several constraints implemented by the same operator, on different sets of variables. + + +.. admonition:: Exercise + + | **1.9.** Define a Contractor Network to implement three distance constraints. + | Check the results with :math:`\mathcal{C}_\textrm{dist}([\mathbf{x}],[\mathbf{b}^i],[d])`, :math:`i\in\{1,2,3\}` and + + * :math:`[d]=[7,8]` + * :math:`[\mathbf{x}]=[0,0]^2` + * :math:`[\mathbf{b}^1]=[1.5,2.5]\times[4,11]` + * :math:`[\mathbf{b}^2]=[3,4]\times[4,6.5]` + * :math:`[\mathbf{b}^3]=[5,7]\times[5.5,8]` + + We recall that the same :math:`\mathcal{C}_\textrm{dist}` object can appear several times in the CN. + + Draw the :math:`[\mathbf{b}^i]` boxes (``.draw_box()``) and :math:`[d]` (``.draw_circle()``) before and after the contractions, in order to assess the contracting effects. + You should obtain this figure: + + .. figure:: img/ctc_dist.png + :width: 500px + + As you can see, the four domains have been contracted after the ``.contract()`` method: even the bounded range :math:`[d]` has been reduced thanks to the knowledge provided by the boxes. In Constraint Programming, we only define the constraints of the problem and let the resolution propagate the information as much as possible. + + +We now have all the material to compute a solver for state estimation in the next section. + + +.. rubric:: Footnotes + +.. 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zSw}~QEXblENU~1QY;rBJv){q;q;BQyq$fb$$Txlx=#m5P*}*QE=vHMb{A=;~9{0aN zL_Q#l#EO#!vVA7M_lSaeu9PJrT)ZEvTm@1L^&D*r+N-)9ExKVh{?@jDW=r@WZsz{)2|lvjCqri%r2h3C_%%Ci)MUa?C7lK-YD$T%lt=Hd3~z1w5Nca<*cif~gZ~r4_V + + using namespace std; + using namespace codac; + + int main() + { + // Truth (unknown pose) + Vector x_truth({0.,0.,M_PI/6.}); // (x,y,heading) + + // Creating random map of landmarks + int nb_landmarks = 3; + IntervalVector map_area(2, Interval(-8.,8.)); + vector v_b = + DataLoader::generate_landmarks_boxes(map_area, nb_landmarks); + + // The following function generates a set of [range]x[bearing] values + vector v_obs = + DataLoader::generate_static_observations(x_truth, v_b, false); + + // We keep range-only observations from v_obs, and add uncertainties + vector v_d; + for(auto& obs : v_obs) + v_d.push_back(obs[0].inflate(0.1)); // adding uncertainties: [-0.1,0.1] + + // Set of feasible positions for x: x ϵ [-∞,∞]×[-∞,∞] + IntervalVector x(2); + + // ... + + +Finally, the graphical functions are given by: + +.. tabs:: + + .. code-tab:: py + + # ... + + beginDrawing() + + fig = VIBesFigMap("Map") + fig.set_properties(50, 50, 600, 600) + + for b in v_b: + fig.add_beacon(b.mid(), 0.2) + + for i in range(0,len(v_d)): + fig.draw_ring(v_b[i][0].mid(), v_b[i][1].mid(), v_d[i], "gray") + + fig.draw_vehicle(x_truth, size=0.7) + fig.draw_box(x) # estimated position + fig.show() + + endDrawing() + + .. code-tab:: c++ + + // ... + + vibes::beginDrawing(); + + VIBesFigMap fig("Map"); + fig.set_properties(50, 50, 600, 600); + + for(const auto& b : v_b) + fig.add_beacon(b.mid(), 0.2); + + for(int i = 0 ; i < nb_landmarks ; i++) + fig.draw_ring(v_b[i][0].mid(), v_b[i][1].mid(), v_d[i], "gray"); + + fig.draw_vehicle(x_truth, 0.7); // last param: vehicle size + fig.draw_box(x); // estimated position + fig.show(); + + vibes::endDrawing(); + } + + +.. admonition:: Exercise + + **2.1.** Before the code related to the graphical part, compute the state estimation of the robot by contracting the box :math:`[\mathbf{x}]` initialized to :math:`[-\infty,\infty]^2` with a Contractor Network: + + * :math:`[\mathbf{x}]` represents the unknown 2d position of the robot + * ``v_d`` is the set of bounded measurements :math:`\{[d^{1}],[d^{2}],[d^{3}]\}` + * ``v_b`` is the set of landmarks with bounded positions :math:`\{[\mathbf{b}^{1}],[\mathbf{b}^{2}],[\mathbf{b}^{3}]\}` + + For this, you can use the :math:`\mathcal{C}_{\textrm{dist}}` contractor you defined in the previous section. + + You should obtain a figure similar to this: + + .. figure:: img/final_result.png + :width: 500px + + Range-only localization: expected result. The black painted box represents the set of feasible positions for our robot. + + + Due to the randomness of the landmarks, the geometry is sometimes bad and does not allow an accurate contraction: symmetrical solutions are possible, and the box :math:`[\mathbf{x}]` encloses them all. You can execute the code several times to see how the geometry influences the result. + + +How does it work? +----------------- + +.. rubric:: Combining the constraints + +The Contractor Network you have defined managed the contractions provided by the three :math:`\mathcal{C}_{\textrm{dist}}` contractors. + +Each constraint alone would not allow a good contraction, since it would contract :math:`[\mathbf{x}]` to the box enclosing the circle corresponding to :math:`d^k`. It is the intersection of the three constraints that makes the approach powerful. + +.. rubric:: Fixed point resolution + +There are **dependencies between the constraints** that all act on the same variable :math:`\mathbf{x}`. +The Contractor Network has then made a **fixed point resolution method** for solving the problem. + +When a :math:`\mathcal{C}_{\textrm{dist}}` contractor reduces the box :math:`[\mathbf{x}]`, it may raise new contraction possibilities coming from the other constraints. It becomes interesting to call again the previous contractors (start another iteration) in order to take benefit from any contraction. An iterative resolution process is then used, where the contractors are called until a fixed point has been reached. By *fixed point* we mean that none of the domains :math:`[\mathbf{x}]` and :math:`[d^{k}]` has been contracted during a complete iteration. + +The following figure provides the synoptic of this state estimation, performed by the Contractor Network. In this example, constraints have been propagated over 7 iterations in a very short amount of time. + +.. figure:: img/fixedpoint_animation.gif + :width: 500px + + + + +End of first step! +------------------ + +That's about all for static localization! + +.. You can submit your answers for the questions of Lessons A and B to the `MOOC platform `_ so that we can .. evaluate them for the diploma. + +Next lesson will introduce other concepts related to trajectories and differential equations. 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zSw}~QEXblENU~1QY;rBJv){q;q;BQyq$fb$$Txlx=#m5P*}*QE=vHMb{A=;~9{0aN zL_Q#l#EO#!vVA7M_lSaeu9PJrT)ZEvTm@1L^&D*r+N-)9ExKVh{?@jDW=r@WZsz{)2|lvjCqri%r2h3C_%%Ci)MUa?C7lK-YD$T%lt=Hd3~z1w5Nca<*cif~gZ~r4_V`. +This will allow you to perform the state estimation of a static robot between some landmarks by the end of :ref:`Lesson B `. .. contents:: Content of this lesson From 864f624bc670c36973de6c03772137a6401a2603 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Fri, 20 Oct 2023 12:00:23 +0200 Subject: [PATCH 152/256] [doc] updated Lesson A --- doc/doc/_static/custom-sphinx.css | 11 +++++++++++ doc/doc/conf.py.in | 2 ++ doc/doc/tutorial/01-basics/index.rst | 29 ++++++++++++++++------------ 3 files changed, 30 insertions(+), 12 deletions(-) diff --git a/doc/doc/_static/custom-sphinx.css b/doc/doc/_static/custom-sphinx.css index 46f62eb30..37441c72e 100644 --- a/doc/doc/_static/custom-sphinx.css +++ b/doc/doc/_static/custom-sphinx.css @@ -97,6 +97,17 @@ } +/* Right alignment + gray color (for right-align notes) */ + + .right-aligned-note + { + margin-right: 10px; + display: block; + float: right; + color: gray; + } + + /* */ .wy-table-responsive table td diff --git a/doc/doc/conf.py.in b/doc/doc/conf.py.in index 6b58c1fe6..211ece693 100644 --- a/doc/doc/conf.py.in +++ b/doc/doc/conf.py.in @@ -61,6 +61,8 @@ breathe_projects = { rst_prolog = """ .. role:: underline :class: underline +.. role:: right-aligned-note + :class: right-aligned-note """ # GitHub repo diff --git a/doc/doc/tutorial/01-basics/index.rst b/doc/doc/tutorial/01-basics/index.rst index b3886ba35..86262497c 100644 --- a/doc/doc/tutorial/01-basics/index.rst +++ b/doc/doc/tutorial/01-basics/index.rst @@ -1,5 +1,10 @@ .. _sec-tuto-01: +.. # define a hard line break for HTML +.. |br| raw:: html + +
+ Lesson A: Getting started with intervals and contractors ======================================================== @@ -169,21 +174,21 @@ Codac is using C++/Python objects to represent intervals and boxes [#f1]_: For full details about ``Interval`` and ``IntervalVector`` objects, please read the :ref:`sec-manual-intervals` page of the user manual. - .. admonition:: Exercise **A.1.** Let us consider two intervals :math:`[x]=[8,10]` and :math:`[y]=[1,2]`. Without coding the operation, what would be the result of :math:`[x]/[y]` (:math:`[x]` divided by :math:`[y]`)? Remember that the result of this interval-division is also an interval enclosing all feasible divisions. - **A.2.** In your new project, compute and print the following simple operations on intervals: + **A.2.** In your new project, compute and print the following simple operations on intervals: |br| + :right-aligned-note:`Solutions are given below` |br| - * :math:`[-2,4]\cdot[1,3]` - * :math:`[8,10]/[-1,0]` - * :math:`[-2,4]\sqcup[6,7]` with operator ``|`` - * :math:`\max([2,7],[1,9])` - * :math:`\max(\varnothing,[1,2])` - * :math:`\cos([-\infty,\infty])` - * :math:`[-1,4]^2` with function ``sqr()`` - * :math:`([1,2]\cdot[-1,3]) + \max([1,3]\cap[6,7],[1,2])` + * :math:`[-2,4]\cdot[1,3]` :right-aligned-note:`[-6,12]` + * :math:`[8,10]/[-1,0]` :right-aligned-note:`[-∞,-8]` + * :math:`[-2,4]\sqcup[6,7]` with operator ``|`` :right-aligned-note:`[-2,7]` + * :math:`\max([2,7],[1,9])` :right-aligned-note:`[2,9]` + * :math:`\max(\varnothing,[1,2])` :right-aligned-note:`∅` + * :math:`\cos([-\infty,\infty])` :right-aligned-note:`[-1,1]` + * :math:`[-1,4]^2` with function ``sqr()`` :right-aligned-note:`[0,16]` + * :math:`([1,2]\cdot[-1,3]) + \max([1,6]\cap[5,7],[1,2])` :right-aligned-note:`[3,12]` | Note that :math:`\sqcup` is the hull union (``|``), *i.e.*, :math:`[x]\sqcup[y] = [[x]\cup[y]]`. | *For instance:* :math:`[-1,2]\sqcup[4,6]=[-1,6]` @@ -299,11 +304,11 @@ The graphical tool `VIBes `_ has | **A.6.** Before the ``.show()`` method, draw the boxes :math:`[\mathbf{x}]` and :math:`[\mathbf{b}]` with the ``fig.draw_box(..)`` method. The computed interval range :math:`[d]` can be displayed as a ring centered on :math:`\mathbf{x}=(0,0)`. The ring will contain the set of all positions that are :math:`d`-distant from :math:`\mathbf{x}=(0,0)`, with :math:`d\in[d]`. - To display each bound of the ring, you can use ``fig.draw_circle(x, y, rad)`` where ``x``, ``y``, ``rad`` are *double* values. + To display each bound of the ring, you can use ``fig.draw_circle(x, y, rad)`` where ``x``, ``y``, ``rad`` are real values. .. hint:: - To access *double* bounds of an interval object ``x``, you can use the ``x.lb()``/``x.ub()`` methods for lower and upper bounds. + To access real bounds of an ``Interval`` object ``x``, you can use the ``x.lb()``/``x.ub()`` methods for lower and upper bounds. This also works with ``IntervalVector``, returning vector items. | **A.7.** Now, repeat the operation with :math:`[\mathbf{x}]=[-0.1,0.1]\times[-0.1,0.1]`. You can for instance use the ``.inflate(0.1)`` method on ``x``. | Is the result reliable, according to the sets :math:`[\mathbf{x}]` and :math:`[\mathbf{b}]`? You may display the box :math:`([\mathbf{x}]+[\mathbf{b}])` to understand how the reliable interval distance is computed. From 88d860fb1a078ca1adddae73811054bef93b6c94 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 21 Oct 2023 16:15:37 +0200 Subject: [PATCH 153/256] Attempt to solve intermittent download problems when installing doxygen --- .github/workflows/vcmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 88b6bb5ce..80a8eb5a6 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -56,7 +56,7 @@ jobs: if: runner.os=='Windows' - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} if: runner.os=='Windows' - - run: choco install -y -r --no-progress doxygen.install --version=1.9.6 & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects + - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv From 75b652ecc87ad38eb9948ec2658f53c6de292779 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 22 Oct 2023 16:34:56 +0200 Subject: [PATCH 154/256] Attempt to force the selection of a compatible version of doxygen --- doc/CMakeLists.txt | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt index 19e5f7112..58ba02ac2 100644 --- a/doc/CMakeLists.txt +++ b/doc/CMakeLists.txt @@ -10,8 +10,8 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/mathjax_stmaryrd.js # Technical API documentation (Doxygen) if(WITH_PYTHON) - - find_package(Doxygen) + + find_package(Doxygen 1.0.0...1.9.6) if(NOT DOXYGEN_FOUND) @@ -19,6 +19,12 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/mathjax_stmaryrd.js else() + if(NOT DOXYGEN_DIR) + message(STATUS "Doxygen ${DOXYGEN_VERSION} found.") + else() + message(STATUS "Doxygen ${DOXYGEN_VERSION} found in ${DOXYGEN_DIR}.") + endif() + # Includes CMake commands in config file: configure_file(api/Doxyfile.in api/Doxyfile) From 9d99334a1aa232084a1c934b19a29f41fa06b227 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 24 Oct 2023 21:30:31 +0200 Subject: [PATCH 155/256] Move documentation about Rosetta for macOS (arm64) --- doc/doc/install/01-installation-python.rst | 5 ----- doc/doc/install/01-installation.rst | 5 +++++ 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 5313a1790..e11e65ba5 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -53,11 +53,6 @@ The :gbg:`✓` configurations are officially supported at the moment: If a configuration in this table does not work, please `contact us `_. -.. warning:: - - | **macOS Big Sur and later (arm64):** - | `Rosetta `_ might be necessary to run `VIBes `_. - .. warning:: | **macOS Big Sur and later (x86_64):** diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index 0fb0dae8d..ad8893491 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -74,6 +74,11 @@ Some methods have been implemented in Codac in order to extend VIBes' features t You can `download the VIBes viewer directly from the official page `_ (click on the *Last Release* link). +.. warning:: + + | **macOS (arm64):** + | `Rosetta `_ might be necessary to run `VIBes `_. + .. admonition:: (optional) Get the very last version of VIBes from the sources You can also install the last version from the sources available on `the GitHub development repository `_. From 790acb290aca2beeb53639b212e954374ba068ff Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 26 Oct 2023 21:58:38 +0200 Subject: [PATCH 156/256] [action] minor updates --- src/core/2/actions/codac2_Action.cpp | 8 ++++++-- src/core/2/actions/codac2_Action.h | 1 + 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/core/2/actions/codac2_Action.cpp b/src/core/2/actions/codac2_Action.cpp index fe0eb44e6..33749d50e 100644 --- a/src/core/2/actions/codac2_Action.cpp +++ b/src/core/2/actions/codac2_Action.cpp @@ -26,7 +26,7 @@ namespace codac2 return (a > 0) ? 1 : ((a < 0) ? -1 : 0); } - OctaSym::OctaSym(const std::vector& s) : std::vector(s) + OctaSym::OctaSym(const vector& s) : vector(s) { for(const auto& i : s) { @@ -34,6 +34,10 @@ namespace codac2 } } + OctaSym::OctaSym(initializer_list s) + : OctaSym(vector(s)) + { } + IntervalVector OctaSym::operator()(const IntervalVector& x) const { assert((size_t)x.size() == size()); @@ -64,7 +68,7 @@ namespace codac2 return s3; } - std::ostream& operator<<(std::ostream& str, const OctaSym& s) + ostream& operator<<(ostream& str, const OctaSym& s) { str << "("; for(size_t i = 0 ; i < s.size() ; i++) diff --git a/src/core/2/actions/codac2_Action.h b/src/core/2/actions/codac2_Action.h index 163b24806..eb3f57efa 100644 --- a/src/core/2/actions/codac2_Action.h +++ b/src/core/2/actions/codac2_Action.h @@ -35,6 +35,7 @@ namespace codac2 { public: + OctaSym(std::initializer_list s); OctaSym(const std::vector& s); CtcAction operator()(codac::Ctc& ctc) const; codac::IntervalVector operator()(const codac::IntervalVector& x) const; From 4d0c819d6caff90227856ce62efa53caaf2e37f1 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 26 Oct 2023 21:58:49 +0200 Subject: [PATCH 157/256] [codac2] restoring simple example --- examples/codac2/01/CMakeLists.txt | 2 +- examples/codac2/01/main.cpp | 20 ++++++++++---------- examples/codac2/01/main_test_sample.cpp | 6 +++--- 3 files changed, 14 insertions(+), 14 deletions(-) diff --git a/examples/codac2/01/CMakeLists.txt b/examples/codac2/01/CMakeLists.txt index 143ab46eb..586755219 100644 --- a/examples/codac2/01/CMakeLists.txt +++ b/examples/codac2/01/CMakeLists.txt @@ -38,7 +38,7 @@ # Compilation - add_executable(${PROJECT_NAME} main_test_sample.cpp) + add_executable(${PROJECT_NAME} main.cpp) target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS}) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex ${CODAC_LIBRARIES} Ibex::ibex) \ No newline at end of file diff --git a/examples/codac2/01/main.cpp b/examples/codac2/01/main.cpp index 4e9f2dc15..a35723753 100644 --- a/examples/codac2/01/main.cpp +++ b/examples/codac2/01/main.cpp @@ -5,24 +5,24 @@ using namespace codac; int main() { - codac2::TDomain tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) - codac2::Tube x(2, tdomain, + auto tdomain = codac2::create_tdomain(Interval(0,10), 0.01, true); // last argument creates "gates" (degenerated slices at scalar timesteps) + codac2::Tube x(tdomain, TFunction("(sin(sqrt(t)+((t-5)^2)*[-0.01,0.01]) ; cos(t)+sin(t/0.2)*[-0.1,0.1])")); - codac2::Tube u(2, tdomain); - - TFunction tf("x[2]", "u[2]", "(sin(x[1]) ; -sin(x[0]))"); - codac2::CtcDiffInclusion ctc_diffincl(tf); - ctc_diffincl.contract(x,u); + codac2::Tube u(tdomain); + // If you want to iterate each slice (including gates = degenerate slices) + for(auto& sx : x) + { + //cout << sx << endl; + } vibes::beginDrawing(); - codac::TubeVector x_codac1 = x.to_codac1(); // may take time - codac::Tube xi_codac1 = x[1].to_codac1(); // may take time + codac::TubeVector x_codac1 = codac2::to_codac1(x); // may take time VIBesFigTube fig("Tube"); fig.set_properties(100, 100, 600, 300); - fig.add_tube(&xi_codac1, "x"); + fig.add_tube(&x_codac1[1], "x"); fig.show(true); vibes::endDrawing(); diff --git a/examples/codac2/01/main_test_sample.cpp b/examples/codac2/01/main_test_sample.cpp index e88470fea..e7ce7c264 100644 --- a/examples/codac2/01/main_test_sample.cpp +++ b/examples/codac2/01/main_test_sample.cpp @@ -6,15 +6,15 @@ using namespace codac; int main() { { - codac2::TDomain tdomain(Interval(0,10), 1., false); - codac2::Tube x(2, tdomain); + auto tdomain = codac2::create_tdomain(Interval(0,10), 1., false); + codac2::Tube x(tdomain, IntervalVector(2)); for(auto& sx : x) { if(sx.t0_tf().contains(5.2)) { cout << "sample" << endl; - tdomain.sample(5.2); + tdomain->sample(5.2); } cout << sx << endl; } From fe42c5c5e7339baa2fe2915d92706e0a41d2ae7e Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Sun, 29 Oct 2023 23:28:33 +0100 Subject: [PATCH 158/256] [graphics] no axis limits option on VIBesFigMap --- src/robotics/graphics/codac_VIBesFigMap.cpp | 11 +++++++++-- src/robotics/graphics/codac_VIBesFigMap.h | 3 +++ 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/src/robotics/graphics/codac_VIBesFigMap.cpp b/src/robotics/graphics/codac_VIBesFigMap.cpp index b8efd5f98..a2bfc8b86 100644 --- a/src/robotics/graphics/codac_VIBesFigMap.cpp +++ b/src/robotics/graphics/codac_VIBesFigMap.cpp @@ -50,6 +50,11 @@ namespace codac m_draw_tubes_backgrounds = enable; } + void VIBesFigMap::no_axis_limits() + { + _no_axis_limits = true; + } + void VIBesFigMap::show() { typename map::const_iterator it_tubes; @@ -61,7 +66,8 @@ namespace codac for(it_trajs = m_map_trajs.begin(); it_trajs != m_map_trajs.end(); it_trajs++) m_view_box |= draw_trajectory(it_trajs->first); - axis_limits(m_view_box, true, 0.02); + if(!_no_axis_limits) + axis_limits(m_view_box, true, 0.02); } void VIBesFigMap::show(float robot_size) @@ -710,7 +716,8 @@ namespace codac assert(pose.size() == 2 || pose.size() == 3); float robot_size = size == -1 ? m_robot_size : size; double robot_heading = pose.size() == 3 ? pose[2] : 0.; - axis_limits(m_view_box | pose.subvector(0,1), true); + if(!_no_axis_limits) + axis_limits(m_view_box | pose.subvector(0,1), true); //vibes::drawTank(pose[0], pose[1], robot_heading * 180. / M_PI, robot_size, "black[yellow]", params); vibes::drawAUV(pose[0], pose[1], robot_heading * 180. / M_PI, robot_size, "black[yellow]", params); } diff --git a/src/robotics/graphics/codac_VIBesFigMap.h b/src/robotics/graphics/codac_VIBesFigMap.h index 5663e682a..42f067694 100644 --- a/src/robotics/graphics/codac_VIBesFigMap.h +++ b/src/robotics/graphics/codac_VIBesFigMap.h @@ -77,6 +77,8 @@ namespace codac */ void enable_tubes_backgrounds(bool enable = true); + void no_axis_limits(); + /** * \brief Displays this figure */ @@ -559,6 +561,7 @@ namespace codac bool m_draw_tubes_backgrounds = true; //!< if `true`, will highlight tubes contractions bool m_smooth_drawing = false; //!< if `true`, a smooth rendering of tubes will be done float m_robot_size = 5.5; //!< if `0`, no robot display + bool _no_axis_limits = false; unsigned int m_tube_max_nb_disp_slices = TUBE_MAX_NB_DISPLAYED_SLICES; //!< limit for slices display unsigned int m_traj_max_nb_disp_points = TRAJ_MAX_NB_DISPLAYED_POINTS; //!< limit for traj points display From c8fe9ec79476d06ce5f22e0ed3bf90bcae5975e8 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Sun, 29 Oct 2023 23:29:42 +0100 Subject: [PATCH 159/256] [py] corrected bug in IntervalMatrix from Numpy --- python/codac/tests/test_numpy.py | 56 ++++++++++++++++++ .../interval/codac_py_IntervalMatrix.cpp | 36 ++++++++++-- .../domains/interval/codac2_IntervalMatrix.h | 6 +- .../domains/interval/codac2_IntervalVector.h | 6 +- src/core/2/variables/codac2_Matrix.h | 57 ++++++++++++++++--- src/core/2/variables/codac2_Vector.h | 4 +- 6 files changed, 143 insertions(+), 22 deletions(-) create mode 100644 python/codac/tests/test_numpy.py diff --git a/python/codac/tests/test_numpy.py b/python/codac/tests/test_numpy.py new file mode 100644 index 000000000..99f2a7d00 --- /dev/null +++ b/python/codac/tests/test_numpy.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python + +# Codac tests +# --------------------------------------------------------------------------- +# \date 2023 +# \author Simon Rohou +# \copyright Copyright 2023 Codac Team +# \license This program is distributed under the terms of +# the GNU Lesser General Public License (LGPL). + +import unittest +import numpy as np +from codac import * + +class TestNumpyMatrices(unittest.TestCase): + + def test_numpytocodac(self): + + cdA=IntervalMatrix(2,6) + cdA[0][0]=Interval(1) + cdA[0][1]=Interval(3) + cdA[0][2]=Interval(5) + cdA[0][3]=Interval(7) + cdA[0][4]=Interval(9) + cdA[0][5]=Interval(11) + cdA[1][0]=Interval(2) + cdA[1][1]=Interval(4) + cdA[1][2]=Interval(6) + cdA[1][3]=Interval(8) + cdA[1][4]=Interval(10) + cdA[1][5]=Interval(12) + + npA=np.array([[1.,3.,5.,7.,9.,11.],[2.,4.,6.,8.,10.,12.]]) + self.assertEqual(IntervalMatrix(npA), cdA) + + def test_numpytocodac_withtranspose(self): + + cdA=IntervalMatrix(2,6) + cdA[0][0]=Interval(1) + cdA[0][1]=Interval(3) + cdA[0][2]=Interval(5) + cdA[0][3]=Interval(7) + cdA[0][4]=Interval(9) + cdA[0][5]=Interval(11) + cdA[1][0]=Interval(2) + cdA[1][1]=Interval(4) + cdA[1][2]=Interval(6) + cdA[1][3]=Interval(8) + cdA[1][4]=Interval(10) + cdA[1][5]=Interval(12) + + npA=np.array([[1.,2.],[3.,4.],[5.,6.],[7.,8.],[9.,10.],[11.,12.]]).T + self.assertEqual(IntervalMatrix(npA), cdA) + +if __name__ == '__main__': + unittest.main() \ No newline at end of file diff --git a/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp b/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp index abac3d269..6892720c7 100644 --- a/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp +++ b/python/src/core/domains/interval/codac_py_IntervalMatrix.cpp @@ -69,6 +69,16 @@ string to_string(const IntervalMatrix& x) return ss.str(); } +// Inspired by Numpy documentation +// See: https://pybind11.readthedocs.io/en/stable/advanced/pycpp/numpy.html + + #include "codac2_IntervalMatrix.h" + /* Bind MatrixXd (or some other Eigen type) to Python */ + typedef Eigen::MatrixXd Matrix; + + //typedef Eigen::Matrix::Scalar Scalar; + constexpr bool rowMajor = !true;//Eigen::Matrix::Flags & Eigen::RowMajorBit; + void export_IntervalMatrix(py::module& m) { py::class_ interval_matrix(m, "IntervalMatrix"); @@ -79,20 +89,34 @@ void export_IntervalMatrix(py::module& m) .def(py::init()) .def(py::init(&create_from_list)) - .def(py::init([](py::buffer b) // create for instance an IntervalMatrix from a NumPy matrix + .def(py::init([](py::buffer b) { + // Inspired by Numpy documentation + // See: https://pybind11.readthedocs.io/en/stable/advanced/pycpp/numpy.html + + // Note: use raw data does not work because of strides, + // see for instance transpose operations on numpy matrices + + typedef Eigen::Stride Strides; + // Request a buffer descriptor from Python py::buffer_info info = b.request(); - // Some sanity checks... + // Some basic validation checks... if(info.format != py::format_descriptor::format()) - throw std::runtime_error("Incompatible format: expected a double array"); + throw std::runtime_error("Incompatible format: expected a double array!"); if(info.ndim != 2) - throw std::runtime_error("Incompatible buffer dimension"); + throw std::runtime_error("Incompatible buffer dimension!"); + + auto strides = Strides( + info.strides[rowMajor ? 0 : 1] / (py::ssize_t)sizeof(double), + info.strides[rowMajor ? 1 : 0] / (py::ssize_t)sizeof(double)); + + auto map = Eigen::Map( + static_cast(info.ptr), info.shape[0], info.shape[1], strides); - ibex::Matrix m((int)info.shape[0], (int)info.shape[1], static_cast(info.ptr)); - return IntervalMatrix(m); + return codac2::to_codac1(codac2::Matrix(map)); })) .def("__getitem__", [](IntervalMatrix& s, size_t index) -> IntervalVector& diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index fc2121e15..19a5038fd 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -51,7 +51,7 @@ namespace codac2 init(x); } - explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols, double bounds[][2]) + explicit IntervalMatrix_(size_t nb_rows, size_t nb_cols, const double bounds[][2]) : IntervalMatrix_(nb_rows, nb_cols) { size_t k = 0; @@ -67,7 +67,7 @@ namespace codac2 assert(k == this->size()); } - explicit IntervalMatrix_(double bounds[][2]) + explicit IntervalMatrix_(const double bounds[][2]) : IntervalMatrix_(R, C, bounds) { } @@ -596,7 +596,7 @@ namespace codac2 : IntervalMatrix_<>(nb_rows, nb_cols, x) { } - explicit IntervalMatrix(size_t nb_rows, size_t nb_cols, double bounds[][2]) + explicit IntervalMatrix(size_t nb_rows, size_t nb_cols, const double bounds[][2]) : IntervalMatrix_<>(nb_rows, nb_cols, bounds) { } diff --git a/src/core/2/domains/interval/codac2_IntervalVector.h b/src/core/2/domains/interval/codac2_IntervalVector.h index 1e3d1db51..613987269 100644 --- a/src/core/2/domains/interval/codac2_IntervalVector.h +++ b/src/core/2/domains/interval/codac2_IntervalVector.h @@ -68,11 +68,11 @@ namespace codac2 (*this)[i] = Interval(v[i]); } - explicit IntervalVector_(size_t n, double bounds[][2]) + explicit IntervalVector_(size_t n, const double bounds[][2]) : IntervalMatrix_(n,1,bounds) { } - explicit IntervalVector_(double bounds[][2]) + explicit IntervalVector_(const double bounds[][2]) : IntervalVector_(this->size(), bounds) { } @@ -278,7 +278,7 @@ namespace codac2 : IntervalVector_<>(v) { } - explicit IntervalVector(size_t n, double bounds[][2]) + explicit IntervalVector(size_t n, const double bounds[][2]) : IntervalVector_<>(n, bounds) { } diff --git a/src/core/2/variables/codac2_Matrix.h b/src/core/2/variables/codac2_Matrix.h index 3cf9c142d..b3e8fa032 100644 --- a/src/core/2/variables/codac2_Matrix.h +++ b/src/core/2/variables/codac2_Matrix.h @@ -19,7 +19,7 @@ namespace codac2 { using Eigen::Dynamic; - template + template class Matrix_ : public Eigen::Matrix { public: @@ -28,14 +28,14 @@ namespace codac2 : Eigen::Matrix() { } - Matrix_(size_t nb_rows, size_t nb_cols) + Matrix_(int nb_rows, int nb_cols) : Eigen::Matrix(nb_rows, nb_cols) { assert(R == Dynamic || R == (int)nb_rows); assert(C == Dynamic || C == (int)nb_cols); } - Matrix_(size_t nb_rows, size_t nb_cols, double x) + Matrix_(int nb_rows, int nb_cols, double x) : Eigen::Matrix(nb_rows, nb_cols) { assert(R == Dynamic || R == (int)nb_rows); @@ -43,12 +43,12 @@ namespace codac2 init(x); } - explicit Matrix_(size_t nb_rows, size_t nb_cols, double values[]) + explicit Matrix_(int nb_rows, int nb_cols, const double values[]) : Matrix_(nb_rows, nb_cols) { - size_t k = 0; - for(size_t i = 0 ; i < nb_rows ; i++) - for(size_t j = 0 ; j < nb_cols ; j++) + int k = 0; + for(int i = 0 ; i < nb_rows ; i++) + for(int j = 0 ; j < nb_cols ; j++) { if(values == 0) // in case the user called Matrix_(r,c,0) and 0 is interpreted as NULL! (*this)(i,j) = 0.; @@ -58,7 +58,7 @@ namespace codac2 } } - explicit Matrix_(double values[]) + explicit Matrix_(const double values[]) : Matrix_(R, C, values) { } @@ -184,6 +184,17 @@ namespace codac2 os << ")"; return os; } + + #include "ibex_Matrix.h" + template + ibex::Matrix to_codac1(const Matrix_& x) + { + ibex::Matrix x_(x.rows(), x.cols()); + for(size_t i = 0 ; i < x.rows() ; i++) + for(size_t j = 0 ; j < x.cols() ; j++) + x_[i][j] = x(i,j); + return x_; + } template Matrix_ floor(const Matrix_& x) @@ -221,6 +232,36 @@ namespace codac2 return f; } + class Matrix : public Matrix_<> + { + public: + + explicit Matrix(size_t nb_rows, size_t nb_cols) + : Matrix_<>(nb_rows, nb_cols) + { } + + + explicit Matrix(size_t nb_rows, size_t nb_cols, double x) + : Matrix_<>(nb_rows, nb_cols, x) + { } + + explicit Matrix(size_t nb_rows, size_t nb_cols, const double values[]) + : Matrix_<>(nb_rows, nb_cols, values) + { } + + Matrix(const Matrix_<>& x) + : Matrix_<>(x) + { } + + Matrix(std::initializer_list> l) + : Matrix_<>(l) + { } + + template + explicit Matrix(const Matrix_& v) + : Matrix_<>(v) + { } + }; } // namespace codac #endif \ No newline at end of file diff --git a/src/core/2/variables/codac2_Vector.h b/src/core/2/variables/codac2_Vector.h index fe9bb8476..7c30cd759 100644 --- a/src/core/2/variables/codac2_Vector.h +++ b/src/core/2/variables/codac2_Vector.h @@ -55,11 +55,11 @@ namespace codac2 static_assert(M == Dynamic || M == N); } - explicit Vector_(size_t n, double values[]) + explicit Vector_(size_t n, const double values[]) : Matrix_(n,1,values) { } - explicit Vector_(double values[]) + explicit Vector_(const double values[]) : Matrix_(N,1,values) { } From 9721e5f56175a00922da1bf1d2064e3a9d73079a Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 7 Dec 2023 16:28:00 +0100 Subject: [PATCH 160/256] [py] added binding for Ctc3BCid --- python/CMakeLists.txt | 1 + python/codac_py_core.cpp | 2 + .../contractors/static/codac_py_Ctc3BCid.cpp | 45 +++++++++++++++++++ 3 files changed, 48 insertions(+) create mode 100644 python/src/core/contractors/static/codac_py_Ctc3BCid.cpp diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index a8aa2a1c0..f1105a619 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -56,6 +56,7 @@ src/core/cn/codac_py_Variable.cpp src/core/contractors/static/codac_py_Ctc.cpp + src/core/contractors/static/codac_py_Ctc3BCid.cpp src/core/contractors/static/codac_py_CtcBox.cpp src/core/contractors/static/codac_py_CtcCN.cpp src/core/contractors/static/codac_py_CtcCartProd.cpp diff --git a/python/codac_py_core.cpp b/python/codac_py_core.cpp index b80934a2b..9bb39c72c 100644 --- a/python/codac_py_core.cpp +++ b/python/codac_py_core.cpp @@ -32,6 +32,7 @@ void export_IntervalVar(py::module& m); void export_IntervalVectorVar(py::module& m); py::class_ export_Ctc(py::module& m); +void export_Ctc3BCid(py::module& m, py::class_& ctc); void export_CtcBox(py::module& m, py::class_& ctc); void export_CtcCN(py::module& m, py::class_& ctc); void export_CtcCartProd(py::module& m, py::class_& ctc); @@ -100,6 +101,7 @@ PYBIND11_MODULE(core, m) export_IntervalVectorVar(m); py::class_ ctc = export_Ctc(m); + export_Ctc3BCid(m, ctc); export_CtcBox(m, ctc); export_CtcCN(m, ctc); export_CtcCartProd(m, ctc); diff --git a/python/src/core/contractors/static/codac_py_Ctc3BCid.cpp b/python/src/core/contractors/static/codac_py_Ctc3BCid.cpp new file mode 100644 index 000000000..376125fcf --- /dev/null +++ b/python/src/core/contractors/static/codac_py_Ctc3BCid.cpp @@ -0,0 +1,45 @@ +/** + * \file + * Ctc3BCid Python binding + * ---------------------------------------------------------------------------- + * \date 2023 + * \author Simon Rohou, Benoît Desrochers + * \copyright Copyright 2023 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include +#include +#include "codac_type_caster.h" + +#include "codac_py_Ctc.h" +#include "codac_Ctc.h" +#include "ibex_Ctc3BCid.h" +// Generated file from Doxygen XML (doxygen2docstring.py): +//#include "codac_py_Ctc3BCid_docs.h" + +using namespace std; +using namespace codac; +namespace py = pybind11; +using namespace pybind11::literals; + + +void export_Ctc3BCid(py::module& m, py::class_& ctc) +{ + py::class_ ctc_3bcid(m, "Ctc3BCid", ctc, "todo"); + ctc_3bcid + + .def(py::init(), + py::keep_alive<1,2>(), + "ctc"_a.noconvert(), + "s3b"_a.noconvert()=ibex::Ctc3BCid::default_s3b, + "scid"_a.noconvert()=ibex::Ctc3BCid::default_scid, + "vhandled"_a.noconvert()=-1, + "var_min_width"_a.noconvert()=ibex::Ctc3BCid::default_var_min_width) + + .def("contract", (void (Ctc::*) (IntervalVector&)) &ibex::Ctc3BCid::contract, "todo") + ; +} \ No newline at end of file From d5ef1fa55a446798b7c212b631c16f061020409b Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 11 Dec 2023 14:27:16 +0100 Subject: [PATCH 161/256] [py] added predefined ColorMap constants --- python/src/core/graphics/codac_py_ColorMap.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/python/src/core/graphics/codac_py_ColorMap.cpp b/python/src/core/graphics/codac_py_ColorMap.cpp index 7de0db222..cb55a7ed0 100644 --- a/python/src/core/graphics/codac_py_ColorMap.cpp +++ b/python/src/core/graphics/codac_py_ColorMap.cpp @@ -32,5 +32,11 @@ void export_ColorMap(py::module& m) .def("is_opaque", &ColorMap::is_opaque, COLORMAP_BOOL_IS_OPAQUE) + + .def_property_readonly_static("HAXBY", [](py::object) { return ColorMap::HAXBY; }) + .def_property_readonly_static("DEFAULT", [](py::object) { return ColorMap::DEFAULT; }) + .def_property_readonly_static("BLUE_TUBE", [](py::object) { return ColorMap::BLUE_TUBE; }) + .def_property_readonly_static("RED_TUBE", [](py::object) { return ColorMap::RED_TUBE; }) + .def_property_readonly_static("RAINBOW", [](py::object) { return ColorMap::RAINBOW; }) ; } \ No newline at end of file From d7e18aa012db020b307b3001be797863e440361c Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 11 Dec 2023 14:51:06 +0100 Subject: [PATCH 162/256] [doc] minor update in doc (IBEX for Python binding) --- doc/doc/dev/info_dev.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index e42f7ee13..0de057c8d 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -180,7 +180,7 @@ This configuration generates header files containing docstrings for Python, base the content of XML files made by Doxygen. The documentation of any C++/Python function is then located in the C++ header files of the :file:`/src` directory. -Note that you also have to configure IBEX with the ``-DCMAKE_CXX_FLAGS="-fPIC"`` flag. +Note that you also have to configure IBEX with the ``-DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC"`` flag. Finally, after the compilation of Codac (and IBEX): From 876d7b5b61627d59f8a2551c8a5d9b1d534ad992 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 21 Jan 2024 17:47:07 +0100 Subject: [PATCH 163/256] Windows 2022 GitHub hosted runner has changed its default gcc version --- .github/workflows/unixmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 2d0dc1479..b3c4b5b89 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -77,7 +77,7 @@ jobs: - run: choco install -y -r --no-progress mingw --version=8.1.0 --force ${{ matrix.cfg.choco_flags }} if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw8')&&(matrix.cfg.arch=='x86') - run: choco install -y -r --no-progress mingw --version=11.2.0.07112021 --force ${{ matrix.cfg.choco_flags }} - if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw11')&&(matrix.cfg.arch=='x86') + if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw11') - run: echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% if: startsWith(matrix.cfg.runtime, 'mingw')&&(matrix.cfg.arch=='x86') - run: echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw64\bin>>%GITHUB_PATH% From 1b8489f3a36d6ffee62b7cf23347b251d3abb897 Mon Sep 17 00:00:00 2001 From: Teusner Date: Mon, 29 Jan 2024 10:44:54 +0100 Subject: [PATCH 164/256] Adding more parameters in Function definition --- python/src/core/functions/codac_py_Function.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/python/src/core/functions/codac_py_Function.cpp b/python/src/core/functions/codac_py_Function.cpp index a550bddf6..a6da93115 100644 --- a/python/src/core/functions/codac_py_Function.cpp +++ b/python/src/core/functions/codac_py_Function.cpp @@ -61,6 +61,18 @@ void export_Function(py::module& m) .def(py::init()) .def(py::init()) .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) .def("nb_arg", &Function::nb_arg) .def("diff", &Function::diff) From 0c6ab997ae3333e7dd927444c347d95721131e75 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 3 Feb 2024 19:57:14 +0100 Subject: [PATCH 165/256] Update workflows --- .github/workflows/dockercentos.yml | 2 +- .github/workflows/dockerpi.yml | 2 +- .github/workflows/macosmatrix.yml | 4 ++-- .github/workflows/tests.yml | 4 ++-- .github/workflows/unixmatrix.yml | 2 +- .github/workflows/vcmatrix.yml | 4 ++-- 6 files changed, 9 insertions(+), 9 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index bd5933c43..ff756faad 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -10,7 +10,7 @@ jobs: name: CentOS Docker runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml index a07c4e506..5f74ccacf 100644 --- a/.github/workflows/dockerpi.yml +++ b/.github/workflows/dockerpi.yml @@ -10,7 +10,7 @@ jobs: name: Raspbian Buster pi Docker runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index ee8a629a7..807256ec2 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -35,12 +35,12 @@ jobs: - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: '-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 clean: false - - uses: actions/setup-python@v4 + - uses: actions/setup-python@v5 with: python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} architecture: x64 diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index b713797c7..a26b2b890 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -15,12 +15,12 @@ jobs: - { os: ubuntu-20.04, gcc_v: 8, py_v_maj: 3, py_v_min: 6, desc: 'Ubuntu 20.04 GCC 8 Python 3.6 tests' } name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 clean: false - - uses: actions/setup-python@v4 + - uses: actions/setup-python@v5 with: python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} - run: | diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index b3c4b5b89..348fb9601 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -50,7 +50,7 @@ jobs: - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Big Sur x86_64' } name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 80a8eb5a6..4fbf9bcfc 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -33,12 +33,12 @@ jobs: - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x64 Python 3.6' } name: ${{ matrix.cfg.desc }} steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 clean: false - - uses: actions/setup-python@v4 + - uses: actions/setup-python@v5 with: python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} architecture: ${{ matrix.cfg.arch }} From 5db4c8aa58a0e7b946ffe5b8f52f45ca488e8045 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 11 Feb 2024 00:30:26 +0100 Subject: [PATCH 166/256] Attempt to correct doxygen 1.9.6 installation problems on macOS --- .github/workflows/macosmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 807256ec2..43a00a56a 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -54,7 +54,7 @@ jobs: - run: brew install eigen if: runner.os=='macOS' # doxygen v1.9.7 causes issues... - - run: wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects + - run: brew install graphviz ; wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv From 4169f2e61728d83ec82da7685f82c88cc97f1809 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 3 Feb 2024 23:09:08 +0100 Subject: [PATCH 167/256] Change registry key name --- .github/workflows/unixmatrix.yml | 2 ++ packages/choco/codac/tools/chocolateybeforemodify.ps1 | 10 ++++++---- packages/choco/codac/tools/chocolateyinstall.ps1 | 4 ++-- packages/choco/codac/tools/chocolateyuninstall.ps1 | 10 ++++++---- packages/choco/codac/tools/sharedVars.ps1 | 1 + 5 files changed, 17 insertions(+), 10 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 56c8dd34b..212d89277 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -140,6 +140,8 @@ jobs: sed_param=s/download\\/v1\\/codac/download\\/v${PACKAGE_VERSION}\\/codac/ sed -i "$sed_param" codac/codac.nuspec sed -i "$sed_param" codac/tools/chocolateyinstall.ps1 + sed_param=s/\\$CMakePackageVer\ =\ \"1\"/\\$CMakePackageVer\ =\ \"${SOFTWARE_VERSION}\"/ + sed -i "$sed_param" codac/tools/sharedVars.ps1 mv -f codac codac.$PACKAGE_VERSION cd codac.$PACKAGE_VERSION choco pack diff --git a/packages/choco/codac/tools/chocolateybeforemodify.ps1 b/packages/choco/codac/tools/chocolateybeforemodify.ps1 index 2ed694ebb..1a4397bef 100644 --- a/packages/choco/codac/tools/chocolateybeforemodify.ps1 +++ b/packages/choco/codac/tools/chocolateybeforemodify.ps1 @@ -15,10 +15,12 @@ Write-Host "Codac is going to be uninstalled from '$installDir'" $root = Join-Path $installDir "codac" -if (Test-Path $CMakeRegistryPath) { - if (Test-Path $CMakeSystemRepositoryPath\$CMakePackageName) { - Remove-Item "$CMakeSystemRepositoryPath\$CMakePackageName" - } +try { + Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty $CMakePackageName$CMakePackageVer -ErrorAction Stop | Out-Null + Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name $CMakePackageName$CMakePackageVer +} +catch { + } if (Test-Path $root) { diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index bf3284425..b84d21b64 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -91,7 +91,7 @@ else { if (!$pp['NoRegistry']) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force - New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force + New-ItemProperty -Name "$CMakePackageName$CMakePackageVer" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } #$pathtoadd = "$root\bin" #if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { @@ -155,7 +155,7 @@ for ($i = 1; $i -le 99; $i++) { if (!$pp['NoRegistry']) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force - New-ItemProperty -Name "CMakePackageDir" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force + New-ItemProperty -Name "$CMakePackageName$CMakePackageVer" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } #$pathtoadd = "$root\bin" #if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { diff --git a/packages/choco/codac/tools/chocolateyuninstall.ps1 b/packages/choco/codac/tools/chocolateyuninstall.ps1 index 2ed694ebb..1a4397bef 100644 --- a/packages/choco/codac/tools/chocolateyuninstall.ps1 +++ b/packages/choco/codac/tools/chocolateyuninstall.ps1 @@ -15,10 +15,12 @@ Write-Host "Codac is going to be uninstalled from '$installDir'" $root = Join-Path $installDir "codac" -if (Test-Path $CMakeRegistryPath) { - if (Test-Path $CMakeSystemRepositoryPath\$CMakePackageName) { - Remove-Item "$CMakeSystemRepositoryPath\$CMakePackageName" - } +try { + Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty $CMakePackageName$CMakePackageVer -ErrorAction Stop | Out-Null + Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name $CMakePackageName$CMakePackageVer +} +catch { + } if (Test-Path $root) { diff --git a/packages/choco/codac/tools/sharedVars.ps1 b/packages/choco/codac/tools/sharedVars.ps1 index 98e579210..c401315a9 100644 --- a/packages/choco/codac/tools/sharedVars.ps1 +++ b/packages/choco/codac/tools/sharedVars.ps1 @@ -4,3 +4,4 @@ $MinGWMVer = "11" $CMakeRegistryPath = "HKCU:\SOFTWARE\Kitware\CMake" $CMakeSystemRepositoryPath = "HKLM:\SOFTWARE\Kitware\CMake\Packages" $CMakePackageName = "Codac" +$CMakePackageVer = "1" From a9a15b76ae5a9a2e6854ff9f214db346d512a2b4 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 3 Feb 2024 23:22:49 +0100 Subject: [PATCH 168/256] Attempt to correct mandatory checksums in Chocolatey --- packages/choco/codac/codac.nuspec | 2 ++ .../choco/codac/tools/chocolateyinstall.ps1 | 18 ++++++++++++------ 2 files changed, 14 insertions(+), 6 deletions(-) diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index b1f861fee..2f7ed607e 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -28,7 +28,9 @@ Codac is a library providing tools for constraint programming over reals, trajec ## Package parameters The following package parameters can be set: - `/url:URL` - Will install the specified binary package (e.g. built for Visual Studio), see versions from https://github.com/codac-team/codac/releases (the Windows `PATH` might need to be updated manually with e.g. `C:\ProgramData\chocolatey\lib\ibex\bin`, etc.). By default, only the MinGW libraries compatible with the corresponding MinGW Chocolatey package dependency are installed. Use the standard parameter `choco install --ignore-dependencies ...` to avoid installing the default MinGW and IBEX Chocolatey package dependencies if needed (you might want to install manually [IBEX](https://community.chocolatey.org/packages/ibex) package with the corresponding parameters, as well as the corresponding compiler and the Eigen package). +- `/checksum:SHA256` - SHA256 checksum of the binary package specified by the `/url` parameter. If needed, use the standard parameter `choco install --ignore-checksums ...` for trusted sources. - `/urlX:URL` - Same as above, with X in [1,99], except this will not disable the installation of the MinGW libraries compatible with the corresponding MinGW Chocolatey package dependency. +- `/checksumX:SHA256` - SHA256 checksum of the binary package specified by the `/urlX` parameter. If needed, use the standard parameter `choco install --ignore-checksums ...` for trusted sources. - `/InstallDir:INSTALLDIR` - Installation directory. - `/NoPath` - Will not try to update Windows `PATH`. - `/NoRegistry` - Will not try to update Windows registry. diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index b84d21b64..6f08af63e 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -37,13 +37,16 @@ if (!$pp['url']) { } else { $url = $pp['url'] - #$checksum = $pp['sha256'] + $checksum = $pp['checksum'] $packageArgs = @{ packageName = $env:ChocolateyPackageName unzipLocation = Join-Path "$root" ".." url = $url - #checksum = $checksum - #checksumType = 'sha256' + url64bit = $url + checksum = $checksum + checksumType = 'sha256' + checksum64 = $checksum + checksumType64= 'sha256' } Install-ChocolateyZipPackage @packageArgs @@ -102,13 +105,16 @@ if (!$pp['NoRegistry']) { for ($i = 1; $i -le 99; $i++) { if ($pp['url'+$i]) { $url = $pp['url'+$i] - #$checksum = $pp['sha256'] + $checksum = $pp['checksum'+$i] $packageArgs = @{ packageName = $env:ChocolateyPackageName unzipLocation = Join-Path "$root" ".." url = $url - #checksum = $checksum - #checksumType = 'sha256' + url64bit = $url + checksum = $checksum + checksumType = 'sha256' + checksum64 = $checksum + checksumType64= 'sha256' } Install-ChocolateyZipPackage @packageArgs From de13dcb8885fe32cef3dfeba9731a91c5d58a4ac Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 11 Feb 2024 21:10:28 +0100 Subject: [PATCH 169/256] macOS Big Sur EOL --- .github/workflows/macosmatrix.yml | 28 ++++++++++++++-------------- .github/workflows/unixmatrix.yml | 2 -- 2 files changed, 14 insertions(+), 16 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 43a00a56a..f97273c39 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -19,20 +19,20 @@ jobs: fail-fast: false matrix: cfg: - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Big Sur Python 3.12 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 arm64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 arm64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Big Sur Python 3.12 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 x86_64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: '-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Monterey Python 3.12 arm64' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Monterey Python 3.11 arm64' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Monterey Python 3.10 arm64' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Monterey Python 3.9 arm64' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Monterey Python 3.8 arm64' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Monterey Python 3.7 arm64' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Monterey Python 3.6 arm64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Monterey Python 3.12 x86_64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Monterey Python 3.11 x86_64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Monterey Python 3.10 x86_64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Monterey Python 3.9 x86_64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Monterey Python 3.8 x86_64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Monterey Python 3.7 x86_64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: '-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Monterey Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 348fb9601..56c8dd34b 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -46,8 +46,6 @@ jobs: - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Ventura x86_64' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } - - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Big Sur arm64' } - - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Big Sur x86_64' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 From 7652195bac4f0dd3bb002bb3f3edd7bc0c84dfb6 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 8 Feb 2024 22:31:36 +0100 Subject: [PATCH 170/256] Attempt to correct uninstallation of Chocolatey package --- packages/choco/codac/tools/chocolateybeforemodify.ps1 | 4 +++- packages/choco/codac/tools/chocolateyuninstall.ps1 | 4 +++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/packages/choco/codac/tools/chocolateybeforemodify.ps1 b/packages/choco/codac/tools/chocolateybeforemodify.ps1 index 1a4397bef..c3cb63574 100644 --- a/packages/choco/codac/tools/chocolateybeforemodify.ps1 +++ b/packages/choco/codac/tools/chocolateybeforemodify.ps1 @@ -24,5 +24,7 @@ catch { } if (Test-Path $root) { - Remove-Item -Recurse -Force $root + if ((Resolve-Path $root).Path -notcontains (Resolve-Path $packageDir).Path) { + Remove-Item -Recurse -Force $root + } } diff --git a/packages/choco/codac/tools/chocolateyuninstall.ps1 b/packages/choco/codac/tools/chocolateyuninstall.ps1 index 1a4397bef..c3cb63574 100644 --- a/packages/choco/codac/tools/chocolateyuninstall.ps1 +++ b/packages/choco/codac/tools/chocolateyuninstall.ps1 @@ -24,5 +24,7 @@ catch { } if (Test-Path $root) { - Remove-Item -Recurse -Force $root + if ((Resolve-Path $root).Path -notcontains (Resolve-Path $packageDir).Path) { + Remove-Item -Recurse -Force $root + } } From 21a277c9410ee3a12be65fb6da30335987f428eb Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 12 Feb 2024 12:53:21 +0100 Subject: [PATCH 171/256] [tuto] added Wall class + CtcUnion binding --- .../core/contractors/static/codac_py_Ctc.cpp | 34 +++++++- .../src/core/graphics/codac_py_VIBesFig.cpp | 4 + python/src/robotics/codac_py_Wall.cpp | 42 ++++++++++ .../contractors/static/codac_CtcSegment.cpp | 8 +- .../contractors/static/codac_CtcSegment.h | 8 +- src/core/contractors/static/codac_CtcUnion.h | 69 +++++++++++++++- src/robotics/CMakeLists.txt | 2 + src/robotics/objects/codac_Wall.cpp | 82 +++++++++++++++++++ src/robotics/objects/codac_Wall.h | 37 +++++++++ 9 files changed, 275 insertions(+), 11 deletions(-) create mode 100644 python/src/robotics/codac_py_Wall.cpp create mode 100644 src/robotics/objects/codac_Wall.cpp create mode 100644 src/robotics/objects/codac_Wall.h diff --git a/python/src/core/contractors/static/codac_py_Ctc.cpp b/python/src/core/contractors/static/codac_py_Ctc.cpp index d798bf5ee..8d2c1ec39 100644 --- a/python/src/core/contractors/static/codac_py_Ctc.cpp +++ b/python/src/core/contractors/static/codac_py_Ctc.cpp @@ -49,8 +49,11 @@ py::class_ export_Ctc(py::module& m) .def("__or__", [](Ctc& c1, Ctc& c2) { - return new CtcUnion(c1, c2); + CtcUnion *cu = new CtcUnion(2); + cu->add_raw_ptr(&c1); + cu->add_raw_ptr(&c2); // todo: manage delete + return cu; }, DOC_CTC_OR, py::return_value_policy::take_ownership, @@ -77,9 +80,34 @@ py::class_ export_Ctc(py::module& m) ; // Export CtcUnion - py::class_(m, "CtcUnion", ctc, DOC_CTCUNION_TYPE) - .def(py::init>(), py::keep_alive<1,2>(), "list"_a) + py::class_(m, "CtcUnion", ctc, "todo") + .def(py::init(), "nb_var"_a) + .def(py::init([](Ctc& c1) + { + CtcUnion *cu = new CtcUnion(c1.nb_var); + cu->add_raw_ptr(&c1); + return cu; + }), + py::keep_alive<0,1>(), "c1"_a) + .def(py::init([](Ctc& c1, Ctc& c2) + { + CtcUnion *cu = new CtcUnion(c1.nb_var); + cu->add_raw_ptr(&c1); + cu->add_raw_ptr(&c2); + return cu; + }), + py::keep_alive<0,1>(), py::keep_alive<0,2>(), "c1"_a, "c2"_a) + .def(py::init([](Ctc& c1, Ctc& c2, Ctc& c3) + { + CtcUnion *cu = new CtcUnion(c1.nb_var); + cu->add_raw_ptr(&c1); + cu->add_raw_ptr(&c2); + cu->add_raw_ptr(&c3); + return cu; + }), + py::keep_alive<0,1>(), py::keep_alive<0,2>(), py::keep_alive<0,3>(), "c1"_a, "c2"_a, "c3"_a) .def("contract", (void (Ctc::*)(IntervalVector&)) &CtcUnion::contract) + .def("__ior__", [](CtcUnion& cu, Ctc& c) { return cu.add_raw_ptr(&c); }, py::keep_alive<1,2>(), py::return_value_policy::take_ownership) ; // Export CtcCompo diff --git a/python/src/core/graphics/codac_py_VIBesFig.cpp b/python/src/core/graphics/codac_py_VIBesFig.cpp index 61a69a21c..eb895a904 100644 --- a/python/src/core/graphics/codac_py_VIBesFig.cpp +++ b/python/src/core/graphics/codac_py_VIBesFig.cpp @@ -92,5 +92,9 @@ void export_VIBesFig(py::module& m) .def("draw_vehicle", (void (VIBesFig::*)(double,double,double,double,const string&,const vibes::Params &))&VIBesFig::draw_vehicle, VIBESFIG_VOID_DRAW_VEHICLE_DOUBLE_DOUBLE_DOUBLE_DOUBLE_STRING_VIBESPARAMS, "x"_a, "y"_a, "heading"_a, "size"_a, "color"_a="", "params"_a=vibes::Params()) + + .def("draw_line", (void (VIBesFig::*)(const std::vector&,const std::vector&,const string&,const vibes::Params &))&VIBesFig::draw_line, + "todo", + "v_x"_a, "v_y"_a, "color"_a="", "params"_a=vibes::Params()) ; } \ No newline at end of file diff --git a/python/src/robotics/codac_py_Wall.cpp b/python/src/robotics/codac_py_Wall.cpp new file mode 100644 index 000000000..56b304b86 --- /dev/null +++ b/python/src/robotics/codac_py_Wall.cpp @@ -0,0 +1,42 @@ +/** + * \file + * Wall Python binding + * ---------------------------------------------------------------------------- + * \date 2024 + * \author Simon Rohou, Benoît Desrochers + * \copyright Copyright 2024 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include +#include +#include +#include "codac_type_caster.h" + +#include "codac_Wall.h" +// Generated file from Doxygen XML (doxygen2docstring.py): +#include "codac_py_Wall_docs.h" + +using namespace std; +using namespace codac; +namespace py = pybind11; +using namespace pybind11::literals; + + +void export_Wall(py::module& m) +{ + py::class_ wall(m, "Wall", WALL_MAIN); + wall + + .def(py::init(), "todo") + .def("contains", &Wall::contains, "todo", "p"_a) + .def(py::self & py::self) + .def_readwrite("c1", &Wall::c1) + .def_readwrite("c2", &Wall::c2) + ; + + m.def("shorter_dist_to_walls", &shorter_dist_to_walls, "todo", "v_walls"_a, "p"_a, "bearing"_a); + m.def("shorter_contact_to_walls", &shorter_contact_to_walls, "todo", "v_walls"_a, "p"_a); +} \ No newline at end of file diff --git a/src/core/contractors/static/codac_CtcSegment.cpp b/src/core/contractors/static/codac_CtcSegment.cpp index 2a2000a68..2721281ae 100644 --- a/src/core/contractors/static/codac_CtcSegment.cpp +++ b/src/core/contractors/static/codac_CtcSegment.cpp @@ -14,7 +14,8 @@ using namespace std; namespace codac { CtcSegment::CtcSegment(double ax, double ay, double bx, double by) : Ctc(2), - X_with_params(2+4) { + X_with_params(2+4) +{ init(); @@ -24,6 +25,11 @@ CtcSegment::CtcSegment(double ax, double ay, double bx, double by) : Ctc(2), X_with_params[5] = Interval(by); } +CtcSegment::CtcSegment(const CtcSegment& ctc) : CtcSegment(ctc.X_with_params[2].lb(),ctc.X_with_params[3].lb(),ctc.X_with_params[4].lb(),ctc.X_with_params[5].lb()) +{ + +} + CtcSegment::CtcSegment() : Ctc(6), X_with_params(0 /* unused */) { init(); } diff --git a/src/core/contractors/static/codac_CtcSegment.h b/src/core/contractors/static/codac_CtcSegment.h index 45659e471..5d6ea535a 100644 --- a/src/core/contractors/static/codac_CtcSegment.h +++ b/src/core/contractors/static/codac_CtcSegment.h @@ -15,15 +15,15 @@ #include "ibex_CtcFwdBwd.h" +namespace codac { + + using ibex::Interval; using ibex::IntervalVector; using ibex::Ctc; using ibex::NumConstraint; using ibex::CtcFwdBwd; - -namespace codac { - /** * \ingroup geometry * @@ -58,6 +58,8 @@ class CtcSegment : public Ctc { */ CtcSegment(); + CtcSegment(const CtcSegment& ctc); + /** * \brief Contract a box. * \param box to be contracted diff --git a/src/core/contractors/static/codac_CtcUnion.h b/src/core/contractors/static/codac_CtcUnion.h index b9c73b414..336162dbd 100644 --- a/src/core/contractors/static/codac_CtcUnion.h +++ b/src/core/contractors/static/codac_CtcUnion.h @@ -2,9 +2,9 @@ * \file * CtcUnion class * ---------------------------------------------------------------------------- - * \date 2022 + * \date 2024 * \author Simon Rohou - * \copyright Copyright 2022 Codac Team + * \copyright Copyright 2024 Codac Team * \license This program is distributed under the terms of * the GNU Lesser General Public License (LGPL). */ @@ -12,11 +12,72 @@ #ifndef __CODAC_CTCUNION_H__ #define __CODAC_CTCUNION_H__ -#include "ibex_CtcUnion.h" +#include +//#include "ibex_CtcUnion.h" +#include "codac_Ctc.h" namespace codac { - using ibex::CtcUnion; + class CtcUnion : public Ctc + { + public: + + CtcUnion(int nb_var) : Ctc(nb_var) + { } + + template + CtcUnion(const C1& c1) : Ctc(c1.nb_var) + { + _v_ctc.push_back(std::make_shared(c1)); + } + + template + CtcUnion(const C1& c1, const C&... c) : CtcUnion(c1) + { + (_v_ctc.push_back(std::make_shared(c)), ...); + for(const auto& ci : _v_ctc) { assert(ci->nb_var == nb_var); } + } + + void contract(IntervalVector& x) + { + IntervalVector result(nb_var, Interval::empty_set()); + + for(auto& ci : _v_ctc) + { + IntervalVector saved_x = x; + ci->contract(saved_x); + result |= saved_x; + } + + for(auto& ci : _v_ctc_ptrs) + { + IntervalVector saved_x = x; + ci->contract(saved_x); + result |= saved_x; + } + + x = result; + } + + template + CtcUnion& operator|=(const C& c) + { + assert(c.nb_var == nb_var); + _v_ctc.push_back(std::make_shared(c)); + return *this; + } + + CtcUnion& add_raw_ptr(Ctc *c) + { + _v_ctc_ptrs.push_back(c); + return *this; + } + + protected: + + std::vector> _v_ctc; + std::vector _v_ctc_ptrs; + }; } #endif \ No newline at end of file diff --git a/src/robotics/CMakeLists.txt b/src/robotics/CMakeLists.txt index c75f3049f..6d551d21e 100644 --- a/src/robotics/CMakeLists.txt +++ b/src/robotics/CMakeLists.txt @@ -6,6 +6,8 @@ ${CMAKE_CURRENT_SOURCE_DIR}/graphics/codac_VIBesFigMap.h ${CMAKE_CURRENT_SOURCE_DIR}/objects/codac_Beacon.cpp ${CMAKE_CURRENT_SOURCE_DIR}/objects/codac_Beacon.h + ${CMAKE_CURRENT_SOURCE_DIR}/objects/codac_Wall.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/objects/codac_Wall.h ${CMAKE_CURRENT_SOURCE_DIR}/loops/codac_TPlane.h ${CMAKE_CURRENT_SOURCE_DIR}/loops/codac_TPlane.cpp ${CMAKE_CURRENT_SOURCE_DIR}/data/codac_DataLoaderLissajous.cpp diff --git a/src/robotics/objects/codac_Wall.cpp b/src/robotics/objects/codac_Wall.cpp new file mode 100644 index 000000000..4842c4e6d --- /dev/null +++ b/src/robotics/objects/codac_Wall.cpp @@ -0,0 +1,82 @@ +/** + * Wall class + * ---------------------------------------------------------------------------- + * \date 2024 + * \author Simon Rohou + * \copyright Copyright 2024 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include +#include "codac_Wall.h" +#include "codac_predef_values.h" + +using namespace std; +using namespace ibex; + +namespace codac +{ + Wall::Wall(const Vector& c1_, const Vector& c2_) : c1(c1_), c2(c2_) + { + } + + bool Wall::contains(const Vector& p) const + { + Vector ab { c2[0]-c1[0], c2[1]-c1[1] }; + Vector ac { p[0]-c1[0], p[1]-c1[1] }; + + double dp_AB = ab[0]*ab[0] + ab[1]*ab[1]; + double dp_AC = ab[0]*ac[0] + ab[1]*ac[1]; + return Interval(0.,dp_AB).contains(dp_AC); + } + + Vector operator&(const Wall& w1, const Wall& w2) + { + const double& x1 = w1.c1[0]; const double& x2 = w1.c2[0]; + const double& x3 = w2.c1[0]; const double& x4 = w2.c2[0]; + + const double& y1 = w1.c1[1]; const double& y2 = w1.c2[1]; + const double& y3 = w2.c1[1]; const double& y4 = w2.c2[1]; + + return { + ((x1*y2-y1*x2)*(x3-x4)-(x1-x2)*(x3*y4-y3*x4))/((x1-x2)*(y3-y4)-(y1-y2)*(x3-x4)), + ((x1*y2-y1*x2)*(y3-y4)-(y1-y2)*(x3*y4-y3*x4))/((x1-x2)*(y3-y4)-(y1-y2)*(x3-x4)) + }; + } + + double shorter_dist_to_walls(const std::vector& v_walls, const Vector& p, double bearing) + { + Wall w0 { p, { p[0]+999999.*cos(bearing), p[1]+999999.*sin(bearing) }}; + double min_dist = oo; + + for(const auto& wi : v_walls) + { + Vector pi = w0 & wi; + if(!wi.contains(pi) || !w0.contains(pi)) + continue; + double dist = pow(p[0]-pi[0],2) + pow(p[1]-pi[1],2); + min_dist = dist < min_dist ? dist : min_dist; + } + + return sqrt(min_dist); + } + + Vector shorter_contact_to_walls(const std::vector& v_walls, const Vector& p) + { + double min_dist = oo; + double bearing; + + for(double a = 0. ; a < 2.*M_PI ; a+=0.1) + { + double dist = shorter_dist_to_walls(v_walls, p, a); + if(dist < min_dist) + { + min_dist = dist; + bearing = a; + } + } + + return { min_dist, bearing }; + } +} \ No newline at end of file diff --git a/src/robotics/objects/codac_Wall.h b/src/robotics/objects/codac_Wall.h new file mode 100644 index 000000000..af7de4cad --- /dev/null +++ b/src/robotics/objects/codac_Wall.h @@ -0,0 +1,37 @@ +/** + * Beacon class + * ---------------------------------------------------------------------------- + * \date 2024 + * \author Simon Rohou + * \copyright Copyright 2024 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#ifndef __CODAC_WALL_H__ +#define __CODAC_WALL_H__ + +#include "codac_Vector.h" +#include "codac_IntervalVector.h" + +namespace codac +{ + class Wall + { + public: + + Wall(const Vector& c1, const Vector& c2); + bool contains(const Vector& p) const; + + //protected: + + Vector c1, c2; + }; + + Vector operator&(const Wall& w1, const Wall& w2); + + double shorter_dist_to_walls(const std::vector& v_walls, const Vector& p, double bearing); + Vector shorter_contact_to_walls(const std::vector& v_walls, const Vector& p); +} + +#endif \ No newline at end of file From 3643ea985ecf77c1f1eeaf159362db82faa72d9f Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 12 Feb 2024 14:49:09 +0100 Subject: [PATCH 172/256] [win] corrected bug, _USE_MATH_DEFINES --- src/robotics/objects/codac_Wall.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/robotics/objects/codac_Wall.cpp b/src/robotics/objects/codac_Wall.cpp index 4842c4e6d..83e482011 100644 --- a/src/robotics/objects/codac_Wall.cpp +++ b/src/robotics/objects/codac_Wall.cpp @@ -8,6 +8,14 @@ * the GNU Lesser General Public License (LGPL). */ +#ifdef _MSC_VER +// Enable additional features in math.h. +#ifndef _USE_MATH_DEFINES +#define _USE_MATH_DEFINES +#endif // _USE_MATH_DEFINES +#include +#endif // _MSC_VER + #include #include "codac_Wall.h" #include "codac_predef_values.h" From 97ae62b886a90f4f0cfcd92880f064cb4ab799a9 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 12 Feb 2024 15:06:26 +0100 Subject: [PATCH 173/256] [py] CMake config --- python/CMakeLists.txt | 1 + python/codac_py_core.cpp | 2 ++ 2 files changed, 3 insertions(+) diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index f1105a619..b14384514 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -113,6 +113,7 @@ src/robotics/codac_py_DataLoader.cpp src/robotics/codac_py_TPlane.cpp + src/robotics/codac_py_Wall.cpp ) target_include_directories(core diff --git a/python/codac_py_core.cpp b/python/codac_py_core.cpp index 9bb39c72c..810b90be3 100644 --- a/python/codac_py_core.cpp +++ b/python/codac_py_core.cpp @@ -87,6 +87,7 @@ void export_ConnectedSubset(py::module& m); void export_DataLoader(py::module& m); void export_TPlane(py::module& m); +void export_Wall(py::module& m); void export_sivia(py::module& m, py::class_& ctc, py::class_& sep); @@ -155,6 +156,7 @@ PYBIND11_MODULE(core, m) export_DataLoader(m); export_TPlane(m); + export_Wall(m); export_sivia(m, ctc, sep); From 3322f8f0ce9da6c1020b434a2382b6ce070b5d9f Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Mon, 12 Feb 2024 18:40:49 +0100 Subject: [PATCH 174/256] [ex] added new robotics example --- examples/robotics/12_walls/CMakeLists.txt | 45 +++++++ examples/robotics/12_walls/main.cpp | 155 ++++++++++++++++++++++ examples/robotics/12_walls/main.py | 138 +++++++++++++++++++ 3 files changed, 338 insertions(+) create mode 100644 examples/robotics/12_walls/CMakeLists.txt create mode 100644 examples/robotics/12_walls/main.cpp create mode 100644 examples/robotics/12_walls/main.py diff --git a/examples/robotics/12_walls/CMakeLists.txt b/examples/robotics/12_walls/CMakeLists.txt new file mode 100644 index 000000000..d9ae42641 --- /dev/null +++ b/examples/robotics/12_walls/CMakeLists.txt @@ -0,0 +1,45 @@ +# ================================================================== +# codac / basics example - cmake configuration file +# ================================================================== + + cmake_minimum_required(VERSION 3.0.2) + project(codac_robotics_12 LANGUAGES CXX) + + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# Adding IBEX + + # In case you installed IBEX in a local directory, you need + # to specify its path with the CMAKE_PREFIX_PATH option. + # set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install") + + find_package(IBEX REQUIRED) + ibex_init_common() # IBEX should have installed this function + message(STATUS "Found IBEX version ${IBEX_VERSION}") + +# Adding Eigen3 + + # In case you installed Eigen3 in a local directory, you need + # to specify its path with the CMAKE_PREFIX_PATH option, e.g. + # set(CMAKE_PREFIX_PATH "~/eigen/build_install") + + find_package(Eigen3 REQUIRED NO_MODULE) + message(STATUS "Found Eigen3 version ${Eigen3_VERSION}") + +# Adding Codac + + # In case you installed Codac in a local directory, you need + # to specify its path with the CMAKE_PREFIX_PATH option. + # set(CMAKE_PREFIX_PATH "~/codac/build_install") + + set(CMAKE_PREFIX_PATH "~/codac-lille/build_install") + find_package(CODAC REQUIRED) + message(STATUS "Found Codac version ${CODAC_VERSION}") + +# Compilation + + add_executable(${PROJECT_NAME} main.cpp) + target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS}) + target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) + target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex ${CODAC_LIBRARIES}) \ No newline at end of file diff --git a/examples/robotics/12_walls/main.cpp b/examples/robotics/12_walls/main.cpp new file mode 100644 index 000000000..b72adcd5e --- /dev/null +++ b/examples/robotics/12_walls/main.cpp @@ -0,0 +1,155 @@ +/** + * Codac - Examples + * Localization of a robot in a map of walls, based on two kinds of observations: + * - range-and-bearing: the robot is equipPed with a forward looking sonar + * - range-only: the robot only measures its distance to the closest wall + * ---------------------------------------------------------------------------- + * + * \date 2024 + * \author Simon Rohou + * \copyright Copyright 2024 Codac Team + * \license This program is distributed under the terms of + * the GNU Lesser General Public License (LGPL). + */ + +#include + +using namespace std; +using namespace codac; + +int main() +{ + /* =================== Parameters, truth and data =================== */ + + vector v_corners { + {-4,6},{2.5,6},{2.5,-1},{4.5,-1},{4.5,4}, + {11.5,6},{19,4},{19,-1},{25,-1},{25,-5}, + {16.5,-5},{16.5,1},{14.5,1},{14.5,-5},{8.5,-5}, + {8.5,1},{6.5,1},{6.5,-5},{3,-5},{-4,1} + }; + + vector v_walls; // building walls from corners + for(size_t i = 0 ; i < v_corners.size() ; i++) + v_walls.push_back({v_corners[i],v_corners[(i+1)%v_corners.size()]}); + + float dt = 0.01; // timestep for tubes accuracy + float dt_traj = 0.1*dt; // timestep for simulation + Interval tdomain(0,10); // temporal limits [t_0,t_f] + + // Analytical true trajectory (not used for resolution) + TrajectoryVector x_truth(tdomain, TFunction("( \ + 2*t+(1+cos(t*pi))/2 ; \ + 3*tanh(4*(1+cos((t+0.5)/2*pi))/2-2) ; \ + atan2( \ + -3*pi*(1-sqr(tanh(2*cos((2*t+1)*pi/4))))*sin((2*t+1)*pi/4), \ + 2-pi*sin(pi*t)/2) ; \ + sqrt( \ + sqr( -3*pi*(1-sqr(tanh(2*cos((2*t+1)*pi/4))))*sin((2*t+1)*pi/4) ) + \ + sqr( 2-pi*sin(pi*t)/2 ) \ + ))")); + + // Continuous measurements coming from the truth + Trajectory& measured_psi = x_truth[2].sample(dt_traj).make_continuous(); + measured_psi += RandTrajectory(tdomain, dt_traj, Interval(-0.01,0.01)); // adding some noise + Trajectory& measured_speed = x_truth[3].sample(dt_traj); + measured_speed += RandTrajectory(tdomain, dt_traj, Interval(-0.01,0.01)); // adding some noise + + /* =============== Defining domains for the variables =============== */ + + TubeVector x(tdomain, dt, 4); // 4d tube for state vectors + TubeVector v(tdomain, dt, 4); // 4d tube for derivatives of the states + TubeVector u(tdomain, dt, 2); // 2d tube for inputs of the system + + x[2] = Tube(measured_psi, dt).inflate(0.05); // measured_psi/speed are continuous measurements.. + x[3] = Tube(measured_speed, dt).inflate(0.1); // ..of the headings and speeds + + /* =============== Defining contractors to deal with equations =============== */ + + CtcFunction ctc_f( + Function("v[4]", "x[4]", "u[2]", + "(v[0]-x[3]*cos(x[2]) ; v[1]-x[3]*sin(x[2]) ; v[2]-u[0] ; v[3]-u[1])")); + + CtcFunction ctc_plus(Function("a", "b", "c", "a+b-c")); // constraint a+b-c=0 <=> a+c=c + CtcFunction ctc_minus(Function("a", "b", "c", "a-b-c")); // constraint a-b-c=0 <=> a-b=c + + CtcUnion ctc_walls(2); // contractor for the constraint \mathbf{q} \in \matbb{W} with \mathbb{W} the set of walls + for(const auto& wi : v_walls) + ctc_walls |= CtcSegment(wi.c1[0],wi.c1[1],wi.c2[0],wi.c2[1]); + + // We also use the predefined contractors ctc::polar, ctc::eval, ctc::dist, no need to build them + + /* =============== Adding the contractors to a network =============== */ + + ContractorNetwork cn; // creating a network + cn.add(ctc_f, {v, x, u}); // adding the f contractor, that is common over [t0,tf] + + vibes::beginDrawing(); + VIBesFigMap fig("Map"); + fig.set_properties(50, 50, 900, 500); + fig.add_tube(&x, "x", 0, 1); + fig.add_trajectory(&x_truth, "x*", 0, 1, 2); + fig.smooth_tube_drawing(true); + fig.show(0.); + fig.axis_limits(-5,26,-8.5,8.5); + + for(const auto& wi : v_walls) // drawing the map of walls + fig.draw_line({wi.c1[0],wi.c2[0]}, {wi.c1[1],wi.c2[1]}, "lightGray"); + + bool dist_only = !true; // in order to test two scenarii + + if(dist_only) // For this scenario we assume that \mathbf{x}(0) is known + { + Interval& t0 = cn.create_interm_var(0.); + IntervalVector& p0 = cn.create_interm_var(x_truth(0.)); + cn.add(ctc::eval, {t0, p0, x, v}); // <=> x(t0)=p0 + } + + // For each observation of the environment: + for(double t = tdomain.lb() ; t < tdomain.ub() ; t += 0.8) + { + Vector pi_truth = x_truth(t).subvector(0,1); + + Interval& ti = cn.create_interm_var(Interval(t)); + IntervalVector& pi = cn.create_interm_var(IntervalVector(4)); + IntervalVector& qi = cn.create_interm_var(IntervalVector(2)); + + cn.add(ctc::eval, {ti, pi, x, v}); // <=> x(ti)=pi + cn.add(ctc_walls, {qi}); // <=> \mathbf{q]_i \in \mathbb{W} + + if(!dist_only) // range-and-bearing observation (forward-looking sonar) + { + IntervalVector& di = cn.create_interm_var(IntervalVector(2)); + IntervalVector& yi = cn.create_interm_var(IntervalVector(2)); + yi[0] = shorter_dist_to_walls(v_walls, pi_truth, x_truth(t)[2]); + yi[1] = x_truth(t)[2]; // bearing is zero, azimuth is the heading + + yi[0].inflate(0.02); yi[1].inflate(0.05); + + cn.add(ctc_minus, {qi, cn.subvector(pi,0,1), di}); // <=> qi-pi[0,1]=di + cn.add(ctc::polar, {di, yi}); // di[0]=y1[0]*cos(yi[1]), di[1]=y1[0]*sin(yi[1]) + + fig.draw_pie(pi_truth[0], pi_truth[1], yi[0] | 0., yi[1], "lightGray[#FFFFFF88]"); + fig.draw_pie(pi_truth[0], pi_truth[1], yi[0], yi[1]); + } + + else // range-only observation + { + Interval& yi = cn.create_interm_var(shorter_contact_to_walls(v_walls, pi_truth)[0]); + yi.inflate(0.02); + + cn.add(ctc::dist, {cn.subvector(pi,0,1), qi, yi}); // <=> (pi[0]-qi[0])^2+(pi[1]-qi[1])^2=yi^2 + + fig.draw_circle(pi_truth[0], pi_truth[1], yi.mid(), "black[#80808088]"); + } + + vibes::drawVehicle(x_truth(t)[0], x_truth(t)[1], x_truth(t)[2]*180/M_PI, 0.7, "black[yellow]"); + } + + cn.contract(true); + + fig.show(0.); + fig.axis_limits(-5,26,-8.5,8.5); + + vibes::endDrawing(); + return x.contains(x_truth) != BoolInterval::NO ? EXIT_SUCCESS : EXIT_FAILURE; +} \ No newline at end of file diff --git a/examples/robotics/12_walls/main.py b/examples/robotics/12_walls/main.py new file mode 100644 index 000000000..e515ed312 --- /dev/null +++ b/examples/robotics/12_walls/main.py @@ -0,0 +1,138 @@ +# +# Codac - Examples +# Localization of a robot in a map of walls, based on two kinds of observations: +# - range-and-bearing: the robot is equipPed with a forward looking sonar +# - range-only: the robot only measures its distance to the closest wall +# ---------------------------------------------------------------------------- +# +# \date 2024 +# \author Simon Rohou +# \copyright Copyright 2024 Codac Team +# \license This program is distributed under the terms of +# the GNU Lesser General Public License (LGPL). + +from codac import * +import numpy as np + +# =================== Parameters, truth and data =================== + +v_corners = [ + [-4,6],[2.5,6],[2.5,-1],[4.5,-1],[4.5,4], + [11.5,6],[19,4],[19,-1],[25,-1],[25,-5], + [16.5,-5],[16.5,1],[14.5,1],[14.5,-5],[8.5,-5], + [8.5,1],[6.5,1],[6.5,-5],[3,-5],[-4,1] +] + +v_walls = [] # building walls from corners +for i in range(len(v_corners)): + v_walls.append(Wall(v_corners[i],v_corners[(i+1)%len(v_corners)])) + +dt = 0.01 # timestep for tubes accuracy +dt_traj = 0.1*dt # timestep for simulation +tdomain = Interval(0,10) # temporal limits [t_0,t_f] + +# Analytical true trajectory (not used for resolution) +x_truth = TrajectoryVector(tdomain, TFunction("( \ + 2*t+(1+cos(t*pi))/2 ; \ + 3*tanh(4*(1+cos((t+0.5)/2*pi))/2-2) ; \ + atan2( \ + -3*pi*(1-sqr(tanh(2*cos((2*t+1)*pi/4))))*sin((2*t+1)*pi/4), \ + 2-pi*sin(pi*t)/2) ; \ + sqrt( \ + sqr( -3*pi*(1-sqr(tanh(2*cos((2*t+1)*pi/4))))*sin((2*t+1)*pi/4) ) + \ + sqr( 2-pi*sin(pi*t)/2 ) \ + ))")) + +# Continuous measurements coming from the truth +measured_psi = x_truth[2].sample(dt_traj).make_continuous() +measured_psi += RandTrajectory(tdomain, dt_traj, Interval(-0.05,0.05)) # adding some noise +measured_speed = x_truth[3].sample(dt_traj) +measured_speed += RandTrajectory(tdomain, dt_traj, Interval(-0.1,0.1)) # adding some noise + +# =============== Defining domains for the variables =============== + +x = TubeVector(tdomain, dt, 4) # 4d tube for state vectors +v = TubeVector(tdomain, dt, 4) # 4d tube for derivatives of the states +u = TubeVector(tdomain, dt, 2) # 2d tube for inputs of the system + +x[2] = Tube(measured_psi, dt).inflate(0.05) # measured_psi/speed are continuous measurements.. +x[3] = Tube(measured_speed, dt).inflate(0.1) # ..of the headings and speeds + +# =============== Defining contractors to deal with equations =============== + +ctc_f = CtcFunction( + Function("v[4]", "x[4]", "u[2]", + "(v[0]-x[3]*cos(x[2]) ; v[1]-x[3]*sin(x[2]) ; v[2]-u[0] ; v[3]-u[1])")) + +ctc_plus = CtcFunction(Function("a", "b", "c", "a+b-c")) # constraint a+b-c=0 <=> a+c=c +ctc_minus = CtcFunction(Function("a", "b", "c", "a-b-c")) # constraint a-b-c=0 <=> a-b=c + +v_ctc_segm = [] +ctc_walls = CtcUnion(2) # contractor for the constraint \mathbf{q} \in \matbb{W} with \mathbb{W} the set of walls +for wi in v_walls: + v_ctc_segm.append(CtcSegment(wi.c1[0],wi.c1[1],wi.c2[0],wi.c2[1])) + ctc_walls |= v_ctc_segm[-1] + +# We also use the predefined contractors ctc::polar, ctc::eval, ctc::dist, no need to build them + +# =============== Adding the contractors to a network =============== + +cn = ContractorNetwork() # creating a network +cn.add(ctc_f, [v, x, u]) # adding the f contractor, that is common over [t0,tf] + +beginDrawing() +fig = VIBesFigMap("Map") +fig.set_properties(50, 50, 900, 500) +fig.add_tube(x, "x", 0, 1) +fig.add_trajectory(x_truth, "x*", 0, 1, 2) +fig.smooth_tube_drawing(True) +fig.show(0.) +fig.axis_limits(-5,26,-8.5,8.5) + +for wi in v_walls: # drawing the map of walls + fig.draw_line([wi.c1[0],wi.c2[0]], [wi.c1[1],wi.c2[1]], "lightGray") + +dist_only = not True # in order to test two scenarii + +if dist_only: # For this scenario we assume that \mathbf{x}(0) is known + t0 = Interval(0.) + p0 = IntervalVector(x_truth(0.)) + cn.add(ctc.eval, [t0, p0, x, v]) # <=> x(t0)=p0 + +# For each observation of the environment: +for t in np.arange(tdomain.lb(), tdomain.ub(), 0.8): + pi_truth = x_truth(t)[0:2] + ti = Interval(t) + pi = IntervalVector(4) + qi = IntervalVector(2) + cn.add(ctc.eval, [ti, pi, x, v]) # <=> x(ti)=pi + cn.add(ctc_walls, [qi]) # <=> \mathbf{q]_i \in \mathbb{W} + + if not dist_only: # range-and-bearing observation (forward-looking sonar) + di = IntervalVector(2) + yi = IntervalVector(2) + yi[0] = Interval(shorter_dist_to_walls(v_walls, pi_truth, x_truth(t)[2])) + yi[1] = Interval(x_truth(t)[2]) # bearing is zero, azimuth is the heading + + yi[0].inflate(0.02) + yi[1].inflate(0.05) + + cn.add(ctc_minus, [qi, cn.subvector(pi,0,1), di]) # <=> qi-pi[0,1]=di + cn.add(ctc.polar, [di, yi]) # di[0]=y1[0]*cos(yi[1]), di[1]=y1[0]*sin(yi[1]) + + fig.draw_pie(pi_truth[0], pi_truth[1], yi[0] | Interval(0), yi[1], "lightGray[#FFFFFF88]") + fig.draw_pie(pi_truth[0], pi_truth[1], yi[0], yi[1]) + + else: # range-only observation + yi = Interval(shorter_contact_to_walls(v_walls, pi_truth)[0]) + yi.inflate(0.02) + cn.add(ctc.dist, [cn.subvector(pi,0,1), qi, yi]) # <=> (pi[0]-qi[0])^2+(pi[1]-qi[1])^2=yi^2 + fig.draw_circle(pi_truth[0], pi_truth[1], yi.mid(), "black[#80808088]") + + fig.draw_vehicle([x_truth(t)[0], x_truth(t)[1], x_truth(t)[2]], 0.7) + +cn.contract(True) + +fig.show(0.) +fig.axis_limits(-5,26,-8.5,8.5) +endDrawing() \ No newline at end of file From 4260327736e311cd5065573b5674f2e9724bfb61 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 15 Feb 2024 13:43:06 +0100 Subject: [PATCH 175/256] [doc] added examples for Set4MOST --- doc/doc/toctree.rst | 8 ++ .../tutorial-set4most/01-examples/index.rst | 10 ++ .../01-examples/range-only-loc.py | 74 +++++++++++ doc/doc/tutorial-set4most/01-examples/slam.py | 112 +++++++++++++++++ .../01-examples/triskelion.py | 53 ++++++++ .../01-examples/walls-loc.py | 117 ++++++++++++++++++ doc/doc/tutorial-set4most/index.rst | 10 ++ 7 files changed, 384 insertions(+) create mode 100644 doc/doc/tutorial-set4most/01-examples/index.rst create mode 100644 doc/doc/tutorial-set4most/01-examples/range-only-loc.py create mode 100644 doc/doc/tutorial-set4most/01-examples/slam.py create mode 100644 doc/doc/tutorial-set4most/01-examples/triskelion.py create mode 100644 doc/doc/tutorial-set4most/01-examples/walls-loc.py create mode 100644 doc/doc/tutorial-set4most/index.rst diff --git a/doc/doc/toctree.rst b/doc/doc/toctree.rst index 3e33db033..5825ce4d2 100644 --- a/doc/doc/toctree.rst +++ b/doc/doc/toctree.rst @@ -36,6 +36,14 @@ Codac: constraint-programming for robotics .. /manual/09-extensions/index +.. toctree:: + :caption: Set4MOST + :maxdepth: 2 + :titlesonly: + + Examples + + .. toctree:: :caption: Tutorial JNRR23 :maxdepth: 2 diff --git a/doc/doc/tutorial-set4most/01-examples/index.rst b/doc/doc/tutorial-set4most/01-examples/index.rst new file mode 100644 index 000000000..9c54f8433 --- /dev/null +++ b/doc/doc/tutorial-set4most/01-examples/index.rst @@ -0,0 +1,10 @@ +.. _sec-tuto-set4most-01-main-page: + +############################# +Tutorial: Set4MOST - Examples +############################# + +* `Triskelion `_ +* `Range-only localization `_ +* `Walls localization `_ +* `SLAM `_ \ No newline at end of file diff --git a/doc/doc/tutorial-set4most/01-examples/range-only-loc.py b/doc/doc/tutorial-set4most/01-examples/range-only-loc.py new file mode 100644 index 000000000..25b85a289 --- /dev/null +++ b/doc/doc/tutorial-set4most/01-examples/range-only-loc.py @@ -0,0 +1,74 @@ +from codac import * +import math +import random +import time +import numpy as np + + +dt = 0.02 +iteration_dt = 0.2 +tdomain = Interval(0,15) # [t0,tf] + +# System input +u = Trajectory(tdomain, TFunction("3*(sin(t)^2)+t/100"), dt) + +# Actual trajectories (state + derivative) +# Note that these trajectories are unknown of the resolution +v_truth = TrajectoryVector(3) +x_truth = TrajectoryVector(3) +v_truth[2] = u +x_truth[2] = v_truth[2].primitive() +v_truth[0] = 10*cos(x_truth[2]) +v_truth[1] = 10*sin(x_truth[2]) +x_truth[0] = v_truth[0].primitive() +x_truth[1] = v_truth[1].primitive() + +beginDrawing() +fig_map = VIBesFigMap("slam") +fig_map.set_properties(50, 50, 1200, 600) +#fig_map.axis_limits(IntervalVector([[-34.8, 40.2],[-17.3,20.2]])) +fig_map.add_trajectory(x_truth, "truth", 0, 1, "black") +fig_map.smooth_tube_drawing(True) +fig_map.show(1.) + +########################################### +# Section C: Deadreckoning # +########################################### + +# Bounded trajectories (dead reckoning) +v = TubeVector(tdomain, dt, 3) +x = TubeVector(tdomain, dt, 3) + +# Heading measurement with bounded uncertainties +x[2] = Tube(x_truth[2], dt) + Interval(-0.03,0.03) +x.set([0,0,0], 0.) # setting a vector value at t=0 + +ctc_f = CtcFunction(Function("x[3]", "v[3]", "(v[0]-10*cos(x[2]) ; v[1]-10*sin(x[2]))")) +ctc.deriv # object already instanciated in the library + +cn = ContractorNetwork() +cn.add(ctc_f, [x,v]) +cn.add(ctc.deriv, [x,v]) + +cn.contract(True) + +fig_map.add_tube(x, "x", 0, 1) +fig_map.show(1.) + +########################################### +# Section D: Range-only localisation # +########################################### + +v_b = [ (6,12), (-2,-5), (-3,20), (3,4), (-10,0) ] + +for ti in np.arange(0,15): + k = random.randint(0,len(v_b)-1) # a random landmark is perceived + d = sqrt(sqr(x_truth(ti)[0]-v_b[k][0])+sqr(x_truth(ti)[1]-v_b[k][1])) + d += Interval(-0.03,0.03) + pi = IntervalVector(3) + cn.add(ctc.eval, [ti,pi,x,v]) + cn.add(ctc.dist, [pi[0],pi[1],v_b[k][0],v_b[k][1],d]) + +cn.contract(True) +fig_map.add_landmarks(v_b, 0.4) +fig_map.show(1.) \ No newline at end of file diff --git a/doc/doc/tutorial-set4most/01-examples/slam.py b/doc/doc/tutorial-set4most/01-examples/slam.py new file mode 100644 index 000000000..63352a61d --- /dev/null +++ b/doc/doc/tutorial-set4most/01-examples/slam.py @@ -0,0 +1,112 @@ +from codac import * +import math +import random +import time + + +# =========== CREATING DATA =========== + +dt = 0.02 +iteration_dt = 0.2 +tdomain = Interval(0,15) # [t0,tf] + +# Initial pose x0=(0,0,2) +x0 = (0,0,2) + +# System input +u = Trajectory(tdomain, TFunction("3*(sin(t)^2)+t/100"), dt) + +# Noise +#i_n = Interval(-0.03,0.03) # the noises are known to be bounded by i_n + +# Actual trajectories (state + derivative) +v_truth = TrajectoryVector(3) +x_truth = TrajectoryVector(3) +v_truth[2] = u +x_truth[2] = v_truth[2].primitive() + x0[2] +v_truth[0] = 10*cos(x_truth[2]) +v_truth[1] = 10*sin(x_truth[2]) +x_truth[0] = v_truth[0].primitive() + x0[0] +x_truth[1] = v_truth[1].primitive() + x0[1] + +# Bounded trajectories (dead reckoning) +v = TubeVector(tdomain, dt, 3) +x = TubeVector(tdomain, dt, 3) +#v[2] = Tube(u, dt).inflate(i_n.rad()) # command u with bounded uncertainties +x[2] = Tube(x_truth[2], dt) + Interval(-0.03,0.03) # heading measurement with bounded uncertainties +#v[0] = 10*cos(x[2]) +#v[1] = 10*sin(x[2]) +#x = v.primitive()+IntervalVector(x0) # dead reckoning +x.set([0,0,2],0.) +print(x_truth(0.)) +# Set of landmarks +v_m = [ (6,12), (-2,-5), (-3,20), (3,4), (-10,0) ] + +ctc_f = CtcFunction( + Function("v[3]", "x[3]", + "(v[0]-10*cos(x[2]) ; v[1]-10*sin(x[2]) )")) + +# =========== GRAPHICS =========== + +beginDrawing() + +fig_map = VIBesFigMap("slam") +fig_map.set_properties(50, 50, 1200, 600) +fig_map.add_tube(x, "x", 0, 1) +fig_map.add_trajectory(x_truth, "truth", 0, 1)#, "white") +fig_map.smooth_tube_drawing(True) +fig_map.add_landmarks(v_m, 0.4) +fig_map.show(1.) + + +# =========== CONTRACTOR NETWORK =========== + +v_m_boxes = [IntervalVector(2) for _ in v_m] + +# Contractor Network: + +cn = ContractorNetwork() +cn.add(ctc_f, [v,x]) +cn.add(ctc.deriv, [x,v]) + +t = tdomain.lb() +prev_t_obs = t + +while t < tdomain.ub(): + + if t-prev_t_obs > 5*dt: # new observation each 2*delta + + # Creating new observation to a random landmark + + landmark_id = random.randint(0,len(v_m)-1) # a random landmark is perceived + + pos_x = x_truth(t)[0:2] + pos_b = v_m[landmark_id] + + yi = Interval(sqrt(pow(pos_x[0]-pos_b[0],2)+pow(pos_x[1]-pos_b[1],2))) + yi.inflate(0.03) # adding range bounded uncertainty + + prev_t_obs = t + + # Adding related observation constraints to the network + + # Alias (for ease of reading) + b = v_m_boxes[landmark_id] + + # Intermediate variables + ti = Interval(t) + xi = IntervalVector(3) + + # Contractors + cn.add(ctc.eval, [ti, xi, x, v]) + cn.add(ctc.dist, [xi[0], xi[1], b[0], b[1], yi]) + + t+=dt + +cn.contract(True) # lets the solver run the remaining contractions + +fig_map.show() +for b in v_m_boxes: + fig_map.draw_box(b) + +endDrawing() \ No newline at end of file diff --git a/doc/doc/tutorial-set4most/01-examples/triskelion.py b/doc/doc/tutorial-set4most/01-examples/triskelion.py new file mode 100644 index 000000000..0ba38714e --- /dev/null +++ b/doc/doc/tutorial-set4most/01-examples/triskelion.py @@ -0,0 +1,53 @@ +from codac import * +from codac.unsupported import * +from math import pi +from vibes import vibes + +class SepDist(SepFwdBwd): + + def __init__(self, c, intv_r): + SepFwdBwd.__init__(self, + Function('x[2]', 'sqrt(sqr(x[0]-'+str(c[0])+')+sqr(x[1]-'+str(c[1])+'))'), + intv_r) + +class Sep2dRot(SepInverse): + + def __init__(self, sep, a): + SepInverse.__init__(self, sep, + Function('x[2]', '(x[0]*cos('+str(a)+')-x[1]*sin('+str(a)+');'+ + 'x[0]*sin('+str(a)+')+x[1]*cos('+str(a)+'))')) + +class SepTranslate(SepInverse): + + def __init__(self, sep, c): + SepInverse.__init__(self, sep, + Function('x[2]', '(x[0]-'+str(c[0])+';x[1]-'+str(c[1])+')')) + + +a1,a2 = 0, 2*pi/3 +c1 = [cos(a1)*3.9,sin(a1)*3.9] +c2 = [cos(a1)*5.3,sin(a1)*5.3] +c3 = [cos(a2)*3.9,sin(a2)*3.9] + +s_legs = SepDist(c1, Interval(0,4.8)) +s_legs &= SepDist(c2, Interval(3,oo)) +s_ = SepPolarXY(Interval(4.8,6), Interval(a1).inflate(0.5)) +s_legs &= SepNot(Sep2dRot(SepTranslate(s_,c3), a1)) +s_legs &= SepNot(SepDist(c3, Interval(0,5))) + +s_heart = SepDist(c3, Interval(0,4.8)) + +for i in range(2,5,2): + s_legs |= Sep2dRot(s_legs,i*pi/3) + s_heart &= Sep2dRot(s_heart,i*pi/3) + +s_triskel = s_heart | s_legs + + +x = IntervalVector([[-10,10],[-10,10]]) + +vibes.beginDrawing() +vibes.newFigure("Triskelion") +SIVIA(x, s_triskel, 0.05, fig_name="Triskelion") +vibes.setFigureProperties({"x":100, "y":100, "width":900, "height":900}) +endDrawing() \ No newline at end of file diff --git a/doc/doc/tutorial-set4most/01-examples/walls-loc.py b/doc/doc/tutorial-set4most/01-examples/walls-loc.py new file mode 100644 index 000000000..2e2a5aebd --- /dev/null +++ b/doc/doc/tutorial-set4most/01-examples/walls-loc.py @@ -0,0 +1,117 @@ +from codac import * +import numpy as np + +# =================== Parameters, truth and data =================== + +beginDrawing() + +v_corners = [ + [-4.5,6],[2.5,6.5],[2.8,-1.2],[4.5,-0.8],[4.8,4], + [11.5,6],[19,4],[19.5,-1],[25,-1.5],[24.5,-4.5], + [16.8,-5],[16.5,1.2],[14.7,1],[14.3,-5],[8.7,-4.5], + [8.5,1.2],[6.5,1],[6.3,-4.8],[3,-5],[-4,1] +] + +v_walls = [] # building walls from corners +for i in range(len(v_corners)): + v_walls.append(Wall(v_corners[i],v_corners[(i+1)%len(v_corners)])) + +dt = 0.01 # timestep for tubes accuracy +dt_traj = 0.1*dt # timestep for simulation +tdomain = Interval(0,10) # temporal limits [t_0,t_f] + +# Analytical true trajectory (not used for resolution) +x_truth = TrajectoryVector(tdomain, TFunction("( \ + 2*t+(1+cos(t*pi))/2 ; \ + 3*tanh(4*(1+cos((t+0.5)/2*pi))/2-2) ; \ + atan2( \ + -3*pi*(1-sqr(tanh(2*cos((2*t+1)*pi/4))))*sin((2*t+1)*pi/4), \ + 2-pi*sin(pi*t)/2) ; \ + sqrt( \ + sqr( -3*pi*(1-sqr(tanh(2*cos((2*t+1)*pi/4))))*sin((2*t+1)*pi/4) ) + \ + sqr( 2-pi*sin(pi*t)/2 ) \ + ))")) + +# Continuous measurements coming from the truth +measured_psi = x_truth[2].sample(dt_traj).make_continuous() +measured_psi += RandTrajectory(tdomain, dt_traj, Interval(-0.05,0.05)) # adding some noise +measured_speed = x_truth[3].sample(dt_traj) +measured_speed += RandTrajectory(tdomain, dt_traj, Interval(-0.1,0.1)) # adding some noise + +# =============== Defining domains for the variables =============== + +x = TubeVector(tdomain, dt, 4) # 4d tube for state vectors +v = TubeVector(tdomain, dt, 4) # 4d tube for derivatives of the states +u = TubeVector(tdomain, dt, 2) # 2d tube for inputs of the system + +x[2] = Tube(measured_psi, dt).inflate(0.05) # measured_psi/speed are continuous measurements.. +x[3] = Tube(measured_speed, dt).inflate(0.1) # ..of the headings and speeds + +# =============== Defining contractors to deal with equations =============== + +ctc_f = CtcFunction( # constraint v=f(x,u) <=> v-f(x,u)=0 + Function("v[4]", "x[4]", "u[2]", + "(v[0]-x[3]*cos(x[2]) ; v[1]-x[3]*sin(x[2]) ; v[2]-u[0] ; v[3]-u[1])")) + +ctc_plus = CtcFunction(Function("a", "b", "c", "a+b-c")) # constraint a+b-c=0 <=> a+c=c +ctc_minus = CtcFunction(Function("a", "b", "c", "a-b-c")) # constraint a-b-c=0 <=> a-b=c + +v_ctc_segm = [] +ctc_walls = CtcUnion(2) # contractor for the constraint \mathbf{q} \in \matbb{W} with \mathbb{W} the set of walls +for wi in v_walls: + v_ctc_segm.append(CtcSegment(wi.c1[0],wi.c1[1],wi.c2[0],wi.c2[1])) + ctc_walls |= v_ctc_segm[-1] + +fig = VIBesFigMap("Set inversion") +SIVIA([[-5,26],[-8.5,8.5]], ctc_walls, 0.5, fig_name="Set inversion") +fig.set_properties(50, 50, 900, 500) +fig.axis_limits(-5,26,-8.5,8.5) + +# We also use the predefined contractors ctc::polar, ctc::eval, ctc::dist, no need to build them + +# =============== Adding the contractors to a network =============== + +cn = ContractorNetwork() # creating a network +cn.add(ctc_f, [v, x, u]) # adding the f contractor, that is common over [t0,tf] + +fig = VIBesFigMap("Map") +fig.set_properties(50, 50, 900, 500) +fig.add_tube(x, "x", 0, 1) +fig.add_trajectory(x_truth, "x*", 0, 1, 2) +fig.smooth_tube_drawing(True) +fig.show(0.) +fig.axis_limits(-5,26,-8.5,8.5) + +for wi in v_walls: # drawing the map of walls + fig.draw_line([wi.c1[0],wi.c2[0]], [wi.c1[1],wi.c2[1]], "lightGray") + +# For each observation of the environment: +for t in np.arange(tdomain.lb(), tdomain.ub(), 0.8): + pi_truth = x_truth(t)[0:2] + ti = Interval(t) + pi = IntervalVector(4) + qi = IntervalVector(2) + cn.add(ctc.eval, [ti, pi, x, v]) # <=> x(ti)=pi + cn.add(ctc_walls, [qi]) # <=> \mathbf{q]_i \in \mathbb{W} + + di = IntervalVector(2) + yi = IntervalVector(2) + yi[0] = Interval(shorter_dist_to_walls(v_walls, pi_truth, x_truth(t)[2])) + yi[1] = Interval(x_truth(t)[2]) # bearing is zero, azimuth is the heading + + yi[0].inflate(0.02) + yi[1].inflate(0.05) + + cn.add(ctc_minus, [qi, cn.subvector(pi,0,1), di]) # <=> qi-pi[0,1]=di + cn.add(ctc.polar, [di, yi]) # di[0]=y1[0]*cos(yi[1]), di[1]=y1[0]*sin(yi[1]) + + fig.draw_pie(pi_truth[0], pi_truth[1], yi[0] | Interval(0), yi[1], "lightGray[#FFFFFF88]") + fig.draw_pie(pi_truth[0], pi_truth[1], yi[0], yi[1]) + + fig.draw_vehicle([x_truth(t)[0], x_truth(t)[1], x_truth(t)[2]], 0.7) + +cn.contract(True) + +fig.show(0.) +fig.axis_limits(-5,26,-8.5,8.5) +endDrawing() \ No newline at end of file diff --git a/doc/doc/tutorial-set4most/index.rst b/doc/doc/tutorial-set4most/index.rst new file mode 100644 index 000000000..9d96010ee --- /dev/null +++ b/doc/doc/tutorial-set4most/index.rst @@ -0,0 +1,10 @@ +.. _sec-tuto-set4most-main-page: + +################## +Tutorial: Set4MOST +################## + +* `Triskelion `_ +* `Range-only localization `_ +* `Walls localization `_ +* `SLAM `_ \ No newline at end of file From 7d54577b2b33506683bd08577e717a6c5a0b536b Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Sat, 17 Feb 2024 13:34:06 +0100 Subject: [PATCH 176/256] [ex] robotics/12_wall: minor update --- examples/robotics/12_walls/build.sh | 11 +++++++++++ examples/robotics/12_walls/main.py | 16 +++++++++++----- 2 files changed, 22 insertions(+), 5 deletions(-) create mode 100755 examples/robotics/12_walls/build.sh diff --git a/examples/robotics/12_walls/build.sh b/examples/robotics/12_walls/build.sh new file mode 100755 index 000000000..3fa90fc6c --- /dev/null +++ b/examples/robotics/12_walls/build.sh @@ -0,0 +1,11 @@ +# ================================================================== +# Codac - build script +# ================================================================== + +#!/bin/bash + +mkdir build -p +cd build +cmake .. -DCMAKE_BUILD_TYPE=Debug +make +cd .. \ No newline at end of file diff --git a/examples/robotics/12_walls/main.py b/examples/robotics/12_walls/main.py index e515ed312..5689a7b2f 100644 --- a/examples/robotics/12_walls/main.py +++ b/examples/robotics/12_walls/main.py @@ -16,11 +16,13 @@ # =================== Parameters, truth and data =================== +beginDrawing() + v_corners = [ - [-4,6],[2.5,6],[2.5,-1],[4.5,-1],[4.5,4], - [11.5,6],[19,4],[19,-1],[25,-1],[25,-5], - [16.5,-5],[16.5,1],[14.5,1],[14.5,-5],[8.5,-5], - [8.5,1],[6.5,1],[6.5,-5],[3,-5],[-4,1] + [-4.5,6],[2.5,6.5],[2.8,-1.2],[4.5,-0.8],[4.8,4], + [11.5,6],[19,4],[19.5,-1],[25,-1.5],[24.5,-4.5], + [16.8,-5],[16.5,1.2],[14.7,1],[14.3,-5],[8.7,-4.5], + [8.5,1.2],[6.5,1],[6.3,-4.8],[3,-5],[-4,1] ] v_walls = [] # building walls from corners @@ -73,6 +75,11 @@ v_ctc_segm.append(CtcSegment(wi.c1[0],wi.c1[1],wi.c2[0],wi.c2[1])) ctc_walls |= v_ctc_segm[-1] +fig = VIBesFigMap("Set inversion") +SIVIA([[-5,26],[-8.5,8.5]], ctc_walls, 0.5, fig_name="Set inversion") +fig.set_properties(50, 50, 900, 500) +fig.axis_limits(-5,26,-8.5,8.5) + # We also use the predefined contractors ctc::polar, ctc::eval, ctc::dist, no need to build them # =============== Adding the contractors to a network =============== @@ -80,7 +87,6 @@ cn = ContractorNetwork() # creating a network cn.add(ctc_f, [v, x, u]) # adding the f contractor, that is common over [t0,tf] -beginDrawing() fig = VIBesFigMap("Map") fig.set_properties(50, 50, 900, 500) fig.add_tube(x, "x", 0, 1) From 8705a6e812e79d5f0bae1cfc43bf7e88af8ec4c3 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 10 Feb 2024 23:34:43 +0100 Subject: [PATCH 177/256] Change unused /NoPath parameter in Chocolatey package --- packages/choco/codac/codac.nuspec | 4 ++-- .../codac/tools/chocolateybeforemodify.ps1 | 4 ++++ .../choco/codac/tools/chocolateyinstall.ps1 | 20 +++++++++---------- .../choco/codac/tools/chocolateyuninstall.ps1 | 4 ++++ 4 files changed, 20 insertions(+), 12 deletions(-) diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index 2f7ed607e..b04c96304 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -32,9 +32,9 @@ The following package parameters can be set: - `/urlX:URL` - Same as above, with X in [1,99], except this will not disable the installation of the MinGW libraries compatible with the corresponding MinGW Chocolatey package dependency. - `/checksumX:SHA256` - SHA256 checksum of the binary package specified by the `/urlX` parameter. If needed, use the standard parameter `choco install --ignore-checksums ...` for trusted sources. - `/InstallDir:INSTALLDIR` - Installation directory. -- `/NoPath` - Will not try to update Windows `PATH`. +- `/Path` - Will try to update Windows `PATH`. - `/NoRegistry` - Will not try to update Windows registry. -To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/NoPath /NoRegistry'"`), and to install another binary package, try e.g. +To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/Path /NoRegistry'"`), and to install another binary package, try e.g. ``` choco install -y --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/v1/codac_x64_vc17.zip'" ``` diff --git a/packages/choco/codac/tools/chocolateybeforemodify.ps1 b/packages/choco/codac/tools/chocolateybeforemodify.ps1 index c3cb63574..547954416 100644 --- a/packages/choco/codac/tools/chocolateybeforemodify.ps1 +++ b/packages/choco/codac/tools/chocolateybeforemodify.ps1 @@ -15,6 +15,10 @@ Write-Host "Codac is going to be uninstalled from '$installDir'" $root = Join-Path $installDir "codac" +$newpath = [environment]::GetEnvironmentVariable("Path","Machine") +$newpath = ($newpath.Split(';') | Where-Object { $_ -ne "$root\bin" }) -join ';' +[environment]::SetEnvironmentVariable("Path",$newpath,"Machine") + try { Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty $CMakePackageName$CMakePackageVer -ErrorAction Stop | Out-Null Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name $CMakePackageName$CMakePackageVer diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index 6f08af63e..4d49157c1 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -96,11 +96,11 @@ if (!$pp['NoRegistry']) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force New-ItemProperty -Name "$CMakePackageName$CMakePackageVer" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } -#$pathtoadd = "$root\bin" -#if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { -# $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" -# [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") -#} +$pathtoadd = "$root\bin" +if (($pp['Path']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { + $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" + [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") +} for ($i = 1; $i -le 99; $i++) { if ($pp['url'+$i]) { @@ -163,10 +163,10 @@ for ($i = 1; $i -le 99; $i++) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force New-ItemProperty -Name "$CMakePackageName$CMakePackageVer" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } - #$pathtoadd = "$root\bin" - #if (!($pp['NoPath']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { - # $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" - # [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") - #} + $pathtoadd = "$root\bin" + if (($pp['Path']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { + $newpath = [environment]::GetEnvironmentVariable("Path","Machine") + ";$pathtoadd" + [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") + } } } diff --git a/packages/choco/codac/tools/chocolateyuninstall.ps1 b/packages/choco/codac/tools/chocolateyuninstall.ps1 index c3cb63574..547954416 100644 --- a/packages/choco/codac/tools/chocolateyuninstall.ps1 +++ b/packages/choco/codac/tools/chocolateyuninstall.ps1 @@ -15,6 +15,10 @@ Write-Host "Codac is going to be uninstalled from '$installDir'" $root = Join-Path $installDir "codac" +$newpath = [environment]::GetEnvironmentVariable("Path","Machine") +$newpath = ($newpath.Split(';') | Where-Object { $_ -ne "$root\bin" }) -join ';' +[environment]::SetEnvironmentVariable("Path",$newpath,"Machine") + try { Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty $CMakePackageName$CMakePackageVer -ErrorAction Stop | Out-Null Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name $CMakePackageName$CMakePackageVer From 0715086bfa47a34cb94a3859963be5e02fff7245 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 8 Feb 2024 23:03:32 +0100 Subject: [PATCH 178/256] Update workflows --- .github/workflows/unixmatrix.yml | 109 +++++++++++++++++++++---------- 1 file changed, 73 insertions(+), 36 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 212d89277..06c2835ae 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -28,24 +28,28 @@ jobs: fail-fast: false matrix: cfg: - - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2022 x86' } - - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2019 x86' } - - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2017 x86' } - - { os: windows-2022, shell: cmd, arch: x64, runtime: mingw11, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: mingw11, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } - - { os: windows-2019, shell: cmd, arch: x64, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } - - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - - { os: ubuntu-22.04, shell: bash, arch: amd64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - - { os: ubuntu-20.04, shell: bash, arch: amd64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } - - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Ventura arm64' } - - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Ventura x86_64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2022 x86' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2019 x86' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2017 x86' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: mingw13, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 13.2.0 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: mingw13, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 13.2.0 x86' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: mingw12, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 12.2.0 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: mingw12, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 12.2.0 x86' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: mingw11, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 11.2.0 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: mingw11, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 11.2.0 x86' } + - { os: windows-2019, shell: cmd, arch: x64, bitness: 64, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 8.1.0 x64' } + - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } + - { os: windows-2019, shell: cmd, arch: x64, bitness: 64, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } + - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } + - { os: ubuntu-22.04, shell: bash, arch: amd64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } + - { os: ubuntu-20.04, shell: bash, arch: amd64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } + - { os: macos-13, shell: bash, arch: arm64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Ventura arm64' } + - { os: macos-13, shell: bash, arch: x86_64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Ventura x86_64' } + - { os: macos-12, shell: bash, arch: arm64, bitness: 64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } + - { os: macos-12, shell: bash, arch: x86_64, bitness: 64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 @@ -70,18 +74,46 @@ jobs: - run: echo "PACKAGE_VERSION=$SOFTWARE_VERSION-${DEBIAN_PACKAGE_REV}${{ matrix.cfg.runtime }}$PACKAGE_REV" >> $GITHUB_ENV shell: bash if: runner.os=='Linux' - - run: choco install -y -r --no-progress mingw --version=7.3.0 --force ${{ matrix.cfg.choco_flags }} - if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw7') - - run: choco install -y -r --no-progress mingw --version=8.1.0 --force ${{ matrix.cfg.choco_flags }} - if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw8')&&(matrix.cfg.arch=='x86') - - run: choco install -y -r --no-progress mingw --version=11.2.0.07112021 --force ${{ matrix.cfg.choco_flags }} - if: (runner.os=='Windows')&&(matrix.cfg.runtime=='mingw11') - - run: echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw32\bin>>%GITHUB_PATH% - if: startsWith(matrix.cfg.runtime, 'mingw')&&(matrix.cfg.arch=='x86') - - run: echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw64\bin>>%GITHUB_PATH% - if: startsWith(matrix.cfg.runtime, 'mingw')&&(matrix.cfg.arch=='x64') - run: | choco install -y -r --no-progress checksum wget zip + rem Workaround to try solve some random package download failures... + wget https://www.ensta-bretagne.fr/packages/choco/winflexbison.2.4.9.20170215.nupkg --no-check-certificate -nv + wget https://www.ensta-bretagne.fr/packages/choco/patch.2.5.9.nupkg --no-check-certificate -nv + choco install -y -r --no-progress -s . winflexbison patch ${{ matrix.cfg.choco_flags }} + del /f /q winflexbison.2.4.9.20170215.nupkg patch.2.5.9.nupkg + 7z x windows_server_core_prereq.zip -o"%SystemRoot%" -y & cd. & rem ksuser.dll already on windows-2016...? + wget http://www.ensta-bretagne.fr/lebars/Share/cmake_extra_tools.zip --no-check-certificate -nv + 7z x cmake_extra_tools.zip -o"%SystemDrive%" -y + del /f /q cmake_extra_tools.zip + wget https://gist.github.com/lebarsfa/237841f9e5dad55ef192713b3b1b2f16/raw/04d77ced3457346c55f183ca12a10dbcb850e6d5/refreshenv.bashrc --no-check-certificate -nv + move /y refreshenv.bashrc %USERPROFILE% + if: runner.os=='Windows' + - run: | + choco install -y -r --no-progress mingw --version=7.3.0 --force ${{ matrix.cfg.choco_flags }} + %SystemDrive%\cmake_extra_tools\pathman /as C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw${{ matrix.cfg.bitness }}\bin & cd. & rem Non-zero exit code...? + echo export BASHMINGWPATH=/c/ProgramData/chocolatey/lib/mingw/tools/install/mingw${{ matrix.cfg.bitness }}/bin>>%USERPROFILE%\.bashrc + if: (matrix.cfg.runtime=='mingw7') + - run: | + choco install -y -r --no-progress mingw --version=8.1.0 --force ${{ matrix.cfg.choco_flags }} + %SystemDrive%\cmake_extra_tools\pathman /as C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw${{ matrix.cfg.bitness }}\bin & cd. & rem Non-zero exit code...? + echo export BASHMINGWPATH=/c/ProgramData/chocolatey/lib/mingw/tools/install/mingw${{ matrix.cfg.bitness }}/bin>>%USERPROFILE%\.bashrc + if: (matrix.cfg.runtime=='mingw8') + - run: | + choco install -y -r --no-progress mingw --version=11.2.0.07112021 --force ${{ matrix.cfg.choco_flags }} + %SystemDrive%\cmake_extra_tools\pathman /as C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw${{ matrix.cfg.bitness }}\bin & cd. & rem Non-zero exit code...? + echo export BASHMINGWPATH=/c/ProgramData/chocolatey/lib/mingw/tools/install/mingw${{ matrix.cfg.bitness }}/bin>>%USERPROFILE%\.bashrc + if: (matrix.cfg.runtime=='mingw11') + - run: | + choco install -y -r --no-progress mingw --version=12.2.0.03042023 --force ${{ matrix.cfg.choco_flags }} + %SystemDrive%\cmake_extra_tools\pathman /as C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw${{ matrix.cfg.bitness }}\bin & cd. & rem Non-zero exit code...? + echo export BASHMINGWPATH=/c/ProgramData/chocolatey/lib/mingw/tools/install/mingw${{ matrix.cfg.bitness }}/bin>>%USERPROFILE%\.bashrc + if: (matrix.cfg.runtime=='mingw12') + - run: | + choco install -y -r --no-progress mingw --version=13.2.0 --force ${{ matrix.cfg.choco_flags }} + %SystemDrive%\cmake_extra_tools\pathman /as C:\ProgramData\mingw64\mingw${{ matrix.cfg.bitness }}\bin & cd. & rem Non-zero exit code...? + echo export BASHMINGWPATH=/c/ProgramData/mingw64/mingw${{ matrix.cfg.bitness }}/bin>>%USERPROFILE%\.bashrc + if: (matrix.cfg.runtime=='mingw13') + - run: | choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" @@ -107,6 +139,7 @@ jobs: # - run: git clone --depth 1 -b master https://github.com/lebarsfa/ibex-lib.git ; cd ibex-lib ; mkdir build ; cd build ; cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../../ibex" .. ; cmake --build . --config Release --target install ; cd ../.. # shell: bash - run: | + if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi mkdir build ; cd build cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" .. cmake --build . --config Debug --target install @@ -116,6 +149,7 @@ jobs: zip -q -r codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac shell: bash - run: | + if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi mkdir -p codac_standalone/example ; cd codac_standalone wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; cd eigen/share/cmake ; if [ ${{ runner.os }} = macOS ]; then sed -i "" "s/\\/..\\/../\\/..\\/..\\/../" *.cmake ; else sed -i "s/\\/..\\/../\\/..\\/..\\/../" *.cmake ; fi ; cd .. ; mkdir eigen3 ; mv cmake eigen3/ ; cd ../.. if [ ${{ runner.os }} = Windows ]; then cp -Rf /C/ProgramData/chocolatey/lib/ibex . ; rm -Rf ibex/tools ibex/ibex.* @@ -125,6 +159,7 @@ jobs: cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac_standalone shell: bash - run: | + if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi cd codac_standalone/example cmake ${{ matrix.cfg.cmake_params }} . cmake --build . --config Release @@ -134,6 +169,7 @@ jobs: shell: bash if: (runner.os!='macOS')||(matrix.cfg.arch=='x86_64') - run: | + if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi cd packages/choco sed_param=s/\1\<\\/version\>/\${PACKAGE_VERSION}\<\\/version\>/ sed -i "$sed_param" codac/codac.nuspec @@ -165,7 +201,16 @@ jobs: cp -Rf codac/* /usr/local/ shell: bash if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') + - uses: xresloader/upload-to-github-release@v1 + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + with: + file: "*.zip;*.nupkg;*.deb" + overwrite: true + tag_name: autotagname-${{ github.sha }} + if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') - run: | + if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi rm -Rf codac cd tests/test_codac cmake ${{ matrix.cfg.cmake_params }} . @@ -175,11 +220,3 @@ jobs: cd ../.. shell: bash if: (runner.os!='macOS')||(matrix.cfg.arch=='x86_64') - - uses: xresloader/upload-to-github-release@v1 - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - with: - file: "*.zip;*.nupkg;*.deb" - overwrite: true - tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') From 12e6f9e64338d3b250185b6e3ea355c56cb7aabd Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 17 Feb 2024 18:38:20 +0100 Subject: [PATCH 179/256] Change registry key name --- packages/choco/codac/tools/chocolateybeforemodify.ps1 | 4 ++-- packages/choco/codac/tools/chocolateyinstall.ps1 | 4 ++-- packages/choco/codac/tools/chocolateyuninstall.ps1 | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/packages/choco/codac/tools/chocolateybeforemodify.ps1 b/packages/choco/codac/tools/chocolateybeforemodify.ps1 index 547954416..b8b121868 100644 --- a/packages/choco/codac/tools/chocolateybeforemodify.ps1 +++ b/packages/choco/codac/tools/chocolateybeforemodify.ps1 @@ -20,8 +20,8 @@ $newpath = ($newpath.Split(';') | Where-Object { $_ -ne "$root\bin" }) -join ';' [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") try { - Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty $CMakePackageName$CMakePackageVer -ErrorAction Stop | Out-Null - Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name $CMakePackageName$CMakePackageVer + Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty "$CMakePackageName$CMakePackageVer`_$arch" -ErrorAction Stop | Out-Null + Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name "$CMakePackageName$CMakePackageVer`_$arch" } catch { diff --git a/packages/choco/codac/tools/chocolateyinstall.ps1 b/packages/choco/codac/tools/chocolateyinstall.ps1 index 4d49157c1..3c59891f2 100644 --- a/packages/choco/codac/tools/chocolateyinstall.ps1 +++ b/packages/choco/codac/tools/chocolateyinstall.ps1 @@ -94,7 +94,7 @@ else { if (!$pp['NoRegistry']) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force - New-ItemProperty -Name "$CMakePackageName$CMakePackageVer" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force + New-ItemProperty -Name "$CMakePackageName$CMakePackageVer`_$arch" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } $pathtoadd = "$root\bin" if (($pp['Path']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { @@ -161,7 +161,7 @@ for ($i = 1; $i -le 99; $i++) { if (!$pp['NoRegistry']) { New-Item "$CMakeSystemRepositoryPath\$CMakePackageName" -ItemType directory -Force - New-ItemProperty -Name "$CMakePackageName$CMakePackageVer" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force + New-ItemProperty -Name "$CMakePackageName$CMakePackageVer`_$arch" -PropertyType String -Value "$root\share\$CMakePackageName\cmake" -Path "$CMakeSystemRepositoryPath\$CMakePackageName" -Force } $pathtoadd = "$root\bin" if (($pp['Path']) -and !([environment]::GetEnvironmentVariable("Path","Machine") -match [regex]::escape($pathtoadd))) { diff --git a/packages/choco/codac/tools/chocolateyuninstall.ps1 b/packages/choco/codac/tools/chocolateyuninstall.ps1 index 547954416..b8b121868 100644 --- a/packages/choco/codac/tools/chocolateyuninstall.ps1 +++ b/packages/choco/codac/tools/chocolateyuninstall.ps1 @@ -20,8 +20,8 @@ $newpath = ($newpath.Split(';') | Where-Object { $_ -ne "$root\bin" }) -join ';' [environment]::SetEnvironmentVariable("Path",$newpath,"Machine") try { - Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty $CMakePackageName$CMakePackageVer -ErrorAction Stop | Out-Null - Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name $CMakePackageName$CMakePackageVer + Get-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName | Select-Object -ExpandProperty "$CMakePackageName$CMakePackageVer`_$arch" -ErrorAction Stop | Out-Null + Remove-ItemProperty -Path $CMakeSystemRepositoryPath\$CMakePackageName -Name "$CMakePackageName$CMakePackageVer`_$arch" } catch { From 5b971694c32077dd5c332cdec236a6f50c29ee2f Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 24 Feb 2024 22:38:45 +0100 Subject: [PATCH 180/256] Update Eigen package used in workflows --- .github/workflows/dockerpi.yml | 2 +- .github/workflows/unixmatrix.yml | 4 ++-- .github/workflows/vcmatrix.yml | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml index 5f74ccacf..3e86f6577 100644 --- a/.github/workflows/dockerpi.yml +++ b/.github/workflows/dockerpi.yml @@ -16,7 +16,7 @@ jobs: fetch-depth: 0 clean: false - run: docker run --rm --privileged multiarch/qemu-user-static:register --reset - - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" + - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 06c2835ae..30ff9e1fc 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -114,7 +114,7 @@ jobs: echo export BASHMINGWPATH=/c/ProgramData/mingw64/mingw${{ matrix.cfg.bitness }}/bin>>%USERPROFILE%\.bashrc if: (matrix.cfg.runtime=='mingw13') - run: | - choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} + choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }} wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" del /f /q ibex.2.8.9.20231007.nupkg @@ -151,7 +151,7 @@ jobs: - run: | if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi mkdir -p codac_standalone/example ; cd codac_standalone - wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; cd eigen/share/cmake ; if [ ${{ runner.os }} = macOS ]; then sed -i "" "s/\\/..\\/../\\/..\\/..\\/../" *.cmake ; else sed -i "s/\\/..\\/../\\/..\\/..\\/../" *.cmake ; fi ; cd .. ; mkdir eigen3 ; mv cmake eigen3/ ; cd ../.. + wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools if [ ${{ runner.os }} = Windows ]; then cp -Rf /C/ProgramData/chocolatey/lib/ibex . ; rm -Rf ibex/tools ibex/ibex.* elif [ ${{ runner.os }} = Linux ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ elif [ ${{ runner.os }} = macOS ]; then cp -Rf ../ibex . diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 4fbf9bcfc..6191e34b5 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -54,7 +54,7 @@ jobs: 7z x C:\Windows\Temp\windows_extra_tools.zip -o"C:\Windows" -y shell: pwsh if: runner.os=='Windows' - - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }} + - run: choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }} if: runner.os=='Windows' - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' From 27d673f1ae4ad94b3a641b1ba5c2365112efc8ad Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 25 Feb 2024 21:56:47 +0100 Subject: [PATCH 181/256] Test specific IBEX version --- .github/workflows/dockerpi.yml | 2 +- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 14 +++++++------- .github/workflows/vcmatrix.yml | 6 +++--- scripts/docker/build_pybinding.sh | 2 +- 5 files changed, 13 insertions(+), 13 deletions(-) diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml index 3e86f6577..b209c9f09 100644 --- a/.github/workflows/dockerpi.yml +++ b/.github/workflows/dockerpi.yml @@ -16,7 +16,7 @@ jobs: fetch-depth: 0 clean: false - run: docker run --rm --privileged multiarch/qemu-user-static:register --reset - - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" + - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index f97273c39..fec9aca99 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -57,7 +57,7 @@ jobs: - run: brew install graphviz ; wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 30ff9e1fc..92654c55b 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -115,23 +115,23 @@ jobs: if: (matrix.cfg.runtime=='mingw13') - run: | choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }} - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20231007.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex.2.8.9.20240224.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240224 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20240224.nupkg if: runner.os=='Windows' - run: | # Replace these 2 lines by the next ones to test a specific binary package of IBEX. #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv - sudo dpkg -i libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb - rm -Rf libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb shell: bash if: runner.os=='Linux' - run: | brew install eigen - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 6191e34b5..343ea72ed 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -59,9 +59,9 @@ jobs: - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20231007.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex.2.8.9.20240224.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240224 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20240224.nupkg - run: | mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 292d9e0b3..46ef0236a 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,7 +2,7 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv unzip -q ibex_x86_64_manylinux2010.zip rm -Rf ibex_x86_64_manylinux2010.zip sudo cp -Rf ibex/* /usr/local/ From 50b138694a2f89bca1b7d6dbff190ac364082e68 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 26 Feb 2024 16:18:15 +0100 Subject: [PATCH 182/256] Workarounds of unsupported operators or special functions for MATLAB compatibility, see https://fr.mathworks.com/help/matlab/matlab_external/differences-between-matlab-python.html --- .../core/contractors/static/codac_py_Ctc.cpp | 25 +++++++++++++++++++ python/src/robotics/codac_py_Wall.cpp | 4 +++ 2 files changed, 29 insertions(+) diff --git a/python/src/core/contractors/static/codac_py_Ctc.cpp b/python/src/core/contractors/static/codac_py_Ctc.cpp index 8d2c1ec39..894816d8b 100644 --- a/python/src/core/contractors/static/codac_py_Ctc.cpp +++ b/python/src/core/contractors/static/codac_py_Ctc.cpp @@ -59,6 +59,19 @@ py::class_ export_Ctc(py::module& m) py::return_value_policy::take_ownership, py::keep_alive<0,1>(), py::keep_alive<0,2>()) + // For MATLAB compatibility. + .def("union", [](Ctc& c1, Ctc& c2) + { + CtcUnion *cu = new CtcUnion(2); + cu->add_raw_ptr(&c1); + cu->add_raw_ptr(&c2); + // todo: manage delete + return cu; + }, + DOC_CTC_OR, + py::return_value_policy::take_ownership, + py::keep_alive<0,1>(), py::keep_alive<0,2>()) + .def("__and__", [](Ctc& c1, Ctc& c2) { return new CtcCompo(c1, c2); @@ -67,6 +80,16 @@ py::class_ export_Ctc(py::module& m) DOC_CTC_AND, py::return_value_policy::take_ownership, py::keep_alive<0,1>(), py::keep_alive<0,2>()) + + // For MATLAB compatibility. + .def("inter", [](Ctc& c1, Ctc& c2) + { + return new CtcCompo(c1, c2); + // todo: manage delete + }, + DOC_CTC_AND, + py::return_value_policy::take_ownership, + py::keep_alive<0,1>(), py::keep_alive<0,2>()) ; // Export comparaison constant @@ -108,6 +131,8 @@ py::class_ export_Ctc(py::module& m) py::keep_alive<0,1>(), py::keep_alive<0,2>(), py::keep_alive<0,3>(), "c1"_a, "c2"_a, "c3"_a) .def("contract", (void (Ctc::*)(IntervalVector&)) &CtcUnion::contract) .def("__ior__", [](CtcUnion& cu, Ctc& c) { return cu.add_raw_ptr(&c); }, py::keep_alive<1,2>(), py::return_value_policy::take_ownership) + // For MATLAB compatibility. + .def("union_self", [](CtcUnion& cu, Ctc& c) { return cu.add_raw_ptr(&c); }, py::keep_alive<1,2>(), py::return_value_policy::take_ownership) ; // Export CtcCompo diff --git a/python/src/robotics/codac_py_Wall.cpp b/python/src/robotics/codac_py_Wall.cpp index 56b304b86..cce059b71 100644 --- a/python/src/robotics/codac_py_Wall.cpp +++ b/python/src/robotics/codac_py_Wall.cpp @@ -33,6 +33,10 @@ void export_Wall(py::module& m) .def(py::init(), "todo") .def("contains", &Wall::contains, "todo", "p"_a) .def(py::self & py::self) + // For MATLAB compatibility. + //.def_static("inter", [](const Wall& x, const Wall& y) { return x&y; }) + // For MATLAB compatibility. + .def("inter", [](const Wall& s, const Wall& y) { return s&y; }) .def_readwrite("c1", &Wall::c1) .def_readwrite("c2", &Wall::c2) ; From e2236f1540b54c25c11330d416fa86d3dd707b72 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 26 Feb 2024 15:21:18 +0100 Subject: [PATCH 183/256] Update MATLAB documentation --- doc/doc/dev/info_dev.rst | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index 0de057c8d..1101add57 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -230,4 +230,12 @@ In the :file:`codac` directory, test the Ubuntu configuration locally using Dock .. code-block:: bash chmod a+x scripts/docker/build_pybinding.sh - docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-for-codac /io/scripts/docker/build_pybinding.sh \ No newline at end of file + docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-for-codac /io/scripts/docker/build_pybinding.sh + +.. rubric:: MATLAB compatibility + +Some operators or special functions need special attention: + +* Square bracket operator, see e.g. ``getitem`` (``__setitem__``) and ``setitem`` (``__getitem__``) in :commit:`65784a201dda9841194fb581e689247adab07ef7`. +* ``inter`` (``py::self & py::self``, ``__and__``, ``__rand__``), ``union`` (``py::self | py::self``, ``__or__``, ``__ror__``), ``inter_self`` (``py::self &= py::self``, ``__iand__``), ``union_self`` (``py::self |= py::self``, ``__ior__``), ``abs`` (``__abs__``), ``pow`` (``__pow__``), ``get_item`` (``__get_item__``), ``hash`` (``__hash__``) in :commit:`54966a6be0ddd6fafe64bd90fe6401822ba49587` and :commit:`a4500627cafd21a45b1d15bcb37352746482d33a` (similarly: :commit:`50b138694a2f89bca1b7d6dbff190ac364082e68`). +* See also the bottom of https://fr.mathworks.com/help/matlab/matlab_external/differences-between-matlab-python.html and `Start a MATLAB project <../install/04-start-matlab-project.html>`_. From 9501d3cf9a9de9817b0ebe5b990cbed4d9de0fab Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 26 Feb 2024 18:45:42 +0100 Subject: [PATCH 184/256] manylinux2010 replaced by manylinux2014 --- .github/workflows/dockercentos.yml | 2 +- doc/doc/dev/info_dev.rst | 2 +- scripts/docker/build_pybinding.sh | 6 +++--- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index ff756faad..7b4d5ee08 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -17,7 +17,7 @@ jobs: clean: false - run: | chmod a+x scripts/docker/build_pybinding.sh - docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-for-codac /io/scripts/docker/build_pybinding.sh + docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_x86_64-for-codac /io/scripts/docker/build_pybinding.sh ls wheelhouse - uses: xresloader/upload-to-github-release@v1 env: diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index 0de057c8d..e3b5bc338 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -230,4 +230,4 @@ In the :file:`codac` directory, test the Ubuntu configuration locally using Dock .. code-block:: bash chmod a+x scripts/docker/build_pybinding.sh - docker run --rm -v `pwd`:/io lebarsfa/manylinux2010_x86_64-for-codac /io/scripts/docker/build_pybinding.sh \ No newline at end of file + docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_x86_64-for-codac /io/scripts/docker/build_pybinding.sh \ No newline at end of file diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 46ef0236a..6928666de 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,9 +2,9 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_x86_64_manylinux2010.zip --no-check-certificate -nv -unzip -q ibex_x86_64_manylinux2010.zip -rm -Rf ibex_x86_64_manylinux2010.zip +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_x86_64_manylinux2014.zip --no-check-certificate -nv +unzip -q ibex_x86_64_manylinux2014.zip +rm -Rf ibex_x86_64_manylinux2014.zip sudo cp -Rf ibex/* /usr/local/ git config --global --add safe.directory /io From caf1b909538920e255b5520695228c00f2e8c6c6 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 26 Feb 2024 18:46:26 +0100 Subject: [PATCH 185/256] Revert "Workaround for error "NumPy requires GCC >= 8.4" in CentOS docker" This reverts commit ee082308ac4cda3e5e7b69aab65136cbe15bf21c. --- scripts/docker/build_pybinding.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 6928666de..a66733d34 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -30,7 +30,7 @@ for PYBIN in /opt/python/cp3*/bin; do auditwheel repair "$whl" -w /io/wheelhouse/ done - "${PYBIN}/python" -m pip install "numpy<1.23" # Recent versions of numpy require GCC >= 8.4... + "${PYBIN}/python" -m pip install numpy "${PYBIN}/python" -m pip install codac --no-deps --no-index -f /io/wheelhouse (cd "$HOME"; "${PYBIN}/python" -m unittest discover codac.tests) cd /io From 194204b430bc078f94b3ad4ba7a12f8f2af0a4ef Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Tue, 27 Feb 2024 20:19:03 +0100 Subject: [PATCH 186/256] Update workflows --- .github/workflows/unixmatrix.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 92654c55b..9cddaed69 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -81,7 +81,6 @@ jobs: wget https://www.ensta-bretagne.fr/packages/choco/patch.2.5.9.nupkg --no-check-certificate -nv choco install -y -r --no-progress -s . winflexbison patch ${{ matrix.cfg.choco_flags }} del /f /q winflexbison.2.4.9.20170215.nupkg patch.2.5.9.nupkg - 7z x windows_server_core_prereq.zip -o"%SystemRoot%" -y & cd. & rem ksuser.dll already on windows-2016...? wget http://www.ensta-bretagne.fr/lebars/Share/cmake_extra_tools.zip --no-check-certificate -nv 7z x cmake_extra_tools.zip -o"%SystemDrive%" -y del /f /q cmake_extra_tools.zip From 3c80b2911486776d4c2751fc6fdebf04dba57de4 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 26 Feb 2024 23:13:03 +0100 Subject: [PATCH 187/256] Update macOS workflows --- .github/workflows/macosmatrix.yml | 18 +++++++++--------- .github/workflows/unixmatrix.yml | 14 ++++++++------ 2 files changed, 17 insertions(+), 15 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index fec9aca99..cb8600ff6 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -19,13 +19,13 @@ jobs: fail-fast: false matrix: cfg: - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Monterey Python 3.12 arm64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Monterey Python 3.11 arm64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Monterey Python 3.10 arm64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Monterey Python 3.9 arm64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Monterey Python 3.8 arm64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Monterey Python 3.7 arm64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Monterey Python 3.6 arm64' } + - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Sonoma Python 3.12 arm64' } + - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Sonoma Python 3.11 arm64' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, cross: true, desc: 'macOS Monterey Python 3.10 arm64 (cross)' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, cross: true, desc: 'macOS Monterey Python 3.9 arm64 (cross)' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, cross: true, desc: 'macOS Monterey Python 3.8 arm64 (cross)' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, cross: true, desc: 'macOS Monterey Python 3.7 arm64 (cross)' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, cross: true, desc: 'macOS Monterey Python 3.6 arm64 (cross)' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Monterey Python 3.12 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Monterey Python 3.11 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Monterey Python 3.10 x86_64' } @@ -60,7 +60,7 @@ jobs: wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip - cp -Rf ibex/* /usr/local/ + sudo cp -Rf ibex/* /usr/local/ shell: bash - run: | mkdir build ; cd build @@ -71,7 +71,7 @@ jobs: shell: bash - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests shell: bash - if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') + if: matrix.cfg.cross!=true - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 9cddaed69..1f8ad0246 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -46,9 +46,11 @@ jobs: - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - { os: ubuntu-22.04, shell: bash, arch: amd64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - { os: ubuntu-20.04, shell: bash, arch: amd64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } - - { os: macos-13, shell: bash, arch: arm64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Ventura arm64' } + - { os: macos-14, shell: bash, arch: arm64, bitness: 64, runtime: sonoma, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Sonoma arm64' } + - { os: macos-14, shell: bash, arch: x86_64, bitness: 64, runtime: sonoma, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Sonoma x86_64 (cross)' } + - { os: macos-13, shell: bash, arch: arm64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Ventura arm64 (cross)' } - { os: macos-13, shell: bash, arch: x86_64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Ventura x86_64' } - - { os: macos-12, shell: bash, arch: arm64, bitness: 64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' } + - { os: macos-12, shell: bash, arch: arm64, bitness: 64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Monterey arm64 (cross)' } - { os: macos-12, shell: bash, arch: x86_64, bitness: 64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } name: ${{ matrix.cfg.desc }} steps: @@ -166,7 +168,7 @@ jobs: ./${{ matrix.cfg.test_config }}my_project cd ../.. shell: bash - if: (runner.os!='macOS')||(matrix.cfg.arch=='x86_64') + if: matrix.cfg.cross!=true - run: | if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi cd packages/choco @@ -197,9 +199,9 @@ jobs: shell: bash if: runner.os=='Linux' - run: | - cp -Rf codac/* /usr/local/ + sudo cp -Rf codac/* /usr/local/ shell: bash - if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64') + if: runner.os=='macOS' - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} @@ -218,4 +220,4 @@ jobs: ./${{ matrix.cfg.test_config }}my_project cd ../.. shell: bash - if: (runner.os!='macOS')||(matrix.cfg.arch=='x86_64') + if: matrix.cfg.cross!=true From 2e2dda361d4567dd4bbe443cae2559a7b7e0ba7d Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 29 Feb 2024 11:17:06 +0100 Subject: [PATCH 188/256] Minor correction in macOS wheels workflows --- .github/workflows/macosmatrix.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index cb8600ff6..5729a46c6 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -24,15 +24,15 @@ jobs: - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, cross: true, desc: 'macOS Monterey Python 3.10 arm64 (cross)' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, cross: true, desc: 'macOS Monterey Python 3.9 arm64 (cross)' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, cross: true, desc: 'macOS Monterey Python 3.8 arm64 (cross)' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, cross: true, desc: 'macOS Monterey Python 3.7 arm64 (cross)' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, cross: true, desc: 'macOS Monterey Python 3.6 arm64 (cross)' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, cross: true, desc: 'macOS Monterey Python 3.7 arm64 (cross)' } + - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, cross: true, desc: 'macOS Monterey Python 3.6 arm64 (cross)' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Monterey Python 3.12 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Monterey Python 3.11 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Monterey Python 3.10 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Monterey Python 3.9 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Monterey Python 3.8 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Monterey Python 3.7 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: '-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Monterey Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: 'm-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Monterey Python 3.7 x86_64' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: 'm-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Monterey Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 From 1388b4dc592bd201a667c54db75217eb00bba430 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 29 Feb 2024 11:29:22 +0100 Subject: [PATCH 189/256] Add scripts to help downloading all Python wheels from the latest release --- scripts/wheels/gencodacwhl.sh | 45 +++++++++++++++++++++++++++++ scripts/wheels/getlatestcodacwhl.sh | 14 +++++++++ 2 files changed, 59 insertions(+) create mode 100644 scripts/wheels/gencodacwhl.sh create mode 100644 scripts/wheels/getlatestcodacwhl.sh diff --git a/scripts/wheels/gencodacwhl.sh b/scripts/wheels/gencodacwhl.sh new file mode 100644 index 000000000..f6384f93e --- /dev/null +++ b/scripts/wheels/gencodacwhl.sh @@ -0,0 +1,45 @@ +#!/bin/bash + +read -p "Please enter the codac package version (X.Y.Z[.D]) : " PACKAGE_VERSION + +CPCFG=m-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-win32 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-win_amd64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + +CPCFG=m-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-win32 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-win_amd64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + +CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + +CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + +CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + +CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + +CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv diff --git a/scripts/wheels/getlatestcodacwhl.sh b/scripts/wheels/getlatestcodacwhl.sh new file mode 100644 index 000000000..e4538944e --- /dev/null +++ b/scripts/wheels/getlatestcodacwhl.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +export LATEST_TAG=`curl -IkLs -o /dev/null -w %{url_effective} "https://github.com/codac-team/codac/releases/latest" | sed 's#.*tag/\(.*\).*#\1#'` +export LATEST_VER="${LATEST_TAG:1}" + +export LK_VER=`cat lk_codac_whl.ver` + +echo Latest: $LATEST_VER +echo Last known: $LK_VER + +if [[ -z "$LK_VER" || $(printf "%s\n%s" "$LATEST_VER" "$LK_VER" | sort -V | head -n 1) != "$LATEST_VER" && "$LATEST_VER" != "$LK_VER" ]] then + echo $LATEST_VER is newer than $LK_VER + echo $LATEST_VER>lk_codac_whl.ver && cat lk_codac_whl.ver | ./gencodacwhl.sh +fi From 2acc5f5fd89417284ceea7efe0d23f34487959e8 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 29 Feb 2024 11:51:29 +0100 Subject: [PATCH 190/256] Update Python wheels upload documentation --- doc/doc/dev/info_dev.rst | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index 06c272ce4..eecd2eb68 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -210,12 +210,12 @@ Tag the current version: git tag -a v3.0.0-beta1 git push origin v3.0.0-beta1 -Create the *wheels* with a Docker: +Get all the *wheels* generated by GitHub Actions (the generated release needs to be explicitely set as latest): .. code-block:: bash - docker pull benensta/pyibex-docker - docker run --rm -v `pwd`:/io benensta/pyibex-docker /io/scripts/docker/build_pybinding.sh + cd scripts/wheels + ./getlatestcodacwhl.sh Upload the *wheels* on PyPi: @@ -223,13 +223,14 @@ Upload the *wheels* on PyPi: python3 -m twine upload --repository pypi * -.. rubric:: Testing with Docker +.. rubric:: Testing the Linux *wheels* with Docker -In the :file:`codac` directory, test the Ubuntu configuration locally using Docker: +In the :file:`codac` directory, test the Linux configuration locally using Docker: .. code-block:: bash chmod a+x scripts/docker/build_pybinding.sh + docker pull lebarsfa/manylinux2014_x86_64-for-codac docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_x86_64-for-codac /io/scripts/docker/build_pybinding.sh .. rubric:: MATLAB compatibility From c42ff66c6fa49b4053d8f1d761e227cdc0988825 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 6 Mar 2024 23:38:11 +0100 Subject: [PATCH 191/256] Documentation updates --- doc/doc/install/01-installation-full-linux.rst | 2 +- doc/doc/install/01-installation-full-macos.rst | 17 +++++++++++++---- .../install/01-installation-full-windows.rst | 17 +++++++---------- doc/doc/install/02-start-py-project.rst | 3 +-- doc/doc/install/03-start-cpp-project.rst | 3 +-- doc/doc/install/04-start-matlab-project.rst | 7 +++++++ 6 files changed, 30 insertions(+), 19 deletions(-) diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index 88375c110..d69113f5a 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -27,7 +27,7 @@ Then, check your installation `with the instructions of this page <03-start-cpp- .. note:: - For a Raspberry Pi running Raspbian Buster, download and extract ``codac_standalone_armv6hf_buster.zip`` from ``_, then in the ``example`` folder run: + For a Raspberry Pi running Raspbian Buster 32 bit, download and extract ``codac_standalone_armv6hf_buster.zip`` from ``_, then in the ``example`` folder run: .. code-block:: bash diff --git a/doc/doc/install/01-installation-full-macos.rst b/doc/doc/install/01-installation-full-macos.rst index eb479e55a..c0ca9f64c 100644 --- a/doc/doc/install/01-installation-full-macos.rst +++ b/doc/doc/install/01-installation-full-macos.rst @@ -10,7 +10,7 @@ Installing Codac on macOS for C++ use Quick start ----------- -Install Homebrew package manager and build tools: +Install `Homebrew package manager `_ and build tools: .. code-block:: bash @@ -18,7 +18,7 @@ Install Homebrew package manager and build tools: brew install wget autoconf automake libtool brew install --cask cmake -Download and extract *e.g.* ``codac_standalone_x86_64_bigsur.zip`` (for macOS 11 Big Sur (x86_64)) from ``_, then in ``example`` folder run: +Download and extract *e.g.* ``codac_standalone_arm64_monterey.zip`` (for macOS 12 Monterey on a Mac with Apple silicon (arm64 processor), use ``codac_standalone_x86_64_monterey.zip`` for a Mac with an Intel processor (x86_64 processor), see https://support.apple.com/en-us/116943) from ``_, then in ``example`` folder run: .. code-block:: bash @@ -26,16 +26,25 @@ Download and extract *e.g.* ``codac_standalone_x86_64_bigsur.zip`` (for macOS 11 and check that "My first tube:Tube [0, 10]" appears. -Optionally, download and run ``_ (see also https://support.apple.com/HT211861) before running the project, and check that a tube appears in VIBes window. +Optionally, download and run ``_ (see also https://support.apple.com/HT211861) before running the project, and check that a tube appears in :ref:`VIBes viewer `. Building from sources --------------------- -You will probably need to install those prerequisites (assuming you installed `Homebrew package manager `_): +You will probably need to install those prerequisites: .. code-block:: bash brew install eigen +Optionally, for Python and documentation: + +.. code-block:: bash + + wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen + brew install graphviz + python -m pip install --upgrade pip + pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects + The logic to follow will then be similar to `Linux <01-installation-full-linux.html>`_. See also `Information for developers `_. diff --git a/doc/doc/install/01-installation-full-windows.rst b/doc/doc/install/01-installation-full-windows.rst index 2771e8610..d52a27757 100644 --- a/doc/doc/install/01-installation-full-windows.rst +++ b/doc/doc/install/01-installation-full-windows.rst @@ -17,9 +17,9 @@ Check https://community.chocolatey.org/packages/codac. .. rubric:: Using Visual Studio -Download and extract *e.g.* ``codac_standalone_x64_vc16.zip`` (for Visual Studio 2019) from ``_, open ``example\CMakelists.txt``, choose ``x64-Release`` configuration in Visual Studio (instead of ``x64-Debug``), double-click on ``main.cpp`` in the Solution Explorer and then click on the green Start button, finally check that "My first tube:Tube [0, 10]" appears. +Download and extract *e.g.* ``codac_standalone_x64_vc17.zip`` (for Visual Studio 2022) from ``_, open ``example\CMakelists.txt``, choose ``x64-Release`` configuration in Visual Studio (instead of ``x64-Debug``), double-click on ``main.cpp`` in the Solution Explorer and then click on the green Start button, finally check that "My first tube:Tube [0, 10]" appears. -Optionally, download and run ``_ before running the project, and check that a tube appears in VIBes window. +Optionally, download and run ``_ before running the project, and check that a tube appears in :ref:`VIBes viewer `. Building from sources @@ -32,19 +32,16 @@ You will probably need to install these prerequisites (assuming you installed `C choco install cmake git make patch winflexbison choco install eigen -Then, install the desired compiler (*e.g.* ``choco install mingw --version=8.1.0``). +Then, install the desired compiler (*e.g.* ``choco install mingw --version=11.2.0.07112021``). -Optionally, for Python (*e.g.* ``choco install python --version=3.8.2``) and documentation: +Optionally, for Python (*e.g.* ``choco install python --version=3.10.4``) and documentation: .. code-block:: bat - choco install doxygen.install graphviz + choco install doxygen.install --version=1.9.6 + choco install graphviz python -m pip install --upgrade pip - pip install --upgrade wheel setuptools - git clone --depth 1 -b v3.1.1 https://github.com/sphinx-doc/sphinx - cd sphinx - pip install . - pip install --upgrade breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects + pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects The logic to follow will then be similar to `Linux <01-installation-full-linux.html>`_ (note that for Visual Studio, commands such as ``make install`` need to be replaced with something similar to: diff --git a/doc/doc/install/02-start-py-project.rst b/doc/doc/install/02-start-py-project.rst index 5a40f330b..7e9ee6c15 100644 --- a/doc/doc/install/02-start-py-project.rst +++ b/doc/doc/install/02-start-py-project.rst @@ -8,8 +8,7 @@ Start a Python project | You are using C++? | :ref:`sec-start-cpp-project` -| Codac is ready to be used on your computer. -| You can now import the ``codac`` package and start using it: +| Assuming :ref:`Codac Python package is installed `, you can import the ``codac`` package and start using it: .. code-block:: py diff --git a/doc/doc/install/03-start-cpp-project.rst b/doc/doc/install/03-start-cpp-project.rst index 49f1b5335..335b9c3da 100644 --- a/doc/doc/install/03-start-cpp-project.rst +++ b/doc/doc/install/03-start-cpp-project.rst @@ -8,8 +8,7 @@ Start a C++ project | You are using Python? | :ref:`sec-start-py-project` -| Codac is ready to be used on your computer. -| You can now copy-paste the following example code in a file named :file:`main.cpp`: +| Assuming :ref:`Codac library is installed `, you can copy-paste the following example code in a file named :file:`main.cpp`: .. code-block:: c++ diff --git a/doc/doc/install/04-start-matlab-project.rst b/doc/doc/install/04-start-matlab-project.rst index b69699ea5..18dfc823c 100644 --- a/doc/doc/install/04-start-matlab-project.rst +++ b/doc/doc/install/04-start-matlab-project.rst @@ -47,3 +47,10 @@ In order to visualize the tube, you need to launch before the :ref:`VIBes viewer If everything is well installed on your computer, you should see the following window appear: .. Figure:: img/helloworld.png + +.. warning:: + + Octave support is more limited than MATLAB at the moment (and only briefly tested on Ubuntu 22.04 for now). `Pythonic `_ needs to be installed to be able to call Python code from Octave. It has currently some limitations (see https://wiki.octave.org/Pythonic) such as: + + * Missing `import` command. https://gist.github.com/lebarsfa/ebc19b143df77753842f920b4b680b84#file-import-m can be loaded in Octave as a workaround. + * Operators such as `+`, `-`, `*`, `/`, `==`, `!=`, etc. do not seem overloaded (see https://gitlab.com/gnu-octave/octave-pythonic/-/issues/129, note that these operators are supported by MATLAB, but some others might not be supported by MATLAB either, see the bottom of https://fr.mathworks.com/help/matlab/matlab_external/differences-between-matlab-python.html). The internal methods `__add__()`, `__sub__()`, `__neg__()`, `__mul__()`, `__truediv__()`, `__eq__()`, `__ne__()`, etc. can be used instead. From d4f62e004c33dcab47530e8c0d5627ef3c32c276 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 7 Mar 2024 22:10:52 +0100 Subject: [PATCH 192/256] Update gencodacwhl.sh --- scripts/wheels/gencodacwhl.sh | 50 +++++++++-------------------------- 1 file changed, 13 insertions(+), 37 deletions(-) diff --git a/scripts/wheels/gencodacwhl.sh b/scripts/wheels/gencodacwhl.sh index f6384f93e..14ab8af57 100644 --- a/scripts/wheels/gencodacwhl.sh +++ b/scripts/wheels/gencodacwhl.sh @@ -2,44 +2,20 @@ read -p "Please enter the codac package version (X.Y.Z[.D]) : " PACKAGE_VERSION -CPCFG=m-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-win32 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-win_amd64 PY_V_MAJ=3 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +PY_V_MAJ=3 -CPCFG=m-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-win32 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=m-win_amd64 PY_V_MAJ=3 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-macosx_10_14_x86_64 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=8 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +CPCFG=m-macosx_10_9_x86_64 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=9 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +for PY_V_MIN in 6 7; do + for CPCFG in "m-macosx_11_0_arm64" "m-manylinux_2_17_x86_64.manylinux2014_x86_64" "m-win32" "m-win_amd64"; do + rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + done +done -CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=10 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv - -CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=12 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv - -CPCFG=-macosx_10_9_x86_64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-macosx_11_0_arm64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-manylinux_2_17_x86_64.manylinux2014_x86_64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win32 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv -CPCFG=-win_amd64 PY_V_MAJ=3 PY_V_MIN=11 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv +for PY_V_MIN in 8 9 10 11 12; do + for CPCFG in "-macosx_10_9_x86_64" "-macosx_11_0_arm64" "-manylinux_2_17_x86_64.manylinux2014_x86_64" "-win32" "-win_amd64"; do + rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv + done +done From dcdee5888e02d32e93105832421dee09e3e2ea33 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 10 Mar 2024 16:13:21 +0100 Subject: [PATCH 193/256] Minor correction in Chocolatey package --- packages/choco/codac/codac.nuspec | 2 ++ 1 file changed, 2 insertions(+) diff --git a/packages/choco/codac/codac.nuspec b/packages/choco/codac/codac.nuspec index b04c96304..650a4e12f 100644 --- a/packages/choco/codac/codac.nuspec +++ b/packages/choco/codac/codac.nuspec @@ -36,11 +36,13 @@ The following package parameters can be set: - `/NoRegistry` - Will not try to update Windows registry. To pass package parameters, use `--params "''"` (e.g. `choco install codac --params "'/Path /NoRegistry'"`), and to install another binary package, try e.g. ``` +choco install -y chocolatey-core.extension choco install -y --ignore-dependencies codac --params "'/url:https://github.com/codac-team/codac/releases/download/v1/codac_x64_vc17.zip'" ``` https://github.com/codac-team/codac/releases + From 69cc2ee4569f0cb785e0945b486125ed83ef10f1 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 17 Mar 2024 17:25:49 +0100 Subject: [PATCH 194/256] Update MATLAB/Octave documentation --- doc/doc/install/04-start-matlab-project.rst | 27 ++++++++++++++++++--- 1 file changed, 23 insertions(+), 4 deletions(-) diff --git a/doc/doc/install/04-start-matlab-project.rst b/doc/doc/install/04-start-matlab-project.rst index 18dfc823c..dc853e1f9 100644 --- a/doc/doc/install/04-start-matlab-project.rst +++ b/doc/doc/install/04-start-matlab-project.rst @@ -10,7 +10,7 @@ Start a MATLAB project .. warning:: - | MATLAB support is preliminary, limited tests have been made for now. See `this example `_. + | MATLAB/Octave support is preliminary, limited tests have been made for now. See `this example `_. | Codac is ready to be used if you have at least MATLAB R2019b, `a supported version of Python `_ and :ref:`installed Codac Python package `. @@ -50,7 +50,26 @@ If everything is well installed on your computer, you should see the following w .. warning:: - Octave support is more limited than MATLAB at the moment (and only briefly tested on Ubuntu 22.04 for now). `Pythonic `_ needs to be installed to be able to call Python code from Octave. It has currently some limitations (see https://wiki.octave.org/Pythonic) such as: + Octave support has been only briefly tested on Ubuntu 22.04 for now. `Pythonic `_ can be used to be able to call Python code from Octave. Some known necessary adaptations (see also https://wiki.octave.org/Pythonic) are: - * Missing `import` command. https://gist.github.com/lebarsfa/ebc19b143df77753842f920b4b680b84#file-import-m can be loaded in Octave as a workaround. - * Operators such as `+`, `-`, `*`, `/`, `==`, `!=`, etc. do not seem overloaded (see https://gitlab.com/gnu-octave/octave-pythonic/-/issues/129, note that these operators are supported by MATLAB, but some others might not be supported by MATLAB either, see the bottom of https://fr.mathworks.com/help/matlab/matlab_external/differences-between-matlab-python.html). The internal methods `__add__()`, `__sub__()`, `__neg__()`, `__mul__()`, `__truediv__()`, `__eq__()`, `__ne__()`, etc. can be used instead. + * Missing `import` command. https://gist.github.com/lebarsfa/ebc19b143df77753842f920b4b680b84#file-import-m can be loaded in Octave as a workaround. To always load it, try to add its content to `~/.octaverc` (e.g. with `cat import.m>>~/.octaverc`). + * In at least Octave v6.4.0 and below, operators such as `+`, `-`, `*`, `/`, `==`, `!=`, etc. are not overloaded (note that these operators are supported by MATLAB, but some others might not be supported by MATLAB either, see the bottom of https://fr.mathworks.com/help/matlab/matlab_external/differences-between-matlab-python.html). The internal methods `__add__()`, `__sub__()`, `__neg__()`, `__mul__()`, `__truediv__()`, `__eq__()`, `__ne__()`, etc. can be used instead. A modified version of Pythonic is currently being developed to support these operators (see https://gitlab.com/gnu-octave/octave-pythonic/-/issues/129) and can be installed as follows: + + .. code-block:: bash + + sudo apt install octave liboctave-dev libpython3-dev build-essential make git + git clone https://gitlab.com/gnu-octave/octave-pythonic.git + cd octave-pythonic + git fetch https://gitlab.com/Vipul-Cariappa/octave-pythonic.git operators + git checkout -b octave-pythonic-operators FETCH_HEAD + make + make check + octave --path $PWD/inst --path $PWD/src + + Then in Octave: + + .. code-block:: octave + + pkg install . + + Then, Codac should be ready to be used in Octave as in MATLAB. From 0df460b3ade994ff9cabf9269c72242027898fb3 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 29 Feb 2024 12:18:39 +0100 Subject: [PATCH 195/256] Minor update --- scripts/docker/build_pybinding.sh | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index a66733d34..66078d0f9 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,9 +2,9 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_x86_64_manylinux2014.zip --no-check-certificate -nv -unzip -q ibex_x86_64_manylinux2014.zip -rm -Rf ibex_x86_64_manylinux2014.zip +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_$(uname -m)_manylinux2014.zip --no-check-certificate -nv +unzip -q ibex_$(uname -m)_manylinux2014.zip +rm -Rf ibex_$(uname -m)_manylinux2014.zip sudo cp -Rf ibex/* /usr/local/ git config --global --add safe.directory /io From 5d7ac471e866b8aaf4ede9f3acb4da6fc944e7c6 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Fri, 22 Mar 2024 23:35:32 +0100 Subject: [PATCH 196/256] Update workflows --- .github/workflows/unixmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 1f8ad0246..fba7781c8 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -10,7 +10,7 @@ jobs: deploy: runs-on: ubuntu-latest steps: - - uses: softprops/action-gh-release@v1 + - uses: softprops/action-gh-release@v2 id: create_release env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} From 63ef4c7661069eac20c69ce2332232dd473c9d19 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Fri, 22 Mar 2024 23:36:56 +0100 Subject: [PATCH 197/256] Update workflows --- .github/workflows/unixmatrix.yml | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index fba7781c8..c9e36aaef 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -44,8 +44,8 @@ jobs: - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } - { os: windows-2019, shell: cmd, arch: x64, bitness: 64, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } - - { os: ubuntu-22.04, shell: bash, arch: amd64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' } - - { os: ubuntu-20.04, shell: bash, arch: amd64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' } + - { os: ubuntu-22.04, shell: bash, arch: amd64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 amd64' } + - { os: ubuntu-20.04, shell: bash, arch: amd64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 amd64' } - { os: macos-14, shell: bash, arch: arm64, bitness: 64, runtime: sonoma, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Sonoma arm64' } - { os: macos-14, shell: bash, arch: x86_64, bitness: 64, runtime: sonoma, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Sonoma x86_64 (cross)' } - { os: macos-13, shell: bash, arch: arm64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Ventura arm64 (cross)' } @@ -75,7 +75,7 @@ jobs: if: runner.os=='Windows' - run: echo "PACKAGE_VERSION=$SOFTWARE_VERSION-${DEBIAN_PACKAGE_REV}${{ matrix.cfg.runtime }}$PACKAGE_REV" >> $GITHUB_ENV shell: bash - if: runner.os=='Linux' + if: matrix.cfg.deb==true - run: | choco install -y -r --no-progress checksum wget zip rem Workaround to try solve some random package download failures... @@ -129,7 +129,7 @@ jobs: sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb shell: bash - if: runner.os=='Linux' + if: matrix.cfg.deb==true - run: | brew install eigen wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv @@ -154,8 +154,8 @@ jobs: mkdir -p codac_standalone/example ; cd codac_standalone wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools if [ ${{ runner.os }} = Windows ]; then cp -Rf /C/ProgramData/chocolatey/lib/ibex . ; rm -Rf ibex/tools ibex/ibex.* - elif [ ${{ runner.os }} = Linux ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ - elif [ ${{ runner.os }} = macOS ]; then cp -Rf ../ibex . + elif [ ${{ matrix.cfg.deb }} = true ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ + else cp -Rf ../ibex . fi cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac_standalone shell: bash @@ -170,7 +170,7 @@ jobs: shell: bash if: matrix.cfg.cross!=true - run: | - if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi + source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH cd packages/choco sed_param=s/\1\<\\/version\>/\${PACKAGE_VERSION}\<\\/version\>/ sed -i "$sed_param" codac/codac.nuspec @@ -193,11 +193,11 @@ jobs: - run: | cd packages chmod +x ./genlibcodac-dev.sh - ./genlibcodac-dev.sh ubuntu ${{ matrix.cfg.runtime }} ${{ matrix.cfg.arch }} $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV + ./genlibcodac-dev.sh $(lsb_release -is | tr [:upper:] [:lower:]) ${{ matrix.cfg.runtime }} $(dpkg --print-architecture) $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV cd .. - sudo dpkg -i libcodac-dev-$PACKAGE_VERSION\_${{ matrix.cfg.arch }}.deb + sudo dpkg -i libcodac-dev-$PACKAGE_VERSION\_$(dpkg --print-architecture).deb shell: bash - if: runner.os=='Linux' + if: matrix.cfg.deb==true - run: | sudo cp -Rf codac/* /usr/local/ shell: bash From 352f7bb8e5ef82e6168a5fefad472715d50904f7 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 24 Mar 2024 19:44:45 +0100 Subject: [PATCH 198/256] Regroup docker workflows --- .github/workflows/dockermatrix.yml | 103 +++++++++++++++++++++++++++++ .github/workflows/dockerpi.yml | 27 -------- 2 files changed, 103 insertions(+), 27 deletions(-) create mode 100644 .github/workflows/dockermatrix.yml delete mode 100644 .github/workflows/dockerpi.yml diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml new file mode 100644 index 000000000..8869a87eb --- /dev/null +++ b/.github/workflows/dockermatrix.yml @@ -0,0 +1,103 @@ +# This file checks that the lib runs on ARM +on: + push: + branches: 'master' + tags: '' # Restrict to blank tags + pull_request: + +jobs: + dockermatrix: + runs-on: ubuntu-latest + defaults: + run: + shell: ${{ matrix.cfg.shell }} + strategy: + fail-fast: false + matrix: + cfg: + - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', desc: 'CentOS manylinux2014 x86_64' } + - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } + - { img: 'lebarsfa/pi-64:jammy-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 arm64' } + - { img: 'lebarsfa/pi-64:bookworm-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm arm64' } + - { img: 'lebarsfa/pi:bookworm-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bookworm armv6hf' } + - { img: 'lebarsfa/pi:buster-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Buster armv6hf' } + name: ${{ matrix.cfg.desc }} + steps: + - uses: actions/checkout@v4 + with: + submodules: true + fetch-depth: 0 + clean: false + # From https://github.com/Munkei/VersionFromGit.cmake/blob/master/VersionFromGit.cmake + - run: echo "git_tag=`git describe --tags --abbrev=0`" >> $GITHUB_ENV + shell: bash + # See https://askubuntu.com/questions/620533/what-is-the-meaning-of-the-xubuntuy-string-in-ubuntu-package-names + - run: | + echo "SOFTWARE_VERSION=${git_tag:1}" >> $GITHUB_ENV + echo "DEBIAN_PACKAGE_REV=0" >> $GITHUB_ENV + echo "PACKAGE_REV=0" >> $GITHUB_ENV + echo "CHOCO_PACKAGE_REV=" >> $GITHUB_ENV + echo "VERBOSE=1" >> $GITHUB_ENV + shell: bash + - run: echo "PACKAGE_VERSION=$SOFTWARE_VERSION-${DEBIAN_PACKAGE_REV}${{ matrix.cfg.runtime }}$PACKAGE_REV" >> $GITHUB_ENV + shell: bash + if: matrix.cfg.deb==true + - run: | + sudo apt-get -y install qemu binfmt-support qemu-user-static || true + #docker run --rm --privileged multiarch/qemu-user-static:register --reset + docker run --rm --privileged multiarch/qemu-user-static --reset -p yes + if: (matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') + - run: | + docker run ${{ matrix.cfg.docker_flags }} -i -v "${PWD}/..:${PWD}/.." ${{ matrix.cfg.img }} /bin/bash -c "uname -a ; cat /etc/os-release ; cd ${PWD} && pwd && lsb_release -a ; \ + if [ ${{ matrix.cfg.deb }} = true ]; then \ + sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv && \ + sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb && \ + rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb ; \ + else \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ + unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ + rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ + sudo cp -Rf ibex/* /usr/ ; \ + fi && \ + mkdir build ; cd build && \ + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" .. && \ + cmake --build . --config Debug --target install && \ + cd .. && \ + zip -q -r codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac && \ + mkdir -p codac_standalone/example ; cd codac_standalone && \ + wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools && \ + if [ ${{ matrix.cfg.deb }} = true ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ ; \ + else cp -Rf ../ibex . ; \ + fi && \ + cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac_standalone && \ + cd codac_standalone/example && \ + cmake ${{ matrix.cfg.cmake_params }} . && \ + cmake --build . --config Release && \ + file ./${{ matrix.cfg.test_config }}my_project && \ + ./${{ matrix.cfg.test_config }}my_project && \ + cd ../.. && \ + if [ ${{ matrix.cfg.deb }} = true ]; then \ + cd packages && \ + chmod +x ./genlibcodac-dev.sh && \ + ./genlibcodac-dev.sh \$(lsb_release -is | tr [:upper:] [:lower:]) ${{ matrix.cfg.runtime }} \$(dpkg --print-architecture) $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV && \ + cd .. && \ + sudo dpkg -i libcodac-dev-$PACKAGE_VERSION\_\$(dpkg --print-architecture).deb ; \ + else \ + sudo cp -Rf codac/* /usr/local/ ; \ + fi && \ + rm -Rf codac && \ + cd tests/test_codac && \ + cmake ${{ matrix.cfg.cmake_params }} . && \ + cmake --build . --config Release && \ + file ./${{ matrix.cfg.test_config }}my_project && \ + ./${{ matrix.cfg.test_config }}my_project && \ + cd ../.." + - uses: xresloader/upload-to-github-release@v1 + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + with: + file: "*.zip;*.deb" + overwrite: true + tag_name: autotagname-${{ github.sha }} + if: (github.event_name != 'pull_request') diff --git a/.github/workflows/dockerpi.yml b/.github/workflows/dockerpi.yml deleted file mode 100644 index b209c9f09..000000000 --- a/.github/workflows/dockerpi.yml +++ /dev/null @@ -1,27 +0,0 @@ -# This file checks that the lib runs on ARM -on: - push: - branches: 'master' - tags: '' # Restrict to blank tags - pull_request: - -jobs: - dockerpi: - name: Raspbian Buster pi Docker - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - fetch-depth: 0 - clean: false - - run: docker run --rm --privileged multiarch/qemu-user-static:register --reset - - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project" - - uses: xresloader/upload-to-github-release@v1 - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - with: - file: "*.zip" - overwrite: true - tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') From 12cdd80784099e3b1495d856b23449871cbe2b7c Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 25 Feb 2024 15:50:23 +0100 Subject: [PATCH 199/256] Update .deb configurations --- packages/bionic/armhf/libcodac-dev/DEBIAN/control | 9 --------- .../{bionic/amd64/libcodac-dev/DEBIAN => deb}/control | 0 packages/focal/amd64/libcodac-dev/DEBIAN/control | 9 --------- packages/focal/armhf/libcodac-dev/DEBIAN/control | 9 --------- packages/genlibcodac-dev.sh | 3 +++ packages/jammy/amd64/libcodac-dev/DEBIAN/control | 9 --------- packages/jammy/armhf/libcodac-dev/DEBIAN/control | 9 --------- packages/xenial/amd64/libcodac-dev/DEBIAN/control | 9 --------- packages/xenial/armhf/libcodac-dev/DEBIAN/control | 9 --------- 9 files changed, 3 insertions(+), 63 deletions(-) delete mode 100644 packages/bionic/armhf/libcodac-dev/DEBIAN/control rename packages/{bionic/amd64/libcodac-dev/DEBIAN => deb}/control (100%) delete mode 100644 packages/focal/amd64/libcodac-dev/DEBIAN/control delete mode 100644 packages/focal/armhf/libcodac-dev/DEBIAN/control delete mode 100644 packages/jammy/amd64/libcodac-dev/DEBIAN/control delete mode 100644 packages/jammy/armhf/libcodac-dev/DEBIAN/control delete mode 100644 packages/xenial/amd64/libcodac-dev/DEBIAN/control delete mode 100644 packages/xenial/armhf/libcodac-dev/DEBIAN/control diff --git a/packages/bionic/armhf/libcodac-dev/DEBIAN/control b/packages/bionic/armhf/libcodac-dev/DEBIAN/control deleted file mode 100644 index fc1156647..000000000 --- a/packages/bionic/armhf/libcodac-dev/DEBIAN/control +++ /dev/null @@ -1,9 +0,0 @@ -Package: libcodac-dev -Version: 1 -Architecture: armhf -Depends: libeigen3-dev, libibex-dev -Section: math -Priority: optional -Description: Codac is a library providing tools for constraint programming over reals, trajectories and sets -Maintainer: codac.io -Homepage: codac.io diff --git a/packages/bionic/amd64/libcodac-dev/DEBIAN/control b/packages/deb/control similarity index 100% rename from packages/bionic/amd64/libcodac-dev/DEBIAN/control rename to packages/deb/control diff --git a/packages/focal/amd64/libcodac-dev/DEBIAN/control b/packages/focal/amd64/libcodac-dev/DEBIAN/control deleted file mode 100644 index 1a587f0ce..000000000 --- a/packages/focal/amd64/libcodac-dev/DEBIAN/control +++ /dev/null @@ -1,9 +0,0 @@ -Package: libcodac-dev -Version: 1 -Architecture: amd64 -Depends: libeigen3-dev, libibex-dev -Section: math -Priority: optional -Description: Codac is a library providing tools for constraint programming over reals, trajectories and sets -Maintainer: codac.io -Homepage: codac.io diff --git a/packages/focal/armhf/libcodac-dev/DEBIAN/control b/packages/focal/armhf/libcodac-dev/DEBIAN/control deleted file mode 100644 index fc1156647..000000000 --- a/packages/focal/armhf/libcodac-dev/DEBIAN/control +++ /dev/null @@ -1,9 +0,0 @@ -Package: libcodac-dev -Version: 1 -Architecture: armhf -Depends: libeigen3-dev, libibex-dev -Section: math -Priority: optional -Description: Codac is a library providing tools for constraint programming over reals, trajectories and sets -Maintainer: codac.io -Homepage: codac.io diff --git a/packages/genlibcodac-dev.sh b/packages/genlibcodac-dev.sh index 4442d6400..c49fa6bd9 100644 --- a/packages/genlibcodac-dev.sh +++ b/packages/genlibcodac-dev.sh @@ -12,9 +12,12 @@ REV=$6 #sudo apt-get -y install dpkg-dev +mkdir -p $DIST/$ARCH cd $DIST/$ARCH mkdir -p libcodac-dev/usr cp -Rf ../../../codac/* libcodac-dev/usr/ +mkdir -p libcodac-dev/DEBIAN +cp -Rf ../../deb/control libcodac-dev/DEBIAN/control sed_param=s/Version:\ .*/Version:\ ${VER}/ sed -i "$sed_param" libcodac-dev/DEBIAN/control sed_param=s/Architecture:\ .*/Architecture:\ ${ARCH}/ diff --git a/packages/jammy/amd64/libcodac-dev/DEBIAN/control b/packages/jammy/amd64/libcodac-dev/DEBIAN/control deleted file mode 100644 index 1a587f0ce..000000000 --- a/packages/jammy/amd64/libcodac-dev/DEBIAN/control +++ /dev/null @@ -1,9 +0,0 @@ -Package: libcodac-dev -Version: 1 -Architecture: amd64 -Depends: libeigen3-dev, libibex-dev -Section: math -Priority: optional -Description: Codac is a library providing tools for constraint programming over reals, trajectories and sets -Maintainer: codac.io -Homepage: codac.io diff --git a/packages/jammy/armhf/libcodac-dev/DEBIAN/control b/packages/jammy/armhf/libcodac-dev/DEBIAN/control deleted file mode 100644 index fc1156647..000000000 --- a/packages/jammy/armhf/libcodac-dev/DEBIAN/control +++ /dev/null @@ -1,9 +0,0 @@ -Package: libcodac-dev -Version: 1 -Architecture: armhf -Depends: libeigen3-dev, libibex-dev -Section: math -Priority: optional -Description: Codac is a library providing tools for constraint programming over reals, trajectories and sets -Maintainer: codac.io -Homepage: codac.io diff --git a/packages/xenial/amd64/libcodac-dev/DEBIAN/control b/packages/xenial/amd64/libcodac-dev/DEBIAN/control deleted file mode 100644 index 1a587f0ce..000000000 --- a/packages/xenial/amd64/libcodac-dev/DEBIAN/control +++ /dev/null @@ -1,9 +0,0 @@ -Package: libcodac-dev -Version: 1 -Architecture: amd64 -Depends: libeigen3-dev, libibex-dev -Section: math -Priority: optional -Description: Codac is a library providing tools for constraint programming over reals, trajectories and sets -Maintainer: codac.io -Homepage: codac.io diff --git a/packages/xenial/armhf/libcodac-dev/DEBIAN/control b/packages/xenial/armhf/libcodac-dev/DEBIAN/control deleted file mode 100644 index fc1156647..000000000 --- a/packages/xenial/armhf/libcodac-dev/DEBIAN/control +++ /dev/null @@ -1,9 +0,0 @@ -Package: libcodac-dev -Version: 1 -Architecture: armhf -Depends: libeigen3-dev, libibex-dev -Section: math -Priority: optional -Description: Codac is a library providing tools for constraint programming over reals, trajectories and sets -Maintainer: codac.io -Homepage: codac.io From 9d502a25dd5203f9b2344fdfc9fff45541aaa811 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 24 Mar 2024 22:29:57 +0100 Subject: [PATCH 200/256] Update workflows --- .github/workflows/dockermatrix.yml | 2 +- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 2 +- .github/workflows/vcmatrix.yml | 2 +- scripts/docker/build_pybinding.sh | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 8869a87eb..9a16e78f2 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -62,7 +62,7 @@ jobs: fi && \ mkdir build ; cd build && \ cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" .. && \ - cmake --build . --config Debug --target install && \ + cmake --build . -j 4 --config Debug --target install && \ cd .. && \ zip -q -r codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac && \ mkdir -p codac_standalone/example ; cd codac_standalone && \ diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 5729a46c6..804506aa9 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -65,7 +65,7 @@ jobs: - run: | mkdir build ; cd build cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=${{ matrix.cfg.arch }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. - cmake --build . --config Release --target install + cmake --build . -j 4 --config Release --target install cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index c9e36aaef..adc52837a 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -143,7 +143,7 @@ jobs: if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi mkdir build ; cd build cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" .. - cmake --build . --config Debug --target install + cmake --build . -j 4 --config Debug --target install cd .. sed_param=s/PATH_SUFFIXES\ /PATHS\ \$\{CMAKE_CURRENT_LIST_FILE\}\\/..\\/..\\/..\\/..\\/\ PATH_SUFFIXES\ / if [ ${{ runner.os }} = Windows ]; then sed -i "$sed_param" codac/share/codac/cmake/*.cmake ; fi diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 343ea72ed..300f985f4 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -65,7 +65,7 @@ jobs: - run: | mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. - cmake --build . --config Release --target install + cmake --build . -j 4 --config Release --target install cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 66078d0f9..46eb240d3 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -18,7 +18,7 @@ for PYBIN in /opt/python/cp3*/bin; do "${PYBIN}/python" -m pip install --upgrade pip mkdir -p build_dir && cd build_dir cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON .. - make -j2 + make -j4 make test ARGS="-V --output-on-failure" echo "start of Testing/Temporary/LastTest.log" From 163c9ef29af2fb2249049144e400a38543d3e2e1 Mon Sep 17 00:00:00 2001 From: Simon Rohou Date: Thu, 11 Apr 2024 10:49:31 +0200 Subject: [PATCH 201/256] [py] added draw_polygon et Polygon bindings --- .../src/core/geometry/codac_py_geometry.cpp | 35 +++++++++++++++++++ .../src/core/graphics/codac_py_VIBesFig.cpp | 4 +++ 2 files changed, 39 insertions(+) diff --git a/python/src/core/geometry/codac_py_geometry.cpp b/python/src/core/geometry/codac_py_geometry.cpp index 2d2ed71f1..742d9b814 100644 --- a/python/src/core/geometry/codac_py_geometry.cpp +++ b/python/src/core/geometry/codac_py_geometry.cpp @@ -17,6 +17,7 @@ #include #include "../contractors/static/codac_py_Ctc.h" #include "../separators/codac_py_Sep.h" +#include "codac_Polygon.h" // Generated file from Doxygen XML (doxygen2docstring.py): #include "codac_py_CtcSegment_docs.h" @@ -28,6 +29,34 @@ namespace py = pybind11; using namespace ibex; using namespace codac; +Polygon* create_polygon_from_pylist(const vector& lst) +{ + vector v_pts; + + if(lst.size() < 1) + throw invalid_argument("size of the input list is 0"); + + //double (*tmp)[2] = new double[lst.size()][2]; + for(size_t i = 0; i < lst.size(); i++) + { + if(lst[i].size() != 2) + { + //delete[] tmp; + throw invalid_argument("sub list must contain only two elements"); + } + + //tmp[i][0] = lst[i][0].cast(); + //tmp[i][1] = lst[i][1].cast(); + v_pts.push_back({ lst[i][0].cast(), lst[i][1].cast() }); + } + + //IntervalVector *instance = new IntervalVector(lst.size(), tmp); + //delete[] tmp; + //return instance; + return new Polygon(v_pts); + // todo: manage delete +} + SepPolygon* SepPolygonFromList(std::vector< std::array >& lst){ size_t n = lst.size(); std::vector ax(n), ay(n),bx(n),by(n); @@ -66,4 +95,10 @@ void export_geometry(py::module& m, py::class_& ctc, py::class_(m, "Polygon") + .def(py::init(&create_polygon_from_pylist), "list"_a) + .def(py::init>()) + ; + } diff --git a/python/src/core/graphics/codac_py_VIBesFig.cpp b/python/src/core/graphics/codac_py_VIBesFig.cpp index eb895a904..4ff9ebe4a 100644 --- a/python/src/core/graphics/codac_py_VIBesFig.cpp +++ b/python/src/core/graphics/codac_py_VIBesFig.cpp @@ -96,5 +96,9 @@ void export_VIBesFig(py::module& m) .def("draw_line", (void (VIBesFig::*)(const std::vector&,const std::vector&,const string&,const vibes::Params &))&VIBesFig::draw_line, "todo", "v_x"_a, "v_y"_a, "color"_a="", "params"_a=vibes::Params()) + + .def("draw_polygon", (void (VIBesFig::*)(const Polygon&,const string&,const vibes::Params &))&VIBesFig::draw_polygon, + VIBESFIG_VOID_DRAW_POLYGON_POLYGON_STRING_VIBESPARAMS, + "p"_a, "color"_a="", "params"_a=vibes::Params()) ; } \ No newline at end of file From add377a9f5a763d05cfe5a139573e63d48749b33 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 7 Apr 2024 17:37:34 +0200 Subject: [PATCH 202/256] Update documentation --- doc/doc/install/01-installation.rst | 5 ----- 1 file changed, 5 deletions(-) diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index ad8893491..0fb0dae8d 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -74,11 +74,6 @@ Some methods have been implemented in Codac in order to extend VIBes' features t You can `download the VIBes viewer directly from the official page `_ (click on the *Last Release* link). -.. warning:: - - | **macOS (arm64):** - | `Rosetta `_ might be necessary to run `VIBes `_. - .. admonition:: (optional) Get the very last version of VIBes from the sources You can also install the last version from the sources available on `the GitHub development repository `_. From 720e990d6335987a7981df6d324a5f13e2918e65 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 Apr 2024 19:57:30 +0200 Subject: [PATCH 203/256] Update getlatestcodacwhl.sh --- scripts/wheels/getlatestcodacwhl.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/wheels/getlatestcodacwhl.sh b/scripts/wheels/getlatestcodacwhl.sh index e4538944e..57d87717a 100644 --- a/scripts/wheels/getlatestcodacwhl.sh +++ b/scripts/wheels/getlatestcodacwhl.sh @@ -8,7 +8,7 @@ export LK_VER=`cat lk_codac_whl.ver` echo Latest: $LATEST_VER echo Last known: $LK_VER -if [[ -z "$LK_VER" || $(printf "%s\n%s" "$LATEST_VER" "$LK_VER" | sort -V | head -n 1) != "$LATEST_VER" && "$LATEST_VER" != "$LK_VER" ]] then +if [[ -z "$LK_VER" || $(printf "%s\n%s" "$LATEST_VER" "$LK_VER" | sort -V | head -n 1) != "$LATEST_VER" && "$LATEST_VER" != "$LK_VER" ]]; then echo $LATEST_VER is newer than $LK_VER echo $LATEST_VER>lk_codac_whl.ver && cat lk_codac_whl.ver | ./gencodacwhl.sh fi From 930f3ced5d5df8a0ab3dcdd910272776838e5ecd Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 Apr 2024 19:57:34 +0200 Subject: [PATCH 204/256] Update Python wheels upload documentation --- doc/doc/dev/info_dev.rst | 3 +++ 1 file changed, 3 insertions(+) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index eecd2eb68..966363e31 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -214,8 +214,11 @@ Get all the *wheels* generated by GitHub Actions (the generated release needs to .. code-block:: bash + sudo apt install curl wget sed cd scripts/wheels + chmod a+x *.sh ./getlatestcodacwhl.sh + rm lk_codac_whl.ver # Optional, contain the version number that was last downloaded. Upload the *wheels* on PyPi: From 2e858cbcc127518e40bf4abf7fdc345e9d45b01a Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 7 Apr 2024 17:37:34 +0200 Subject: [PATCH 205/256] Update documentation --- doc/doc/install/01-installation.rst | 5 ----- 1 file changed, 5 deletions(-) diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index ad8893491..0fb0dae8d 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -74,11 +74,6 @@ Some methods have been implemented in Codac in order to extend VIBes' features t You can `download the VIBes viewer directly from the official page `_ (click on the *Last Release* link). -.. warning:: - - | **macOS (arm64):** - | `Rosetta `_ might be necessary to run `VIBes `_. - .. admonition:: (optional) Get the very last version of VIBes from the sources You can also install the last version from the sources available on `the GitHub development repository `_. From 76c4d9221d72ec5b3b7cabaa9ea97f15b3c203ba Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 Apr 2024 19:57:30 +0200 Subject: [PATCH 206/256] Update getlatestcodacwhl.sh --- scripts/wheels/getlatestcodacwhl.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/wheels/getlatestcodacwhl.sh b/scripts/wheels/getlatestcodacwhl.sh index e4538944e..57d87717a 100644 --- a/scripts/wheels/getlatestcodacwhl.sh +++ b/scripts/wheels/getlatestcodacwhl.sh @@ -8,7 +8,7 @@ export LK_VER=`cat lk_codac_whl.ver` echo Latest: $LATEST_VER echo Last known: $LK_VER -if [[ -z "$LK_VER" || $(printf "%s\n%s" "$LATEST_VER" "$LK_VER" | sort -V | head -n 1) != "$LATEST_VER" && "$LATEST_VER" != "$LK_VER" ]] then +if [[ -z "$LK_VER" || $(printf "%s\n%s" "$LATEST_VER" "$LK_VER" | sort -V | head -n 1) != "$LATEST_VER" && "$LATEST_VER" != "$LK_VER" ]]; then echo $LATEST_VER is newer than $LK_VER echo $LATEST_VER>lk_codac_whl.ver && cat lk_codac_whl.ver | ./gencodacwhl.sh fi From 605233befa5d2f4c1b469de9db4173449590322a Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 Apr 2024 19:57:34 +0200 Subject: [PATCH 207/256] Update Python wheels upload documentation --- doc/doc/dev/info_dev.rst | 3 +++ 1 file changed, 3 insertions(+) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index eecd2eb68..966363e31 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -214,8 +214,11 @@ Get all the *wheels* generated by GitHub Actions (the generated release needs to .. code-block:: bash + sudo apt install curl wget sed cd scripts/wheels + chmod a+x *.sh ./getlatestcodacwhl.sh + rm lk_codac_whl.ver # Optional, contain the version number that was last downloaded. Upload the *wheels* on PyPi: From a83fa3a17e6dca19b0c30de3362dcce651b0eca4 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 6 Apr 2024 19:35:38 +0200 Subject: [PATCH 208/256] Solve missing version info (from VersionFromGit) when using Codac with CMake on Linux ARM computers --- .github/workflows/dockermatrix.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 9a16e78f2..c34675223 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -48,7 +48,8 @@ jobs: docker run --rm --privileged multiarch/qemu-user-static --reset -p yes if: (matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') - run: | - docker run ${{ matrix.cfg.docker_flags }} -i -v "${PWD}/..:${PWD}/.." ${{ matrix.cfg.img }} /bin/bash -c "uname -a ; cat /etc/os-release ; cd ${PWD} && pwd && lsb_release -a ; \ + docker run ${{ matrix.cfg.docker_flags }} -i -v "${PWD}/..:${PWD}/.." ${{ matrix.cfg.img }} /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; cd ${PWD} && pwd && \ + git config --global --add safe.directory ${PWD} && \ if [ ${{ matrix.cfg.deb }} = true ]; then \ sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv && \ From d814dcf3acf45a497f065a4e0330286d04693c9a Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 1 Apr 2024 22:23:44 +0200 Subject: [PATCH 209/256] Temporary scripts to be able to manually build Codac on specific platforms --- .../temporary/gennewcodacmanylinux2014_aarch64.sh | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 packages/temporary/gennewcodacmanylinux2014_aarch64.sh diff --git a/packages/temporary/gennewcodacmanylinux2014_aarch64.sh b/packages/temporary/gennewcodacmanylinux2014_aarch64.sh new file mode 100644 index 000000000..018e711db --- /dev/null +++ b/packages/temporary/gennewcodacmanylinux2014_aarch64.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +# Need to login in Docker Desktop before...? + +mkdir -p ~/Downloads/newcodac + +cd ~/Downloads/newcodac +rm -Rf codac* +git clone https://github.com/lebarsfa/codac +cd codac +git submodule init +git submodule update +chmod a+x scripts/docker/build_pybinding.sh +docker pull lebarsfa/manylinux2014_aarch64-for-codac +docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_aarch64-for-codac /io/scripts/docker/build_pybinding.sh From 88100aa99a5e521324983c44e24b5a5e112a8271 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 6 Apr 2024 13:15:55 +0200 Subject: [PATCH 210/256] Update Docker documentation --- doc/doc/dev/info_dev.rst | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index 966363e31..ad90ad24e 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -228,7 +228,7 @@ Upload the *wheels* on PyPi: .. rubric:: Testing the Linux *wheels* with Docker -In the :file:`codac` directory, test the Linux configuration locally using Docker: +In the :file:`codac` directory, test the x86_64 Linux configuration locally using Docker: .. code-block:: bash @@ -236,6 +236,8 @@ In the :file:`codac` directory, test the Linux configuration locally using Docke docker pull lebarsfa/manylinux2014_x86_64-for-codac docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_x86_64-for-codac /io/scripts/docker/build_pybinding.sh +The same can be done for the ARM Linux configurations (preferably from a powerful ARM computer, such as a Mac with Apple Silicon), see `packages/temporary` folder. + .. rubric:: MATLAB compatibility Some operators or special functions need special attention: From c6f247c81c0cdda07e7bf40de3b4f0e2d04cb315 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 11 Apr 2024 22:37:11 +0200 Subject: [PATCH 211/256] Improve OS detection on Linux --- .github/workflows/dockermatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index c34675223..9e21823f7 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -81,7 +81,7 @@ jobs: if [ ${{ matrix.cfg.deb }} = true ]; then \ cd packages && \ chmod +x ./genlibcodac-dev.sh && \ - ./genlibcodac-dev.sh \$(lsb_release -is | tr [:upper:] [:lower:]) ${{ matrix.cfg.runtime }} \$(dpkg --print-architecture) $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV && \ + ./genlibcodac-dev.sh \$(if [ -z \"\$(. /etc/os-release && echo \$UBUNTU_CODENAME)\" ]; then echo debian; else echo ubuntu; fi) ${{ matrix.cfg.runtime }} \$(dpkg --print-architecture) $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV && \ cd .. && \ sudo dpkg -i libcodac-dev-$PACKAGE_VERSION\_\$(dpkg --print-architecture).deb ; \ else \ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index adc52837a..5b2c01b93 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -122,7 +122,7 @@ jobs: if: runner.os=='Windows' - run: | # Replace these 2 lines by the next ones to test a specific binary package of IBEX. - #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' + #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/$(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian/$(. /etc/os-release && echo $VERSION_CODENAME); else echo ubuntu/$(. /etc/os-release && echo $UBUNTU_CODENAME); fi) ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv @@ -193,7 +193,7 @@ jobs: - run: | cd packages chmod +x ./genlibcodac-dev.sh - ./genlibcodac-dev.sh $(lsb_release -is | tr [:upper:] [:lower:]) ${{ matrix.cfg.runtime }} $(dpkg --print-architecture) $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV + ./genlibcodac-dev.sh $(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian; else echo ubuntu; fi) ${{ matrix.cfg.runtime }} $(dpkg --print-architecture) $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV cd .. sudo dpkg -i libcodac-dev-$PACKAGE_VERSION\_$(dpkg --print-architecture).deb shell: bash From c5de06a6e30d329309a0cbf9a21cd28afb415b98 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 14 Apr 2024 18:15:35 +0200 Subject: [PATCH 212/256] Update workflows --- .github/workflows/dockermatrix.yml | 10 +++++++--- .github/workflows/unixmatrix.yml | 6 +++--- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 9e21823f7..b6376f880 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -18,8 +18,12 @@ jobs: - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', desc: 'CentOS manylinux2014 x86_64' } - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } - { img: 'lebarsfa/pi-64:jammy-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 arm64' } + - { img: 'lebarsfa/pi-64:focal-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 arm64' } - { img: 'lebarsfa/pi-64:bookworm-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm arm64' } + - { img: 'lebarsfa/pi-64:bullseye-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye arm64' } + - { img: 'lebarsfa/pi-64:buster-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster arm64' } - { img: 'lebarsfa/pi:bookworm-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bookworm armv6hf' } + - { img: 'lebarsfa/pi:bullseye-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bullseye armv6hf' } - { img: 'lebarsfa/pi:buster-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Buster armv6hf' } name: ${{ matrix.cfg.desc }} steps: @@ -52,9 +56,9 @@ jobs: git config --global --add safe.directory ${PWD} && \ if [ ${{ matrix.cfg.deb }} = true ]; then \ sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv && \ - sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb && \ - rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb ; \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ + sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ + rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ else \ wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 5b2c01b93..1d021aa28 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -125,9 +125,9 @@ jobs: #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/$(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian/$(. /etc/os-release && echo $VERSION_CODENAME); else echo ubuntu/$(. /etc/os-release && echo $UBUNTU_CODENAME); fi) ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv - sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb - rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb + rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb shell: bash if: matrix.cfg.deb==true - run: | From 8305295dc4c59e6acddafd3e05b9af6f4e9d5e96 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 7 Apr 2024 17:54:34 +0200 Subject: [PATCH 213/256] Update 01-installation-full-linux.rst --- .../install/01-installation-full-linux.rst | 23 +++++++++++++------ 1 file changed, 16 insertions(+), 7 deletions(-) diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index d69113f5a..e1ede2b05 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -7,14 +7,14 @@ Installing Codac on Linux for C++ use ##################################### -Install from package (latest release, for Ubuntu amd64) +Install from package (latest release, for Ubuntu (amd64, arm64), Debian (arm64, armhf) and possibly others) --------------------------------------------------------- A Debian package is available for the last release |version| of the library: .. code-block:: bash - sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list' + sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/$(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian/$(. /etc/os-release && echo $VERSION_CODENAME); else echo ubuntu/$(. /etc/os-release && echo $UBUNTU_CODENAME); fi) ./" > /etc/apt/sources.list.d/ensta-bretagne.list' sudo apt update sudo apt install libcodac-dev @@ -22,12 +22,23 @@ Then, check your installation `with the instructions of this page <03-start-cpp- .. warning:: - | **URL changed**: - | Please update :code:`/etc/apt/sources.list.d/ensta-bretagne.list` as above. + | **URL changed**: Please uninstall before. .. note:: - For a Raspberry Pi running Raspbian Buster 32 bit, download and extract ``codac_standalone_armv6hf_buster.zip`` from ``_, then in the ``example`` folder run: + To uninstall Codac, you might want to do the following: + + .. code-block:: bash + + sudo apt remove libcodac-dev libibex-dev + sudo rm -f /etc/apt/sources.list.d/ensta-bretagne.list + sudo apt update + + Note also that ``libeigen3-dev`` might have been installed as a dependency of Codac but might be also used by other software. You might want to keep it. + +.. note:: + + Standalone archives exist also for all the supported configurations, e.g. for a Raspberry Pi running Raspberry Pi OS Bookworm 32 bit, download and extract ``codac_standalone_armhf_bookworm.zip`` from ``_, then in the ``example`` folder run: .. code-block:: bash @@ -35,8 +46,6 @@ Then, check your installation `with the instructions of this page <03-start-cpp- and check that "My first tube:Tube [0, 10]" appears. - Similar archives exist also for all the supported configurations. - Install from sources (latest development) ----------------------------------------- From db1c744feade7238329f67da927da88d32582c4b Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 6 Apr 2024 19:35:42 +0200 Subject: [PATCH 214/256] Create gennewcodacbuster_armhf.sh --- packages/temporary/gennewcodacbuster_armhf.sh | 43 +++++++++++++++++++ 1 file changed, 43 insertions(+) create mode 100644 packages/temporary/gennewcodacbuster_armhf.sh diff --git a/packages/temporary/gennewcodacbuster_armhf.sh b/packages/temporary/gennewcodacbuster_armhf.sh new file mode 100644 index 000000000..2d079fbc6 --- /dev/null +++ b/packages/temporary/gennewcodacbuster_armhf.sh @@ -0,0 +1,43 @@ +#!/bin/bash + +# Need to login in Docker Desktop before...? + +mkdir -p ~/Downloads/newcodac + +cd ~/Downloads/newcodac +rm -Rf codac* +git clone https://github.com/lebarsfa/codac +cd codac +git submodule init +git submodule update +docker pull lebarsfa/pi:buster-for-codac +docker run --rm -v `pwd`:/io lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; \ +python3 -m pip install --upgrade auditwheel==5.1.2 && \ +sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev python3-dev patchelf || true && \ +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_armhf_buster.zip --no-check-certificate -nv && \ +unzip -q ibex_armhf_buster.zip && \ +rm -Rf ibex_armhf_buster.zip && \ +sudo cp -Rf ibex/* /usr/local/ && \ +\ +git config --global --add safe.directory /io && \ +cd /io && \ +\ +python3 -m pip install --upgrade pip && \ +mkdir -p build_dir && cd build_dir && \ +cmake -E env CXXFLAGS=\"-fPIC\" CFLAGS=\"-fPIC\" cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON .. && \ +make -j4 && \ +\ +make test ARGS=\"-V --output-on-failure\" && \ +echo \"start of Testing/Temporary/LastTest.log\" && \ +cat Testing/Temporary/LastTest.log && \ +echo \"end of Testing/Temporary/LastTest.log\" && \ +make pip_package && \ +echo \"copy wheel and clean build_dir\" && \ +for whl in *.whl; do \ +auditwheel repair \"\$whl\" -w /io/wheelhouse/ ; \ +done && \ +\ +python3 -m pip install numpy && \ +python3 -m pip install codac --no-deps --no-index -f /io/wheelhouse && \ +(cd \"\$HOME\"; python3 -m unittest discover codac.tests) && \ +cd /io" From 08f373b21e38ea940b79b379bfa4c15998406029 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 18 Apr 2024 00:02:44 +0200 Subject: [PATCH 215/256] Test specific IBEX version --- .github/workflows/dockermatrix.yml | 8 ++++---- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 14 +++++++------- .github/workflows/vcmatrix.yml | 6 +++--- packages/temporary/gennewcodacbuster_armhf.sh | 2 +- scripts/docker/build_pybinding.sh | 2 +- 6 files changed, 17 insertions(+), 17 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index b6376f880..d29394d1a 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -56,11 +56,11 @@ jobs: git config --global --add safe.directory ${PWD} && \ if [ ${{ matrix.cfg.deb }} = true ]; then \ sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ - sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ - rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ + sudo dpkg -i libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ + rm -Rf libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ else \ - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ sudo cp -Rf ibex/* /usr/ ; \ diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 804506aa9..3c312a36a 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -57,7 +57,7 @@ jobs: - run: brew install graphviz ; wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 1d021aa28..30b45aa34 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -116,23 +116,23 @@ jobs: if: (matrix.cfg.runtime=='mingw13') - run: | choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }} - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex.2.8.9.20240224.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240224 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20240224.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex.2.8.9.20240417.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240417 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20240417.nupkg if: runner.os=='Windows' - run: | # Replace these 2 lines by the next ones to test a specific binary package of IBEX. #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/$(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian/$(. /etc/os-release && echo $VERSION_CODENAME); else echo ubuntu/$(. /etc/os-release && echo $UBUNTU_CODENAME); fi) ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb --no-check-certificate -nv - sudo dpkg -i libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb - rm -Rf libibex-dev-2.8.9.20240224-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb + rm -Rf libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb shell: bash if: matrix.cfg.deb==true - run: | brew install eigen - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 300f985f4..6727cea0b 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -59,9 +59,9 @@ jobs: - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex.2.8.9.20240224.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240224 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20240224.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex.2.8.9.20240417.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240417 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20240417.nupkg - run: | mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. diff --git a/packages/temporary/gennewcodacbuster_armhf.sh b/packages/temporary/gennewcodacbuster_armhf.sh index 2d079fbc6..f9610fa06 100644 --- a/packages/temporary/gennewcodacbuster_armhf.sh +++ b/packages/temporary/gennewcodacbuster_armhf.sh @@ -14,7 +14,7 @@ docker pull lebarsfa/pi:buster-for-codac docker run --rm -v `pwd`:/io lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; \ python3 -m pip install --upgrade auditwheel==5.1.2 && \ sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev python3-dev patchelf || true && \ -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_armhf_buster.zip --no-check-certificate -nv && \ +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_armhf_buster.zip --no-check-certificate -nv && \ unzip -q ibex_armhf_buster.zip && \ rm -Rf ibex_armhf_buster.zip && \ sudo cp -Rf ibex/* /usr/local/ && \ diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 46eb240d3..5775e4a76 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,7 +2,7 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240224/ibex_$(uname -m)_manylinux2014.zip --no-check-certificate -nv +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_$(uname -m)_manylinux2014.zip --no-check-certificate -nv unzip -q ibex_$(uname -m)_manylinux2014.zip rm -Rf ibex_$(uname -m)_manylinux2014.zip sudo cp -Rf ibex/* /usr/local/ From f04651393909d3bd8aadcb92272f56fc97462199 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 17 Apr 2024 23:50:36 +0200 Subject: [PATCH 216/256] Add manylinux2014 aarch64 wheels generation --- .github/workflows/dockercentos.yml | 18 ++++++++++++++++-- scripts/wheels/gencodacwhl.sh | 4 ++-- 2 files changed, 18 insertions(+), 4 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index 7b4d5ee08..4dcd600e9 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -7,17 +7,31 @@ on: jobs: dockercentos: - name: CentOS Docker runs-on: ubuntu-latest + defaults: + run: + shell: ${{ matrix.cfg.shell }} + strategy: + fail-fast: false + matrix: + cfg: + - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, desc: 'CentOS manylinux2014 x86_64' } + - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } + name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 clean: false + - run: | + sudo apt-get -y install qemu binfmt-support qemu-user-static || true + #docker run --rm --privileged multiarch/qemu-user-static:register --reset + docker run --rm --privileged multiarch/qemu-user-static --reset -p yes + if: (matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') - run: | chmod a+x scripts/docker/build_pybinding.sh - docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_x86_64-for-codac /io/scripts/docker/build_pybinding.sh + docker run ${{ matrix.cfg.docker_flags }} --rm -v `pwd`:/io ${{ matrix.cfg.img }} /io/scripts/docker/build_pybinding.sh ls wheelhouse - uses: xresloader/upload-to-github-release@v1 env: diff --git a/scripts/wheels/gencodacwhl.sh b/scripts/wheels/gencodacwhl.sh index 14ab8af57..f58cf7821 100644 --- a/scripts/wheels/gencodacwhl.sh +++ b/scripts/wheels/gencodacwhl.sh @@ -9,13 +9,13 @@ CPCFG=m-macosx_10_14_x86_64 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_M CPCFG=m-macosx_10_9_x86_64 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv for PY_V_MIN in 6 7; do - for CPCFG in "m-macosx_11_0_arm64" "m-manylinux_2_17_x86_64.manylinux2014_x86_64" "m-win32" "m-win_amd64"; do + for CPCFG in "m-macosx_11_0_arm64" "-manylinux_2_17_aarch64.manylinux2014_aarch64" "m-manylinux_2_17_x86_64.manylinux2014_x86_64" "m-win32" "m-win_amd64"; do rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv done done for PY_V_MIN in 8 9 10 11 12; do - for CPCFG in "-macosx_10_9_x86_64" "-macosx_11_0_arm64" "-manylinux_2_17_x86_64.manylinux2014_x86_64" "-win32" "-win_amd64"; do + for CPCFG in "-macosx_10_9_x86_64" "-macosx_11_0_arm64" "-manylinux_2_17_aarch64.manylinux2014_aarch64" "-manylinux_2_17_x86_64.manylinux2014_x86_64" "-win32" "-win_amd64"; do rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv done done From 8d7a13cba1d6c31be23aaafb27c2261067d6395b Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 18 Apr 2024 15:40:38 +0200 Subject: [PATCH 217/256] Disable manylinux2014 aarch64 wheels generation since it is too long on GitHub hosted runners --- .github/workflows/dockercentos.yml | 2 +- scripts/wheels/gencodacwhl.sh | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index 4dcd600e9..9992b8ee9 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -16,7 +16,7 @@ jobs: matrix: cfg: - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, desc: 'CentOS manylinux2014 x86_64' } - - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } + # - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 diff --git a/scripts/wheels/gencodacwhl.sh b/scripts/wheels/gencodacwhl.sh index f58cf7821..14ab8af57 100644 --- a/scripts/wheels/gencodacwhl.sh +++ b/scripts/wheels/gencodacwhl.sh @@ -9,13 +9,13 @@ CPCFG=m-macosx_10_14_x86_64 PY_V_MIN=6 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_M CPCFG=m-macosx_10_9_x86_64 PY_V_MIN=7 ; rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv for PY_V_MIN in 6 7; do - for CPCFG in "m-macosx_11_0_arm64" "-manylinux_2_17_aarch64.manylinux2014_aarch64" "m-manylinux_2_17_x86_64.manylinux2014_x86_64" "m-win32" "m-win_amd64"; do + for CPCFG in "m-macosx_11_0_arm64" "m-manylinux_2_17_x86_64.manylinux2014_x86_64" "m-win32" "m-win_amd64"; do rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv done done for PY_V_MIN in 8 9 10 11 12; do - for CPCFG in "-macosx_10_9_x86_64" "-macosx_11_0_arm64" "-manylinux_2_17_aarch64.manylinux2014_aarch64" "-manylinux_2_17_x86_64.manylinux2014_x86_64" "-win32" "-win_amd64"; do + for CPCFG in "-macosx_10_9_x86_64" "-macosx_11_0_arm64" "-manylinux_2_17_x86_64.manylinux2014_x86_64" "-win32" "-win_amd64"; do rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv done done From 0fe640b1a9ba4a7d62d7ada0b1c48a1dae0b1bc0 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 22 Apr 2024 18:48:24 +0200 Subject: [PATCH 218/256] Add --prefer-binary when installing numpy --- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/vcmatrix.yml | 2 +- scripts/docker/build_pybinding.sh | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 3c312a36a..0519b4ce4 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -69,7 +69,7 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests shell: bash if: matrix.cfg.cross!=true - uses: xresloader/upload-to-github-release@v1 diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 6727cea0b..269eef29f 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -69,7 +69,7 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests + - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests shell: bash - uses: xresloader/upload-to-github-release@v1 env: diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 5775e4a76..054887d14 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -30,7 +30,7 @@ for PYBIN in /opt/python/cp3*/bin; do auditwheel repair "$whl" -w /io/wheelhouse/ done - "${PYBIN}/python" -m pip install numpy + "${PYBIN}/python" -m pip install numpy --prefer-binary "${PYBIN}/python" -m pip install codac --no-deps --no-index -f /io/wheelhouse (cd "$HOME"; "${PYBIN}/python" -m unittest discover codac.tests) cd /io From deb1d2dbc7cd0072bc9748d917b06cf1243b30e1 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Fri, 19 Apr 2024 00:46:18 +0200 Subject: [PATCH 219/256] Update temporary scripts to be able to manually build Codac on specific platforms --- packages/temporary/gennewcodacbuster_armhf.sh | 43 ----------- .../gennewcodacmanylinux2014_aarch64.sh | 9 ++- packages/temporary/gennewcodacpi_armhf.sh | 73 +++++++++++++++++++ 3 files changed, 80 insertions(+), 45 deletions(-) delete mode 100644 packages/temporary/gennewcodacbuster_armhf.sh create mode 100644 packages/temporary/gennewcodacpi_armhf.sh diff --git a/packages/temporary/gennewcodacbuster_armhf.sh b/packages/temporary/gennewcodacbuster_armhf.sh deleted file mode 100644 index f9610fa06..000000000 --- a/packages/temporary/gennewcodacbuster_armhf.sh +++ /dev/null @@ -1,43 +0,0 @@ -#!/bin/bash - -# Need to login in Docker Desktop before...? - -mkdir -p ~/Downloads/newcodac - -cd ~/Downloads/newcodac -rm -Rf codac* -git clone https://github.com/lebarsfa/codac -cd codac -git submodule init -git submodule update -docker pull lebarsfa/pi:buster-for-codac -docker run --rm -v `pwd`:/io lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; \ -python3 -m pip install --upgrade auditwheel==5.1.2 && \ -sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev python3-dev patchelf || true && \ -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_armhf_buster.zip --no-check-certificate -nv && \ -unzip -q ibex_armhf_buster.zip && \ -rm -Rf ibex_armhf_buster.zip && \ -sudo cp -Rf ibex/* /usr/local/ && \ -\ -git config --global --add safe.directory /io && \ -cd /io && \ -\ -python3 -m pip install --upgrade pip && \ -mkdir -p build_dir && cd build_dir && \ -cmake -E env CXXFLAGS=\"-fPIC\" CFLAGS=\"-fPIC\" cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON .. && \ -make -j4 && \ -\ -make test ARGS=\"-V --output-on-failure\" && \ -echo \"start of Testing/Temporary/LastTest.log\" && \ -cat Testing/Temporary/LastTest.log && \ -echo \"end of Testing/Temporary/LastTest.log\" && \ -make pip_package && \ -echo \"copy wheel and clean build_dir\" && \ -for whl in *.whl; do \ -auditwheel repair \"\$whl\" -w /io/wheelhouse/ ; \ -done && \ -\ -python3 -m pip install numpy && \ -python3 -m pip install codac --no-deps --no-index -f /io/wheelhouse && \ -(cd \"\$HOME\"; python3 -m unittest discover codac.tests) && \ -cd /io" diff --git a/packages/temporary/gennewcodacmanylinux2014_aarch64.sh b/packages/temporary/gennewcodacmanylinux2014_aarch64.sh index 018e711db..2c7863b45 100644 --- a/packages/temporary/gennewcodacmanylinux2014_aarch64.sh +++ b/packages/temporary/gennewcodacmanylinux2014_aarch64.sh @@ -1,15 +1,20 @@ #!/bin/bash -# Need to login in Docker Desktop before...? +set -e -x mkdir -p ~/Downloads/newcodac cd ~/Downloads/newcodac rm -Rf codac* git clone https://github.com/lebarsfa/codac +#git clone https://github.com/codac-team/codac cd codac git submodule init git submodule update -chmod a+x scripts/docker/build_pybinding.sh docker pull lebarsfa/manylinux2014_aarch64-for-codac + +chmod a+x scripts/docker/build_pybinding.sh docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_aarch64-for-codac /io/scripts/docker/build_pybinding.sh +ls wheelhouse + +cd .. diff --git a/packages/temporary/gennewcodacpi_armhf.sh b/packages/temporary/gennewcodacpi_armhf.sh new file mode 100644 index 000000000..4ef86486f --- /dev/null +++ b/packages/temporary/gennewcodacpi_armhf.sh @@ -0,0 +1,73 @@ +#!/bin/bash + +set -e -x + +mkdir -p ~/Downloads/newcodac + +cd ~/Downloads/newcodac +sudo rm -Rf codac* +git clone https://github.com/lebarsfa/codac +#git clone https://github.com/codac-team/codac +cd codac +git submodule init +git submodule update + +for DIST in bookworm bullseye buster; do + +docker pull lebarsfa/pi:$DIST-for-codac +docker run --rm -v `pwd`:/io lebarsfa/pi:$DIST-for-codac /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; \ +if [ \"\$(lsb_release -cs)\" = \"bookworm\" ]; then \ + PIP_OPTIONS=--break-system-packages ; \ + #python3 -m pip install \$PIP_OPTIONS --upgrade \"auditwheel\" ; \\ +else \ + PIP_OPTIONS= ; \ + #python3 -m pip install \$PIP_OPTIONS --upgrade \"auditwheel==5.1.2\" ; \\ +fi && \ +sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev python3-dev patchelf || true && \ +python3 -m pip install \$PIP_OPTIONS --upgrade patchelf --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ +python3 -m pip install \$PIP_OPTIONS --upgrade auditwheel --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ +# wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_armhf_\$(lsb_release -cs).zip --no-check-certificate -nv is causing illegal instruction on a Mac M1... \\ +curl -L -O https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_armhf_\$(lsb_release -cs).zip --insecure && \ +unzip -q ibex_armhf_\$(lsb_release -cs).zip && \ +rm -Rf ibex_armhf_\$(lsb_release -cs).zip && \ +sudo cp -Rf ibex/* /usr/local/ && \ +\ +git config --global --add safe.directory /io && \ +cd /io && \ +\ +python3 -m pip install \$PIP_OPTIONS --upgrade pip && \ +mkdir -p build_dir_\$(lsb_release -cs) && cd build_dir_\$(lsb_release -cs) && \ +cmake -E env CXXFLAGS=\"-fPIC\" CFLAGS=\"-fPIC\" cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON .. && \ +make -j4 && \ +\ +make test ARGS=\"-V --output-on-failure\" && \ +echo \"start of Testing/Temporary/LastTest.log\" && \ +cat Testing/Temporary/LastTest.log && \ +echo \"end of Testing/Temporary/LastTest.log\" && \ +make pip_package && \ +echo \"copy wheel and clean build_dir_\$(lsb_release -cs)\" && \ +for whl in *.whl; do \ + # auditwheel might fail, so instead just copy... \\ + auditwheel repair \"\$whl\" -w /io/wheelhouse/ || cp -f \"\$whl\" /io/wheelhouse/\"\$whl\" ; \ +done ; \ +#for file in /io/wheelhouse/*armv6l.whl; do \\ +# cp \"\$file\" \"\${file/armv6l/armv7l}\" ; \\ +#done ; \\ +#for file in /io/wheelhouse/*armv7l.whl; do \\ +# cp \"\$file\" \"\${file/armv7l/armv6l}\" ; \\ +#done ; \\ +\ +# Prerequisites for numpy. \\ +sudo apt-get -y install libatlas3-base || true && \ +sudo apt-get -y install libopenblas0-pthread || true && \ +sudo apt-get -y install libgfortran5 || true && \ +python3 -m pip install \$PIP_OPTIONS numpy --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ +python3 -m pip install \$PIP_OPTIONS codac --no-deps --no-index -f /io/wheelhouse && \ +(cd \"\$HOME\"; python3 -m unittest discover codac.tests) && \ +cd /io && \ +rm -fr build_dir_\$(lsb_release -cs)" +ls wheelhouse + +done + +cd .. From de9fed97620a37b752a6248faf0a58d64bd29ef0 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 18 Apr 2024 18:03:59 +0200 Subject: [PATCH 220/256] Update documentation --- doc/doc/dev/info_dev.rst | 18 +++++++- .../install/01-installation-full-linux.rst | 2 +- doc/doc/install/01-installation-python.rst | 43 ++++++++++++------- doc/doc/install/01-installation.rst | 38 ++++++++-------- 4 files changed, 65 insertions(+), 36 deletions(-) diff --git a/doc/doc/dev/info_dev.rst b/doc/doc/dev/info_dev.rst index ad90ad24e..233f3cff6 100644 --- a/doc/doc/dev/info_dev.rst +++ b/doc/doc/dev/info_dev.rst @@ -210,6 +210,10 @@ Tag the current version: git tag -a v3.0.0-beta1 git push origin v3.0.0-beta1 +.. warning:: + + | ``-beta1`` part in the version might not be always supported. + Get all the *wheels* generated by GitHub Actions (the generated release needs to be explicitely set as latest): .. code-block:: bash @@ -226,6 +230,7 @@ Upload the *wheels* on PyPi: python3 -m twine upload --repository pypi * + .. rubric:: Testing the Linux *wheels* with Docker In the :file:`codac` directory, test the x86_64 Linux configuration locally using Docker: @@ -236,7 +241,18 @@ In the :file:`codac` directory, test the x86_64 Linux configuration locally usin docker pull lebarsfa/manylinux2014_x86_64-for-codac docker run --rm -v `pwd`:/io lebarsfa/manylinux2014_x86_64-for-codac /io/scripts/docker/build_pybinding.sh -The same can be done for the ARM Linux configurations (preferably from a powerful ARM computer, such as a Mac with Apple Silicon), see `packages/temporary` folder. +The same can be done for the ARM Linux configurations (preferably from a powerful ARM computer, such as a Mac with Apple Silicon), see ``packages/temporary`` folder. + + +.. rubric:: [For admins] Upload Ubuntu packages + +Get access to https://packages.ensta-bretagne.fr/ server as a network drive from an Ubuntu computer. If not already done, run ``sudo apt install dpkg-dev curl`` to install some prerequisites. Then, run ``sudo ./getlatestcodacrelease.sh`` to download automatically the ``.deb`` files from the latest GitHub release for all the supported configurations and update the :ref:`repository database ` (or just ``sudo ./gencodac.sh`` to download automatically a specific version without updating the database). If you downloaded manually the ``.deb`` files, you can update the repository database with ``sudo ./scanpackages.sh``. + + +.. rubric:: [For admins] Upload Windows packages + +Get access to https://packages.ensta-bretagne.fr/ server as a network drive from a Windows computer. If not already done, install `Chocolatey `_ and then run ``choco install -y wget curl 7z checksum`` to install some prerequisites. Then, in ``choco`` folder, run from the Command Prompt ``getlatestcodacrelease.bat`` to generate a ``.nupkg`` from the latest GitHub release (or just ``gencodacpackages.bat`` to be able to test a specific version), then ``choco push codac.X.Y.Z.nupkg`` (need logged in Chocolatey maintainer) when the version is considered as OK to upload to the `Chocolatey repository `_. + .. rubric:: MATLAB compatibility diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index e1ede2b05..c006f25a5 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -8,7 +8,7 @@ Installing Codac on Linux for C++ use Install from package (latest release, for Ubuntu (amd64, arm64), Debian (arm64, armhf) and possibly others) ---------------------------------------------------------- +----------------------------------------------------------------------------------------------------------- A Debian package is available for the last release |version| of the library: diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index e11e65ba5..1693b0841 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -35,24 +35,35 @@ In case you want to use Codac only with Python, then the installation procedure The :gbg:`✓` configurations are officially supported at the moment: -+---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | -+===============+================+=================+=================+================+================+================+ -|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.11 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Language |Linux (amd64) |Linux (arm64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | ++===============+================+================+=================+=================+================+================+================+ +|Python 3.6 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` ||online-py|_ | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.7 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.8 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.9 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.10 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.11 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Python 3.12 |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` |:gbg:`✓` | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ If a configuration in this table does not work, please `contact us `_. +.. warning:: + + | **Debian Bookworm and possibly other configurations:** + | ``pip install ...`` or ``pip3 install ...`` commands may only work inside `virtual environments `_ or with ``--break-system-packages`` parameter, e.g.: + + .. code-block:: bash + + pip3 install --break-system-packages codac + .. warning:: | **macOS Big Sur and later (x86_64):** @@ -67,7 +78,7 @@ If a configuration in this table does not work, please `contact us `_ (not tested). + Unsupported computers can still probably follow `Installing local Python binding <../dev/info_dev.html>`_ . Update your Codac Python package diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst index 0fb0dae8d..c7898f72e 100644 --- a/doc/doc/install/01-installation.rst +++ b/doc/doc/install/01-installation.rst @@ -37,28 +37,30 @@ Codac is available in both C++17 and Python3 (:ref:`as well as MATLAB through it The :gbg:`✓` configurations are officially supported at the moment: -+---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ -|Language |Linux (amd64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | -+===============+================+=================+=================+================+================+================+ -|C++17 ||linux-cpp|_ ||win-cpp|_ ||win-cpp|_ ||macos-cpp|_ ||macos-cpp|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ -|Python 3.6 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ ||online-py|_ | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.7 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.8 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.9 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.10 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+ + -|Python 3.11 ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | -+---------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Language |Linux (amd64) |Linux (arm64) |Windows (x64) |Windows (x86) |macOS (arm64) |macOS (x86_64) |Online | ++===============+================+================+=================+=================+================+================+================+ +|C++17 ||linux-cpp|_ ||linux-cpp|_ ||win-cpp|_ ||win-cpp|_ ||macos-cpp|_ ||macos-cpp|_ | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Python 3.6 ||linux-py|_ ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ ||online-py|_ | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.7 ||linux-py|_ ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.8 ||linux-py|_ ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.9 ||linux-py|_ ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.10 ||linux-py|_ ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+ + +|Python 3.11 ||linux-py|_ ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ +|Python 3.12 ||linux-py|_ ||linux-py|_ ||win-py|_ ||win-py|_ ||macos-py|_ ||macos-py|_ | | ++---------------+----------------+----------------+-----------------+-----------------+----------------+----------------+----------------+ | **Click on the links in the table to access the related installation procedures.** | If a configuration in this table does not work, please `contact us `_. -Note that if you want to contribute to Codac, you have to make the full C++ installation. +Note that if you want to contribute to Codac, you have to make the full C++ installation from sources. From 4673b49a3ec7ea1dbcb3984856f7b2ffb3c76e9a Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 25 Apr 2024 19:50:35 +0200 Subject: [PATCH 221/256] Update temporary scripts to be able to manually build Codac on specific platforms (point from lebarsfa repo to codac-team repo) --- packages/temporary/gennewcodacmanylinux2014_aarch64.sh | 4 ++-- packages/temporary/gennewcodacpi_armhf.sh | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/packages/temporary/gennewcodacmanylinux2014_aarch64.sh b/packages/temporary/gennewcodacmanylinux2014_aarch64.sh index 2c7863b45..d0f4d1381 100644 --- a/packages/temporary/gennewcodacmanylinux2014_aarch64.sh +++ b/packages/temporary/gennewcodacmanylinux2014_aarch64.sh @@ -6,8 +6,8 @@ mkdir -p ~/Downloads/newcodac cd ~/Downloads/newcodac rm -Rf codac* -git clone https://github.com/lebarsfa/codac -#git clone https://github.com/codac-team/codac +#git clone https://github.com/lebarsfa/codac +git clone https://github.com/codac-team/codac cd codac git submodule init git submodule update diff --git a/packages/temporary/gennewcodacpi_armhf.sh b/packages/temporary/gennewcodacpi_armhf.sh index 4ef86486f..5fdf29a22 100644 --- a/packages/temporary/gennewcodacpi_armhf.sh +++ b/packages/temporary/gennewcodacpi_armhf.sh @@ -6,8 +6,8 @@ mkdir -p ~/Downloads/newcodac cd ~/Downloads/newcodac sudo rm -Rf codac* -git clone https://github.com/lebarsfa/codac -#git clone https://github.com/codac-team/codac +#git clone https://github.com/lebarsfa/codac +git clone https://github.com/codac-team/codac cd codac git submodule init git submodule update From 1980a83c4bbac0b97cce689b23c9d9b798dcd7fa Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sat, 27 Apr 2024 16:20:36 +0200 Subject: [PATCH 222/256] Add preliminary Ubuntu 24.04 amd64 support from a container, and Debian amd64 support --- .github/workflows/dockermatrix.yml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index d29394d1a..674a8d2ca 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -17,13 +17,17 @@ jobs: cfg: - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', desc: 'CentOS manylinux2014 x86_64' } - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } + - { img: 'lebarsfa/amd64:noble-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: noble, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 24.04 amd64' } - { img: 'lebarsfa/pi-64:jammy-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 arm64' } - { img: 'lebarsfa/pi-64:focal-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 arm64' } + - { img: 'lebarsfa/amd64:bookworm-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm amd64' } - { img: 'lebarsfa/pi-64:bookworm-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm arm64' } - - { img: 'lebarsfa/pi-64:bullseye-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye arm64' } - - { img: 'lebarsfa/pi-64:buster-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster arm64' } - { img: 'lebarsfa/pi:bookworm-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bookworm armv6hf' } + - { img: 'lebarsfa/amd64:bullseye-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye amd64' } + - { img: 'lebarsfa/pi-64:bullseye-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye arm64' } - { img: 'lebarsfa/pi:bullseye-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bullseye armv6hf' } + - { img: 'lebarsfa/amd64:buster-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster amd64' } + - { img: 'lebarsfa/pi-64:buster-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster arm64' } - { img: 'lebarsfa/pi:buster-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Buster armv6hf' } name: ${{ matrix.cfg.desc }} steps: From 3a0457608a91b211e8fc98b24b1a53a0885b74ed Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 5 May 2024 14:16:52 +0200 Subject: [PATCH 223/256] Update workflows --- .github/workflows/dockermatrix.yml | 4 ++-- .github/workflows/macosmatrix.yml | 5 ++--- .github/workflows/unixmatrix.yml | 2 +- .github/workflows/vcmatrix.yml | 3 +-- 4 files changed, 6 insertions(+), 8 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 674a8d2ca..b27617a9d 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -54,12 +54,12 @@ jobs: sudo apt-get -y install qemu binfmt-support qemu-user-static || true #docker run --rm --privileged multiarch/qemu-user-static:register --reset docker run --rm --privileged multiarch/qemu-user-static --reset -p yes - if: (matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') + if: (matrix.cfg.arch!='amd64')&&(matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') - run: | docker run ${{ matrix.cfg.docker_flags }} -i -v "${PWD}/..:${PWD}/.." ${{ matrix.cfg.img }} /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; cd ${PWD} && pwd && \ git config --global --add safe.directory ${PWD} && \ if [ ${{ matrix.cfg.deb }} = true ]; then \ - sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ + sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ sudo dpkg -i libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ rm -Rf libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 0519b4ce4..0d91501e1 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -1,5 +1,4 @@ -# This file generates Python wheels for Windows -# (and zip for having Codac and IBEX binaries for several Visual Studio versions) +# This file generates Python wheels for macOS on: push: branches: 'master' @@ -69,7 +68,7 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests + - run: pip install --no-deps --no-index *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests shell: bash if: matrix.cfg.cross!=true - uses: xresloader/upload-to-github-release@v1 diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 30b45aa34..969aa750f 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -1,4 +1,4 @@ -# This file generates .deb (Unix) and .nupkg (Windows) files +# This file generates .deb (Unix) and .nupkg (Windows) packages (and zip for having Codac and IBEX binaries for several Visual Studio versions) on: push: branches: '**' diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 269eef29f..8df9ff1f3 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -1,5 +1,4 @@ # This file generates Python wheels for Windows -# (and zip for having Codac and IBEX binaries for several Visual Studio versions) on: push: branches: 'master' @@ -69,7 +68,7 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests + - run: pip install --no-deps --no-index *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests shell: bash - uses: xresloader/upload-to-github-release@v1 env: From 76250338ad194c60973dc5e9c2a5f05aba3f4722 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Wed, 29 May 2024 21:26:18 +0200 Subject: [PATCH 224/256] macOS doxygen formula warnings --- .github/workflows/macosmatrix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 0d91501e1..33fb9d167 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -53,7 +53,7 @@ jobs: - run: brew install eigen if: runner.os=='macOS' # doxygen v1.9.7 causes issues... - - run: brew install graphviz ; wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects + - run: brew install graphviz ; wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall --formula ./doxygen.rb ; brew pin doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv From 87d5811801f9f7ddd54ee0b6baccf9814e09c1be Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 30 May 2024 17:12:11 +0200 Subject: [PATCH 225/256] Update workflows --- .github/workflows/unixmatrix.yml | 4 ++-- .github/workflows/vcmatrix.yml | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 969aa750f..54cbc662c 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -32,8 +32,8 @@ jobs: - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2022 x86' } - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2019 x86' } - - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2017 x86' } + - { os: windows-2019, shell: cmd, arch: x64, bitness: 64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } + - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2017 x86' } - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: mingw13, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 13.2.0 x64' } - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: mingw13, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 13.2.0 x86' } - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: mingw12, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 12.2.0 x64' } diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 8df9ff1f3..414ad10f6 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -26,10 +26,10 @@ jobs: - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x64 Python 3.9' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x64 Python 3.8' } # Should be Visual Studio 2015 for Python 3.5-3.7, but need Visual Studio 2017 for C++17 compatibility...? - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x86 Python 3.7' } - - { os: windows-2022, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x86 Python 3.6' } - - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x64 Python 3.7' } - - { os: windows-2022, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 17" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x64 Python 3.6' } + - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x86 Python 3.7' } + - { os: windows-2019, shell: cmd, arch: x86, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', choco_flags: '--x86', cpcfg: 'm-win32', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x86 Python 3.6' } + - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 7, desc: 'Windows Visual Studio 2017 x64 Python 3.7' } + - { os: windows-2019, shell: cmd, arch: x64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cpcfg: 'm-win_amd64', py_v_maj: 3, py_v_min: 6, desc: 'Windows Visual Studio 2017 x64 Python 3.6' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 From c8b5378bf7cd22298323ad82d705c684d357674e Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 18:41:13 +0200 Subject: [PATCH 226/256] Update install_ibex.sh --- scripts/dependencies/install_ibex.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/dependencies/install_ibex.sh b/scripts/dependencies/install_ibex.sh index da3cb7cfe..e115fb321 100644 --- a/scripts/dependencies/install_ibex.sh +++ b/scripts/dependencies/install_ibex.sh @@ -7,7 +7,7 @@ if [ ! -e "ibex-lib/README.md" ]; then cd ibex-lib ; mkdir build && cd build ; cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -DCMAKE_INSTALL_PREFIX=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Debug .. ; - make ; + make -j 4 ; else echo 'Using cached directory.' ; fi From 4990feef8d2ed5efda416b01f058be855c7c7a68 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 20:14:32 +0200 Subject: [PATCH 227/256] Update gencodacwhl.sh --- scripts/wheels/gencodacwhl.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/wheels/gencodacwhl.sh b/scripts/wheels/gencodacwhl.sh index 14ab8af57..014e0812c 100644 --- a/scripts/wheels/gencodacwhl.sh +++ b/scripts/wheels/gencodacwhl.sh @@ -14,7 +14,7 @@ for PY_V_MIN in 6 7; do done done -for PY_V_MIN in 8 9 10 11 12; do +for PY_V_MIN in 8 9 10 11 12 13; do for CPCFG in "-macosx_10_9_x86_64" "-macosx_11_0_arm64" "-manylinux_2_17_x86_64.manylinux2014_x86_64" "-win32" "-win_amd64"; do rm -Rf codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl ; wget https://github.com/codac-team/codac/releases/download/v$PACKAGE_VERSION/codac-$PACKAGE_VERSION-cp$PY_V_MAJ$PY_V_MIN-cp$PY_V_MAJ$PY_V_MIN$CPCFG.whl --no-check-certificate -nv done From 42d9d6147be243d291b1c6a058392ec357abcde5 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 17:49:12 +0200 Subject: [PATCH 228/256] Update build_pybinding.sh --- scripts/docker/build_pybinding.sh | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 054887d14..4970615ba 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -16,23 +16,27 @@ for PYBIN in /opt/python/cp3*/bin; do #fi "${PYBIN}/python" -m pip install --upgrade pip + "${PYBIN}/python" -m pip install --upgrade wheel setuptools mkdir -p build_dir && cd build_dir cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -DPYTHON_EXECUTABLE=${PYBIN}/python -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON .. make -j4 - make test ARGS="-V --output-on-failure" - echo "start of Testing/Temporary/LastTest.log" - cat Testing/Temporary/LastTest.log - echo "end of Testing/Temporary/LastTest.log" make pip_package echo "copy wheel and clean build_dir" for whl in *.whl; do auditwheel repair "$whl" -w /io/wheelhouse/ done - "${PYBIN}/python" -m pip install numpy --prefer-binary "${PYBIN}/python" -m pip install codac --no-deps --no-index -f /io/wheelhouse - (cd "$HOME"; "${PYBIN}/python" -m unittest discover codac.tests) + "${PYBIN}/python" ../examples/tuto/01_getting_started/01_getting_started.py + "${PYBIN}/python" -m pip install numpy --prefer-binary + "${PYBIN}/python" -m unittest discover codac.tests + + make test ARGS="-V --output-on-failure" + echo "start of Testing/Temporary/LastTest.log" + cat Testing/Temporary/LastTest.log + echo "end of Testing/Temporary/LastTest.log" + cd /io rm -fr build_dir From 7298adc25294700b49a010634597c24c2418f06c Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 18:44:23 +0200 Subject: [PATCH 229/256] Update gennewcodacpi_armhf.sh --- packages/temporary/gennewcodacpi_armhf.sh | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/packages/temporary/gennewcodacpi_armhf.sh b/packages/temporary/gennewcodacpi_armhf.sh index 5fdf29a22..0c4e1992f 100644 --- a/packages/temporary/gennewcodacpi_armhf.sh +++ b/packages/temporary/gennewcodacpi_armhf.sh @@ -36,14 +36,11 @@ git config --global --add safe.directory /io && \ cd /io && \ \ python3 -m pip install \$PIP_OPTIONS --upgrade pip && \ +python3 -m pip install \$PIP_OPTIONS --upgrade wheel setuptools && \ mkdir -p build_dir_\$(lsb_release -cs) && cd build_dir_\$(lsb_release -cs) && \ cmake -E env CXXFLAGS=\"-fPIC\" CFLAGS=\"-fPIC\" cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DWITH_PYTHON=ON .. && \ make -j4 && \ \ -make test ARGS=\"-V --output-on-failure\" && \ -echo \"start of Testing/Temporary/LastTest.log\" && \ -cat Testing/Temporary/LastTest.log && \ -echo \"end of Testing/Temporary/LastTest.log\" && \ make pip_package && \ echo \"copy wheel and clean build_dir_\$(lsb_release -cs)\" && \ for whl in *.whl; do \ @@ -57,13 +54,20 @@ done ; \ # cp \"\$file\" \"\${file/armv7l/armv6l}\" ; \\ #done ; \\ \ +python3 -m pip install \$PIP_OPTIONS codac --no-deps --no-index -f /io/wheelhouse && \ +python3 ../examples/tuto/01_getting_started/01_getting_started.py && \ # Prerequisites for numpy. \\ sudo apt-get -y install libatlas3-base || true && \ sudo apt-get -y install libopenblas0-pthread || true && \ sudo apt-get -y install libgfortran5 || true && \ python3 -m pip install \$PIP_OPTIONS numpy --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ -python3 -m pip install \$PIP_OPTIONS codac --no-deps --no-index -f /io/wheelhouse && \ -(cd \"\$HOME\"; python3 -m unittest discover codac.tests) && \ +python3 -m unittest discover codac.tests && \ +\ +make test ARGS=\"-V --output-on-failure\" && \ +echo \"start of Testing/Temporary/LastTest.log\" && \ +cat Testing/Temporary/LastTest.log && \ +echo \"end of Testing/Temporary/LastTest.log\" ; \ +\ cd /io && \ rm -fr build_dir_\$(lsb_release -cs)" ls wheelhouse From e455113da6a40712c86c7cadb432d1d6667aac66 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 19:20:13 +0200 Subject: [PATCH 230/256] Update dockercentos.yml --- .github/workflows/dockercentos.yml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index 9992b8ee9..309b3d6db 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -1,7 +1,9 @@ # This files generates Python wheels for Linux on: push: - branches: 'master' + branches: + - master + - codac4matlab tags: '' # Restrict to blank tags pull_request: @@ -40,4 +42,4 @@ jobs: file: "wheelhouse/*.whl" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') + if: (github.event_name!='pull_request')&&((github.ref_name=='master')||(github.ref_name=='codac4matlab')) From 3d08c2a69352db23e288192408d8fc3f3e3dcc92 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 19:58:43 +0200 Subject: [PATCH 231/256] Update macosmatrix.yml --- .github/workflows/macosmatrix.yml | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 33fb9d167..d4d2c2e2f 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -1,7 +1,9 @@ # This file generates Python wheels for macOS on: push: - branches: 'master' + branches: + - master + - codac4matlab tags: '' # Restrict to blank tags pull_request: @@ -18,6 +20,7 @@ jobs: fail-fast: false matrix: cfg: + - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 13, desc: 'macOS Sonoma Python 3.13 arm64' } - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Sonoma Python 3.12 arm64' } - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Sonoma Python 3.11 arm64' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, cross: true, desc: 'macOS Monterey Python 3.10 arm64 (cross)' } @@ -25,6 +28,7 @@ jobs: - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, cross: true, desc: 'macOS Monterey Python 3.8 arm64 (cross)' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, cross: true, desc: 'macOS Monterey Python 3.7 arm64 (cross)' } - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, cross: true, desc: 'macOS Monterey Python 3.6 arm64 (cross)' } + - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 13, desc: 'macOS Monterey Python 3.13 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Monterey Python 3.12 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Monterey Python 3.11 x86_64' } - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Monterey Python 3.10 x86_64' } @@ -68,9 +72,6 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install --no-deps --no-index *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests - shell: bash - if: matrix.cfg.cross!=true - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} @@ -78,4 +79,13 @@ jobs: file: "*.whl" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') + if: (github.event_name!='pull_request')&&((github.ref_name=='master')||(github.ref_name=='codac4matlab')) + - run: | + pip install --no-deps --no-index *.whl + python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py + pip install numpy --prefer-binary + python -m unittest discover codac.tests + #cd build && ctest -C Release -V --output-on-failure + #cd .. + shell: bash + if: (matrix.cfg.cross!=true)&&(github.ref_name!='codac4matlab') From a943290072a2667dccc94a0604466ebd2e16e1b8 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 19:23:26 +0200 Subject: [PATCH 232/256] Update vcmatrix.yml --- .github/workflows/vcmatrix.yml | 21 ++++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 414ad10f6..5cf28d0fa 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -1,7 +1,9 @@ # This file generates Python wheels for Windows on: push: - branches: 'master' + branches: + - master + - codac4matlab tags: '' # Restrict to blank tags pull_request: @@ -15,11 +17,13 @@ jobs: fail-fast: false matrix: cfg: + - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 13, desc: 'Windows Visual Studio 2022 x86 Python 3.13' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 12, desc: 'Windows Visual Studio 2022 x86 Python 3.12' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x86 Python 3.11' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x86 Python 3.10' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x86 Python 3.9' } - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x86 Python 3.8' } + - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 13, desc: 'Windows Visual Studio 2022 x64 Python 3.13' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 12, desc: 'Windows Visual Studio 2022 x64 Python 3.12' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x64 Python 3.11' } - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x64 Python 3.10' } @@ -55,7 +59,7 @@ jobs: if: runner.os=='Windows' - run: choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }} if: runner.os=='Windows' - - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects + - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex.2.8.9.20240417.nupkg --no-check-certificate -nv @@ -68,8 +72,6 @@ jobs: cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. shell: bash - - run: pip install --no-deps --no-index *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy --prefer-binary ; python -m unittest discover codac.tests - shell: bash - uses: xresloader/upload-to-github-release@v1 env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} @@ -77,4 +79,13 @@ jobs: file: "*.whl" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') + if: (github.event_name!='pull_request')&&((github.ref_name=='master')||(github.ref_name=='codac4matlab')) + - run: | + pip install --no-deps --no-index *.whl + python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py + pip install numpy --prefer-binary + python -m unittest discover codac.tests + #cd build && ctest -C Release -V --output-on-failure + #cd .. + shell: bash + if: (github.ref_name!='codac4matlab') From 6f2a2000d3a16c57f663be89e0150fd50e1558eb Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 20:03:45 +0200 Subject: [PATCH 233/256] Update tests.yml --- .github/workflows/tests.yml | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index a26b2b890..24de99eac 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -12,7 +12,7 @@ jobs: fail-fast: false matrix: cfg: - - { os: ubuntu-20.04, gcc_v: 8, py_v_maj: 3, py_v_min: 6, desc: 'Ubuntu 20.04 GCC 8 Python 3.6 tests' } + - { os: ubuntu-24.04, gcc_v: 11, py_v_maj: 3, py_v_min: 10, desc: 'Ubuntu 24.04 GCC 11 Python 3.10 tests' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 @@ -24,11 +24,16 @@ jobs: with: python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} - run: | + # Installing gcc + sudo apt install build-essential manpages-dev software-properties-common + sudo add-apt-repository ppa:ubuntu-toolchain-r/test + sudo apt-get -q update ; sudo apt-get -y install gcc-${{ matrix.cfg.gcc_v }} g++-${{ matrix.cfg.gcc_v }} || true sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.cfg.gcc_v }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.cfg.gcc_v }} gcc --version g++ --version + pip install --upgrade --force-reinstall setuptools python -c "import sys; print(sys.version)" pip --version @@ -78,7 +83,7 @@ jobs: # Building lib + tests cmake -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DWITH_PYTHON=OFF -DBUILD_TESTS=ON -DWITH_TUBE_TREE=OFF -DWITH_CAPD=OFF -DTEST_EXAMPLES=ON .. ##-DPYTHON_EXECUTABLE=/usr/bin/python3.5 .. - make + make -j 4 #make doc # todo make install #cd python/python_package From e091d35b839c4dbf9a788708fb44344424740ebb Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 20:12:23 +0200 Subject: [PATCH 234/256] Update unixmatrix.yml --- .github/workflows/unixmatrix.yml | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 54cbc662c..659b1e5b2 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -44,8 +44,11 @@ jobs: - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: mingw8, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 8.1.0 x86' } - { os: windows-2019, shell: cmd, arch: x64, bitness: 64, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 7.3.0 x64' } - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' } + - { os: ubuntu-24.04, shell: bash, arch: amd64, bitness: 64, runtime: noble, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 24.04 amd64' } - { os: ubuntu-22.04, shell: bash, arch: amd64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 amd64' } - { os: ubuntu-20.04, shell: bash, arch: amd64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 amd64' } + - { os: macos-15, shell: bash, arch: arm64, bitness: 64, runtime: sequoia, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Sequoia arm64' } + - { os: macos-15, shell: bash, arch: x86_64, bitness: 64, runtime: sequoia, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Sequoia x86_64 (cross)' } - { os: macos-14, shell: bash, arch: arm64, bitness: 64, runtime: sonoma, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Sonoma arm64' } - { os: macos-14, shell: bash, arch: x86_64, bitness: 64, runtime: sonoma, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Sonoma x86_64 (cross)' } - { os: macos-13, shell: bash, arch: arm64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Ventura arm64 (cross)' } @@ -70,7 +73,7 @@ jobs: echo "CHOCO_PACKAGE_REV=" >> $GITHUB_ENV echo "VERBOSE=1" >> $GITHUB_ENV shell: bash - - run: if [ -z "$CHOCO_PACKAGE_REV" ]; then echo "PACKAGE_VERSION=$SOFTWARE_VERSION" >> $GITHUB_ENV ; else echo "PACKAGE_VERSION=$SOFTWARE_VERSION.$CHOCO_PACKAGE_REV" >> $GITHUB_ENV ; fi + - run: if [ -z "$CHOCO_PACKAGE_REV" ]; then echo "PACKAGE_VERSION=${SOFTWARE_VERSION/.dev*/-dev.$(date +%Y%m%d)}" >> $GITHUB_ENV ; else echo "PACKAGE_VERSION=$SOFTWARE_VERSION.$CHOCO_PACKAGE_REV" >> $GITHUB_ENV ; fi shell: bash if: runner.os=='Windows' - run: echo "PACKAGE_VERSION=$SOFTWARE_VERSION-${DEBIAN_PACKAGE_REV}${{ matrix.cfg.runtime }}$PACKAGE_REV" >> $GITHUB_ENV @@ -168,7 +171,7 @@ jobs: ./${{ matrix.cfg.test_config }}my_project cd ../.. shell: bash - if: matrix.cfg.cross!=true + if: (matrix.cfg.cross!=true)&&(github.ref_name!='codac4matlab') - run: | source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH cd packages/choco @@ -220,4 +223,4 @@ jobs: ./${{ matrix.cfg.test_config }}my_project cd ../.. shell: bash - if: matrix.cfg.cross!=true + if: (matrix.cfg.cross!=true)&&(github.ref_name!='codac4matlab') From 28432caced171f93cc3c2408964918f5fb124bfe Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 19:20:19 +0200 Subject: [PATCH 235/256] Update dockermatrix.yml --- .github/workflows/dockermatrix.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index b27617a9d..f36eba26f 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -17,7 +17,7 @@ jobs: cfg: - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', desc: 'CentOS manylinux2014 x86_64' } - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } - - { img: 'lebarsfa/amd64:noble-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: noble, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 24.04 amd64' } + - { img: 'lebarsfa/pi-64:noble-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: noble, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 24.04 arm64' } - { img: 'lebarsfa/pi-64:jammy-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 arm64' } - { img: 'lebarsfa/pi-64:focal-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 arm64' } - { img: 'lebarsfa/amd64:bookworm-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm amd64' } @@ -59,6 +59,7 @@ jobs: docker run ${{ matrix.cfg.docker_flags }} -i -v "${PWD}/..:${PWD}/.." ${{ matrix.cfg.img }} /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; cd ${PWD} && pwd && \ git config --global --add safe.directory ${PWD} && \ if [ ${{ matrix.cfg.deb }} = true ]; then \ + #sudo sh -c 'echo \"deb [trusted=yes] https://packages.ensta-bretagne.fr/\$(if [ -z \"\$(. /etc/os-release && echo \$UBUNTU_CODENAME)\" ]; then echo debian/\$(. /etc/os-release && echo \$VERSION_CODENAME); else echo ubuntu/\$(. /etc/os-release && echo \$UBUNTU_CODENAME); fi) ./\" > /etc/apt/sources.list.d/ensta-bretagne.list' && \\ sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ sudo dpkg -i libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ @@ -75,7 +76,6 @@ jobs: cd .. && \ zip -q -r codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac && \ mkdir -p codac_standalone/example ; cd codac_standalone && \ - wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0.20240224 --no-check-certificate -nv ; unzip -q 3.4.0.20240224 -d eigen ; rm -Rf 3.4.0.20240224 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools && \ if [ ${{ matrix.cfg.deb }} = true ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ ; \ else cp -Rf ../ibex . ; \ fi && \ From 7fba83d289e6a5fb8919a35fd44ceb43c0343780 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 20:29:03 +0200 Subject: [PATCH 236/256] Branches management --- .github/workflows/dockercentos.yml | 13 ++++++++----- .github/workflows/dockermatrix.yml | 11 +++++++++-- .github/workflows/macosmatrix.yml | 9 +++++---- .github/workflows/tests.yml | 5 ++++- .github/workflows/unixmatrix.yml | 10 +++++----- .github/workflows/vcmatrix.yml | 9 +++++---- 6 files changed, 36 insertions(+), 21 deletions(-) diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml index 309b3d6db..770f2b303 100644 --- a/.github/workflows/dockercentos.yml +++ b/.github/workflows/dockercentos.yml @@ -2,8 +2,9 @@ on: push: branches: - - master - - codac4matlab + - codac1 + - codac2 + - codac2_codac4matlab tags: '' # Restrict to blank tags pull_request: @@ -32,8 +33,10 @@ jobs: docker run --rm --privileged multiarch/qemu-user-static --reset -p yes if: (matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') - run: | - chmod a+x scripts/docker/build_pybinding.sh - docker run ${{ matrix.cfg.docker_flags }} --rm -v `pwd`:/io ${{ matrix.cfg.img }} /io/scripts/docker/build_pybinding.sh + chmod a+x scripts/docker/*.sh + if [ ${{ github.ref_name }} = 'codac2_codac4matlab' ] || [ ${{ github.event.pull_request.base.ref }} = 'codac2_codac4matlab' ]; then docker run ${{ matrix.cfg.docker_flags }} --rm -v `pwd`:/io ${{ matrix.cfg.img }} /io/scripts/docker/build_pybinding_codac4matlab.sh + else docker run ${{ matrix.cfg.docker_flags }} --rm -v `pwd`:/io ${{ matrix.cfg.img }} /io/scripts/docker/build_pybinding.sh + fi ls wheelhouse - uses: xresloader/upload-to-github-release@v1 env: @@ -42,4 +45,4 @@ jobs: file: "wheelhouse/*.whl" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name!='pull_request')&&((github.ref_name=='master')||(github.ref_name=='codac4matlab')) + if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab')) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index f36eba26f..194aa9c60 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -1,9 +1,16 @@ # This file checks that the lib runs on ARM on: push: - branches: 'master' + branches: + - codac1 + - codac2 + # The following is implied by above selection... + #branches-ignore: + #- codac2_codac4matlab tags: '' # Restrict to blank tags pull_request: + branches-ignore: + - codac2_codac4matlab jobs: dockermatrix: @@ -109,4 +116,4 @@ jobs: file: "*.zip;*.deb" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request') + if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab')) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index d4d2c2e2f..1742f8827 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -2,8 +2,9 @@ on: push: branches: - - master - - codac4matlab + - codac1 + - codac2 + - codac2_codac4matlab tags: '' # Restrict to blank tags pull_request: @@ -79,7 +80,7 @@ jobs: file: "*.whl" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name!='pull_request')&&((github.ref_name=='master')||(github.ref_name=='codac4matlab')) + if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab')) - run: | pip install --no-deps --no-index *.whl python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py @@ -88,4 +89,4 @@ jobs: #cd build && ctest -C Release -V --output-on-failure #cd .. shell: bash - if: (matrix.cfg.cross!=true)&&(github.ref_name!='codac4matlab') + if: (matrix.cfg.cross!=true)&&(github.ref_name!='codac2_codac4matlab')&&(github.event.pull_request.base.ref!='codac2_codac4matlab') diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index 24de99eac..93e3b198d 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -1,9 +1,12 @@ # Unit tests on: push: - branches: '**' + branches-ignore: + - codac2_codac4matlab tags: '' # Restrict to blank tags pull_request: + branches-ignore: + - codac2_codac4matlab jobs: tests: diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 659b1e5b2..a191e0232 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -6,9 +6,9 @@ on: pull_request: jobs: - # This job may be commented if a new release should not be created... deploy: runs-on: ubuntu-latest + if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab')) steps: - uses: softprops/action-gh-release@v2 id: create_release @@ -17,10 +17,10 @@ jobs: with: draft: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') unixmatrix: runs-on: ${{ matrix.cfg.os }} + if: (github.ref_name!='codac2_codac4matlab')&&(github.event.pull_request.base.ref!='codac2_codac4matlab') defaults: run: shell: ${{ matrix.cfg.shell }} @@ -171,7 +171,7 @@ jobs: ./${{ matrix.cfg.test_config }}my_project cd ../.. shell: bash - if: (matrix.cfg.cross!=true)&&(github.ref_name!='codac4matlab') + if: (matrix.cfg.cross!=true) - run: | source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH cd packages/choco @@ -212,7 +212,7 @@ jobs: file: "*.zip;*.nupkg;*.deb" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name != 'pull_request')&&(github.ref_name == 'master') + if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab')) - run: | if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi rm -Rf codac @@ -223,4 +223,4 @@ jobs: ./${{ matrix.cfg.test_config }}my_project cd ../.. shell: bash - if: (matrix.cfg.cross!=true)&&(github.ref_name!='codac4matlab') + if: (matrix.cfg.cross!=true) diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 5cf28d0fa..7d9d0460a 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -2,8 +2,9 @@ on: push: branches: - - master - - codac4matlab + - codac1 + - codac2 + - codac2_codac4matlab tags: '' # Restrict to blank tags pull_request: @@ -79,7 +80,7 @@ jobs: file: "*.whl" overwrite: true tag_name: autotagname-${{ github.sha }} - if: (github.event_name!='pull_request')&&((github.ref_name=='master')||(github.ref_name=='codac4matlab')) + if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab')) - run: | pip install --no-deps --no-index *.whl python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py @@ -88,4 +89,4 @@ jobs: #cd build && ctest -C Release -V --output-on-failure #cd .. shell: bash - if: (github.ref_name!='codac4matlab') + if: (github.ref_name!='codac2_codac4matlab')&&(github.event.pull_request.base.ref!='codac2_codac4matlab') From 7e843914e15101289cb3d1a1b95d6bf25fff48b0 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 20 Oct 2024 15:45:35 +0200 Subject: [PATCH 237/256] macOS Monterey EOL --- .github/workflows/macosmatrix.yml | 26 +++++++++++++------------- .github/workflows/unixmatrix.yml | 2 -- 2 files changed, 13 insertions(+), 15 deletions(-) diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index 1742f8827..a99812df2 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -24,19 +24,19 @@ jobs: - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 13, desc: 'macOS Sonoma Python 3.13 arm64' } - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Sonoma Python 3.12 arm64' } - { os: macos-14, shell: bash, arch: arm64, runtime: sonoma, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Sonoma Python 3.11 arm64' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, cross: true, desc: 'macOS Monterey Python 3.10 arm64 (cross)' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, cross: true, desc: 'macOS Monterey Python 3.9 arm64 (cross)' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, cross: true, desc: 'macOS Monterey Python 3.8 arm64 (cross)' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, cross: true, desc: 'macOS Monterey Python 3.7 arm64 (cross)' } - - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, cross: true, desc: 'macOS Monterey Python 3.6 arm64 (cross)' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 13, desc: 'macOS Monterey Python 3.13 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Monterey Python 3.12 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Monterey Python 3.11 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Monterey Python 3.10 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Monterey Python 3.9 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Monterey Python 3.8 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: 'm-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Monterey Python 3.7 x86_64' } - - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: 'm-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Monterey Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. + - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, cross: true, desc: 'macOS Ventura Python 3.10 arm64 (cross)' } + - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, cross: true, desc: 'macOS Ventura Python 3.9 arm64 (cross)' } + - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, cross: true, desc: 'macOS Ventura Python 3.8 arm64 (cross)' } + - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, cross: true, desc: 'macOS Ventura Python 3.7 arm64 (cross)' } + - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: 'm-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, cross: true, desc: 'macOS Ventura Python 3.6 arm64 (cross)' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 13, desc: 'macOS Ventura Python 3.13 x86_64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Ventura Python 3.12 x86_64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Ventura Python 3.11 x86_64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Ventura Python 3.10 x86_64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Ventura Python 3.9 x86_64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Ventura Python 3.8 x86_64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: 'm-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Ventura Python 3.7 x86_64' } + - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_flags: '-fPIC', trgt: '10.14', cpcfg: 'm-macosx_10_14_x86_64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Ventura Python 3.6 x86_64' } # 10.14 because of error $MACOSX_DEPLOYMENT_TARGET mismatch: now "10.9" but "10.14" during configure. name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index a191e0232..8e0ea167e 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -53,8 +53,6 @@ jobs: - { os: macos-14, shell: bash, arch: x86_64, bitness: 64, runtime: sonoma, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Sonoma x86_64 (cross)' } - { os: macos-13, shell: bash, arch: arm64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Ventura arm64 (cross)' } - { os: macos-13, shell: bash, arch: x86_64, bitness: 64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Ventura x86_64' } - - { os: macos-12, shell: bash, arch: arm64, bitness: 64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', cross: true, desc: 'macOS Monterey arm64 (cross)' } - - { os: macos-12, shell: bash, arch: x86_64, bitness: 64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 From ebf52d39899dc3e66f3600a8d5b9f3e78cc67e04 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 3 Nov 2024 15:58:09 +0100 Subject: [PATCH 238/256] Update doc about CMake project install problem on Windows --- doc/doc/install/01-installation-full-windows.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/doc/install/01-installation-full-windows.rst b/doc/doc/install/01-installation-full-windows.rst index d52a27757..3580d6fd9 100644 --- a/doc/doc/install/01-installation-full-windows.rst +++ b/doc/doc/install/01-installation-full-windows.rst @@ -49,4 +49,8 @@ The logic to follow will then be similar to `Linux <01-installation-full-linux.h cmake --build . --config Release --target install +.. warning:: + + | You might need to replace all occurences of :literal:`PATH_SUFFIXES \ ` with something similar to :literal:`PATHS ${CMAKE_CURRENT_LIST_FILE}/../../../../ PATH_SUFFIXES \ ` in all ``.cmake`` in ``codac/share/codac/cmake/`` (where Codac was installed) if a CMake project that tries to use Codac appears to find its installation location but fails to configure the project properly. + See also `Information for developers `_. From 18fc8d1d0d1c85b82eb9d713b24f69b75850029a Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 3 Nov 2024 19:44:20 +0100 Subject: [PATCH 239/256] Test specific IBEX version --- .github/workflows/dockermatrix.yml | 8 ++++---- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 14 +++++++------- .github/workflows/vcmatrix.yml | 6 +++--- packages/temporary/gennewcodacpi_armhf.sh | 4 ++-- scripts/dependencies/install_ibex.sh | 3 ++- scripts/docker/build_pybinding.sh | 2 +- 7 files changed, 20 insertions(+), 19 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 194aa9c60..6f6386100 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -68,11 +68,11 @@ jobs: if [ ${{ matrix.cfg.deb }} = true ]; then \ #sudo sh -c 'echo \"deb [trusted=yes] https://packages.ensta-bretagne.fr/\$(if [ -z \"\$(. /etc/os-release && echo \$UBUNTU_CODENAME)\" ]; then echo debian/\$(. /etc/os-release && echo \$VERSION_CODENAME); else echo ubuntu/\$(. /etc/os-release && echo \$UBUNTU_CODENAME); fi) ./\" > /etc/apt/sources.list.d/ensta-bretagne.list' && \\ sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ - sudo dpkg -i libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ - rm -Rf libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ + sudo dpkg -i libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ + rm -Rf libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ else \ - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ sudo cp -Rf ibex/* /usr/ ; \ diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index a99812df2..c41d53e96 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -61,7 +61,7 @@ jobs: - run: brew install graphviz ; wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall --formula ./doxygen.rb ; brew pin doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 8e0ea167e..063452282 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -117,23 +117,23 @@ jobs: if: (matrix.cfg.runtime=='mingw13') - run: | choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }} - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex.2.8.9.20240417.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240417 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20240417.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex.2.8.9.20241103.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20241103 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20241103.nupkg if: runner.os=='Windows' - run: | # Replace these 2 lines by the next ones to test a specific binary package of IBEX. #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/$(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian/$(. /etc/os-release && echo $VERSION_CODENAME); else echo ubuntu/$(. /etc/os-release && echo $UBUNTU_CODENAME); fi) ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb --no-check-certificate -nv - sudo dpkg -i libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb - rm -Rf libibex-dev-2.8.9.20240417-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb + rm -Rf libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb shell: bash if: matrix.cfg.deb==true - run: | brew install eigen - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 7d9d0460a..5dfecfe79 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -63,9 +63,9 @@ jobs: - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex.2.8.9.20240417.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20240417 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20240417.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex.2.8.9.20241103.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20241103 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20241103.nupkg - run: | mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. diff --git a/packages/temporary/gennewcodacpi_armhf.sh b/packages/temporary/gennewcodacpi_armhf.sh index 0c4e1992f..bd34e6537 100644 --- a/packages/temporary/gennewcodacpi_armhf.sh +++ b/packages/temporary/gennewcodacpi_armhf.sh @@ -26,8 +26,8 @@ fi && \ sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev python3-dev patchelf || true && \ python3 -m pip install \$PIP_OPTIONS --upgrade patchelf --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ python3 -m pip install \$PIP_OPTIONS --upgrade auditwheel --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ -# wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_armhf_\$(lsb_release -cs).zip --no-check-certificate -nv is causing illegal instruction on a Mac M1... \\ -curl -L -O https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_armhf_\$(lsb_release -cs).zip --insecure && \ +# wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_armhf_\$(lsb_release -cs).zip --no-check-certificate -nv is causing illegal instruction on a Mac M1... \\ +curl -L -O https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_armhf_\$(lsb_release -cs).zip --insecure && \ unzip -q ibex_armhf_\$(lsb_release -cs).zip && \ rm -Rf ibex_armhf_\$(lsb_release -cs).zip && \ sudo cp -Rf ibex/* /usr/local/ && \ diff --git a/scripts/dependencies/install_ibex.sh b/scripts/dependencies/install_ibex.sh index e115fb321..069399baa 100644 --- a/scripts/dependencies/install_ibex.sh +++ b/scripts/dependencies/install_ibex.sh @@ -3,7 +3,8 @@ cd $HOME echo 'Installing IBEX in ' $HOME '...'; if [ ! -e "ibex-lib/README.md" ]; then - git clone -b master https://github.com/lebarsfa/ibex-lib.git ; + #git clone -b master https://github.com/lebarsfa/ibex-lib.git ; + git clone -b ibex-2.8.9.20241103 https://github.com/lebarsfa/ibex-lib.git ; # To test a specific version of IBEX... cd ibex-lib ; mkdir build && cd build ; cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -DCMAKE_INSTALL_PREFIX=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Debug .. ; diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 4970615ba..3df4a5ee7 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,7 +2,7 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20240417/ibex_$(uname -m)_manylinux2014.zip --no-check-certificate -nv +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_$(uname -m)_manylinux2014.zip --no-check-certificate -nv unzip -q ibex_$(uname -m)_manylinux2014.zip rm -Rf ibex_$(uname -m)_manylinux2014.zip sudo cp -Rf ibex/* /usr/local/ From b30142e2b055ff311beef6e05cbf14681f5693ce Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 17 Nov 2024 14:29:07 +0100 Subject: [PATCH 240/256] Update doc to remove occurrences of old website www.ibex-lib.org --- doc/doc/index.rst | 6 +++--- doc/doc/install/01-installation-full-linux.rst | 2 +- doc/doc/manual/01-introduction/index.rst | 2 +- doc/doc/manual/02-variables/01-var-static.rst | 2 +- doc/doc/manual/02-variables/02-var-dynamic.rst | 4 ++-- doc/doc/manual/03-domains/01-dom-intervals.rst | 6 +++--- doc/doc/manual/04-static-contractors/01-ctc-function.rst | 4 ++-- doc/doc/tutorial-jnrr23/01-basics/index.rst | 2 +- doc/doc/tutorial/01-basics/index.rst | 2 +- doc/doc/tutorial/03-static-rangebearing/index.rst | 2 +- .../core/domains/interval/codac_py_IntervalVector_docs.h | 2 +- python/src/core/domains/interval/codac_py_Interval_docs.h | 2 +- python/src/core/domains/interval/codac_py_bisectors_docs.h | 2 +- src/core/separators/codac_SepProj.h | 2 +- 14 files changed, 20 insertions(+), 20 deletions(-) diff --git a/doc/doc/index.rst b/doc/doc/index.rst index d9ee818c2..6486a01fb 100644 --- a/doc/doc/index.rst +++ b/doc/doc/index.rst @@ -60,7 +60,7 @@ In a nutshell, Codac is a **constraint programming framework** providing tools t .. **Mobile robotics** has been the initial motivation of this project: the mathematical tools provided in Codac come together with robotic applications. -.. Computations stands on the `IBEX library `_ that provides reliable tools for static systems. +.. Computations stands on the `IBEX library `_ that provides reliable tools for static systems. Getting started: 2 minutes to Codac @@ -254,8 +254,8 @@ Then you have two options: read the details about the features of Codac (domains .. Figure:: img/logo_ibex.jpg :align: center - | Note that Codac stands on the `IBEX library `_ for interval analysis computations and static contractors on boxes. - | `Read the IBEX documentation. `_ + | Note that Codac stands on the `IBEX library `_ for interval analysis computations and static contractors on boxes. + | `Read the IBEX documentation. `_ .. .. rubric:: pyIbex .. diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index c006f25a5..5047c14c2 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -55,7 +55,7 @@ In case you prefer the latest development version, Codac can be installed by com Requirements ^^^^^^^^^^^^ -Codac uses several features of the `IBEX library `_ that you have to install first. The last version of IBEX is maintained on `this unofficial development repository `_: +Codac uses several features of the `IBEX library `_ that you have to install first. The last version of IBEX is maintained on `this unofficial development repository `_: .. code-block:: bash diff --git a/doc/doc/manual/01-introduction/index.rst b/doc/doc/manual/01-introduction/index.rst index 2daf4c40a..ec6af2c57 100644 --- a/doc/doc/manual/01-introduction/index.rst +++ b/doc/doc/manual/01-introduction/index.rst @@ -41,7 +41,7 @@ What about the IBEX library? .. Figure:: ../../img/logo_ibex.jpg :align: left -The `IBEX library `_ is a C++ software for constraint processing over real numbers. +The `IBEX library `_ is a C++ software for constraint processing over real numbers. As for Codac, it stands on Constraint Programming but focuses on static contexts, providing reliable algorithms for handling non-linear constraints. It also proposes various tools such as the *IbexSolve* and *IbexOpt* plugins that are dedicated to system solving and optimization, and come both with a default black-box solver and global optimizer for immediate usage. diff --git a/doc/doc/manual/02-variables/01-var-static.rst b/doc/doc/manual/02-variables/01-var-static.rst index aa3aaea89..809d86d3b 100644 --- a/doc/doc/manual/02-variables/01-var-static.rst +++ b/doc/doc/manual/02-variables/01-var-static.rst @@ -16,7 +16,7 @@ Note also that they are not involved during the process of constraint propagatio .. Figure:: ../../img/logo_ibex.jpg :align: right - These static variables come from the `IBEX library `_. They are briefly presented here for the sake of consistency. For more information, please refer to the `IBEX documentation `_ for C++ use. + These static variables come from the `IBEX library `_. They are briefly presented here for the sake of consistency. For more information, please refer to the `IBEX documentation `_ for C++ use. .. _sec-manual-varstatic-vectors: diff --git a/doc/doc/manual/02-variables/02-var-dynamic.rst b/doc/doc/manual/02-variables/02-var-dynamic.rst index d728a8b39..b93688dd0 100644 --- a/doc/doc/manual/02-variables/02-var-dynamic.rst +++ b/doc/doc/manual/02-variables/02-var-dynamic.rst @@ -35,7 +35,7 @@ A simple temporal function [#f1]_ can be defined and used for building a traject Interval tdomain(0.,10.); // temporal domain: [t_0,t_f] Trajectory x(tdomain, TFunction("cos(t)+sin(2*t)")); // defining x(·) as: t ↦ cos(t)+sin(2t) -Usual functions such as :math:`\cos`, :math:`\log`, *etc.* can be used to define a ``TFunction`` object. The convention used for these definitions is the one of IBEX (`read more `_). Note that the system variable :math:`t` is a predefined variable of ``TFunction`` objects, that does not appear in IBEX's objects. +Usual functions such as :math:`\cos`, :math:`\log`, *etc.* can be used to define a ``TFunction`` object. The convention used for these definitions is the one of IBEX (`read more `_). Note that the system variable :math:`t` is a predefined variable of ``TFunction`` objects, that does not appear in IBEX's objects. The evaluation of a trajectory at some time :math:`t`, for instance :math:`z=x(t)`, is performed with parentheses: @@ -472,7 +472,7 @@ Next pages will present several methods to use *tubes* that are envelopes of tra .. rubric:: Footnotes -.. [#f1] In Codac, a ``codac::TFunction`` is the extension of IBEX's ``Function`` objects, for the dynamical case (see more `about IBEX's functions `_). +.. [#f1] In Codac, a ``codac::TFunction`` is the extension of IBEX's ``Function`` objects, for the dynamical case (see more `about IBEX's functions `_). .. admonition:: Technical documentation diff --git a/doc/doc/manual/03-domains/01-dom-intervals.rst b/doc/doc/manual/03-domains/01-dom-intervals.rst index 10d9dc541..dbcd2dec2 100644 --- a/doc/doc/manual/03-domains/01-dom-intervals.rst +++ b/doc/doc/manual/03-domains/01-dom-intervals.rst @@ -14,7 +14,7 @@ The vectors :math:`\mathbf{x}` and matrices :math:`\mathbf{X}`, presented :ref:` .. Figure:: ../../img/logo_ibex.jpg :align: right - These interval variables come from the `IBEX library `_. They are briefly presented here for the sake of consistency. For more information, please refer to the `IBEX documentation `_ for C++ use. + These interval variables come from the `IBEX library `_. They are briefly presented here for the sake of consistency. For more information, please refer to the `IBEX documentation `_ for C++ use. .. _sec-manual-intervals-domains: @@ -169,7 +169,7 @@ Intervals, boxes and interval matrices .. _sec-manual-intervals-matrices: * | ``IntervalMatrix`` is also available. - | One can refer to the `documentation of IBEX `_ for more information. + | One can refer to the `documentation of IBEX `_ for more information. .. note:: @@ -227,7 +227,7 @@ For boxes (interval vectors), we have to specify their dimension even in case of Set operations -------------- -Set operations are available for ``Interval``, ``IntervalVector`` and ``IntervalMatrix`` objects (see the `official reference `_). In the following table, if :math:`[x]` is an interval object, :math:`d` is a real value. +Set operations are available for ``Interval``, ``IntervalVector`` and ``IntervalMatrix`` objects (see the `official reference `_). In the following table, if :math:`[x]` is an interval object, :math:`d` is a real value. ==================================== ======================================================= Code Meaning diff --git a/doc/doc/manual/04-static-contractors/01-ctc-function.rst b/doc/doc/manual/04-static-contractors/01-ctc-function.rst index 9b61811ca..30517200c 100644 --- a/doc/doc/manual/04-static-contractors/01-ctc-function.rst +++ b/doc/doc/manual/04-static-contractors/01-ctc-function.rst @@ -53,7 +53,7 @@ Definition .. Figure:: ../../img/logo_ibex.jpg :align: right - This contractor originates from the `IBEX library `_. It is briefly presented here for the sake of consistency. For more information, please refer to the `IBEX documentation `_ for C++. + This contractor originates from the `IBEX library `_. It is briefly presented here for the sake of consistency. For more information, please refer to the `IBEX documentation `_ for C++. .. rubric:: Optimality @@ -221,7 +221,7 @@ The above illustration reveals several contracted boxes with the new ``ctc_f`` c Going further ------------- -This ``CtcFunction`` class is a generic shortcut to deal with :math:`\mathbf{f}(\mathbf{x})=\mathbf{0}` or :math:`\mathbf{f}(\mathbf{x})\in[\mathbf{y}]`. However, several algorithms exist to optimally deal with different classes of problems. A list of static contractors is provided in the IBEX library: `see more `_. +This ``CtcFunction`` class is a generic shortcut to deal with :math:`\mathbf{f}(\mathbf{x})=\mathbf{0}` or :math:`\mathbf{f}(\mathbf{x})\in[\mathbf{y}]`. However, several algorithms exist to optimally deal with different classes of problems. A list of static contractors is provided in the IBEX library: `see more `_. The user is invited to use an appropriate tool to deal with the constraint at stake. The IBEX contractor behind ``CtcFunction`` is a ``CtcFwdBwd`` coupled with a ``Ctc3BCid``. diff --git a/doc/doc/tutorial-jnrr23/01-basics/index.rst b/doc/doc/tutorial-jnrr23/01-basics/index.rst index 32033e2e5..0d4b30ff4 100644 --- a/doc/doc/tutorial-jnrr23/01-basics/index.rst +++ b/doc/doc/tutorial-jnrr23/01-basics/index.rst @@ -459,4 +459,4 @@ We now have all the material to compute a solver for state estimation in the nex .. rubric:: Footnotes -.. [#f1] C++ objects originates from the `IBEX library `_. \ No newline at end of file +.. [#f1] C++ objects originates from the `IBEX library `_. \ No newline at end of file diff --git a/doc/doc/tutorial/01-basics/index.rst b/doc/doc/tutorial/01-basics/index.rst index 86262497c..1fa18afa4 100644 --- a/doc/doc/tutorial/01-basics/index.rst +++ b/doc/doc/tutorial/01-basics/index.rst @@ -443,4 +443,4 @@ We now have all the material to compute a solver for state estimation in the nex .. rubric:: Footnotes -.. [#f1] C++ objects originates from the `IBEX library `_. \ No newline at end of file +.. [#f1] C++ objects originates from the `IBEX library `_. \ No newline at end of file diff --git a/doc/doc/tutorial/03-static-rangebearing/index.rst b/doc/doc/tutorial/03-static-rangebearing/index.rst index e0d5bef36..cf79598cd 100644 --- a/doc/doc/tutorial/03-static-rangebearing/index.rst +++ b/doc/doc/tutorial/03-static-rangebearing/index.rst @@ -78,7 +78,7 @@ Problems involving complex equations can be broken down into a set of **primitiv where :math:`a,b,\dots,e` are intermediate variables used for the decomposition. This constitutes a network made of the :math:`\mathcal{L}_{-}`, :math:`\mathcal{L}_{+}`, :math:`\mathcal{L}_{(\cdot)^2}`, and :math:`\mathcal{L}_{\sqrt{\cdot}}` elementary constraints. -| The library (more precisely: `the IBEX library `_) provides a way to automatically make this decomposition, select already existing **elementary contractors** such as :math:`\mathcal{C}_{+}`, :math:`\mathcal{C}_{(\cdot)^2}`, :math:`\mathcal{C}_{\sqrt{\cdot}}` and build the complex contractor modeling the constraint :math:`\mathcal{L}_{\textrm{dist}}`. +| The library (more precisely: `the IBEX library `_) provides a way to automatically make this decomposition, select already existing **elementary contractors** such as :math:`\mathcal{C}_{+}`, :math:`\mathcal{C}_{(\cdot)^2}`, :math:`\mathcal{C}_{\sqrt{\cdot}}` and build the complex contractor modeling the constraint :math:`\mathcal{L}_{\textrm{dist}}`. | This was implicitly done in the previous :ref:`Lesson A ` with: .. tabs:: diff --git a/python/src/core/domains/interval/codac_py_IntervalVector_docs.h b/python/src/core/domains/interval/codac_py_IntervalVector_docs.h index 500cc19f4..385254b9a 100644 --- a/python/src/core/domains/interval/codac_py_IntervalVector_docs.h +++ b/python/src/core/domains/interval/codac_py_IntervalVector_docs.h @@ -13,7 +13,7 @@ const char* DOCS_INTERVALVECTOR_TYPE = R"doc_itv(An IntervalVector is a cartesian product of Intervals The docs string is taken from ibex_IntervalVector.h source file -For more information read doc from http://www.ibex-lib.org/ +For more information read doc from https://github.com/ibex-team/ibex-lib/ An IntervalVector can be initialized with: diff --git a/python/src/core/domains/interval/codac_py_Interval_docs.h b/python/src/core/domains/interval/codac_py_Interval_docs.h index aba26665c..6097bdc67 100644 --- a/python/src/core/domains/interval/codac_py_Interval_docs.h +++ b/python/src/core/domains/interval/codac_py_Interval_docs.h @@ -14,7 +14,7 @@ const char* DOCS_INTERVAL_TYPE = R"doc_itv(An Interval represents a closed sub set of R The docs string is taken from ibex_Interval.h source file -For more information read doc from http://www.ibex-lib.org/ +For more information read doc from https://github.com/ibex-team/ibex-lib/ Examples: >>> a = Interval(1,2) diff --git a/python/src/core/domains/interval/codac_py_bisectors_docs.h b/python/src/core/domains/interval/codac_py_bisectors_docs.h index b67714b9b..e29827b7a 100644 --- a/python/src/core/domains/interval/codac_py_bisectors_docs.h +++ b/python/src/core/domains/interval/codac_py_bisectors_docs.h @@ -25,7 +25,7 @@ R"_docs(Generic bisector \link ibex::Bsc::prec precision \endlink parameter of this class. The docs string is taken from ibex_Bsc.h source file - For more information read doc from http://www.ibex-lib.org/ + For more information read doc from https://github.com/ibex-team/ibex-lib/ )_docs"; diff --git a/src/core/separators/codac_SepProj.h b/src/core/separators/codac_SepProj.h index d10d0b4be..4b85201f4 100644 --- a/src/core/separators/codac_SepProj.h +++ b/src/core/separators/codac_SepProj.h @@ -239,7 +239,7 @@ typedef struct ImpactStatus_{ * The separator algorythm is inspired from the ibexlib ones * but performs the inner and outer contraction concurently. * - * See Ibexlib (CtcForAll and CtcExist)[http://www.ibex-lib.org/doc/contractor.html#exists-and-forall] + * See Ibexlib (CtcForAll and CtcExist)[https://ibex-team.github.io/ibex-lib/contractor.html#exists-and-forall] * documentation for more details. */ class SepProj : public Sep { From 0389518efda8e935c3daed837362116fc3ec0b49 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 17 Nov 2024 15:07:16 +0100 Subject: [PATCH 241/256] Update doc about GAOL --- doc/doc/install/01-installation-full-linux.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index 5047c14c2..3730d5e29 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -77,6 +77,10 @@ Codac uses several features of the `IBEX library `_ and `GAOL `_ with CMake and `specify where they are `_ to build IBEX successfully and have accurate computations. + .. admonition:: Debug/development mode Note that the :code:`-DCMAKE_BUILD_TYPE=Debug` option will slightly slow down your computations, but display useful error messages in case of failure conditions such as access violations. **It is highly recommended** for your developments. To use it: From 322f8dc2baa0ca5f37e5496b8edce8d15ad2a7f4 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 17 Nov 2024 15:39:27 +0100 Subject: [PATCH 242/256] Test specific IBEX version --- .github/workflows/dockermatrix.yml | 8 ++++---- .github/workflows/macosmatrix.yml | 2 +- .github/workflows/unixmatrix.yml | 14 +++++++------- .github/workflows/vcmatrix.yml | 6 +++--- packages/temporary/gennewcodacpi_armhf.sh | 4 ++-- scripts/dependencies/install_ibex.sh | 2 +- scripts/docker/build_pybinding.sh | 2 +- 7 files changed, 19 insertions(+), 19 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 6f6386100..7f6f62787 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -68,11 +68,11 @@ jobs: if [ ${{ matrix.cfg.deb }} = true ]; then \ #sudo sh -c 'echo \"deb [trusted=yes] https://packages.ensta-bretagne.fr/\$(if [ -z \"\$(. /etc/os-release && echo \$UBUNTU_CODENAME)\" ]; then echo debian/\$(. /etc/os-release && echo \$VERSION_CODENAME); else echo ubuntu/\$(. /etc/os-release && echo \$UBUNTU_CODENAME); fi) ./\" > /etc/apt/sources.list.d/ensta-bretagne.list' && \\ sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ - sudo dpkg -i libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ - rm -Rf libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/libibex-dev-2.8.9.20241117-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ + sudo dpkg -i libibex-dev-2.8.9.20241117-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb && \ + rm -Rf libibex-dev-2.8.9.20241117-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb ; \ else \ - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv && \ unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip && \ sudo cp -Rf ibex/* /usr/ ; \ diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml index c41d53e96..532a16379 100644 --- a/.github/workflows/macosmatrix.yml +++ b/.github/workflows/macosmatrix.yml @@ -61,7 +61,7 @@ jobs: - run: brew install graphviz ; wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall --formula ./doxygen.rb ; brew pin doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects if: runner.os=='macOS' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 063452282..1b1ec9c2a 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -117,23 +117,23 @@ jobs: if: (matrix.cfg.runtime=='mingw13') - run: | choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }} - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex.2.8.9.20241103.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20241103 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20241103.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex.2.8.9.20241117.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20241117 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20241117.nupkg if: runner.os=='Windows' - run: | # Replace these 2 lines by the next ones to test a specific binary package of IBEX. #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/$(if [ -z "$(. /etc/os-release && echo $UBUNTU_CODENAME)" ]; then echo debian/$(. /etc/os-release && echo $VERSION_CODENAME); else echo ubuntu/$(. /etc/os-release && echo $UBUNTU_CODENAME); fi) ./" > /etc/apt/sources.list.d/ensta-bretagne.list' #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb --no-check-certificate -nv - sudo dpkg -i libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb - rm -Rf libibex-dev-2.8.9.20241103-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/libibex-dev-2.8.9.20241117-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb --no-check-certificate -nv + sudo dpkg -i libibex-dev-2.8.9.20241117-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb + rm -Rf libibex-dev-2.8.9.20241117-0${{ matrix.cfg.runtime }}0_$(dpkg --print-architecture).deb shell: bash if: matrix.cfg.deb==true - run: | brew install eigen - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip sudo cp -Rf ibex/* /usr/local/ diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 5dfecfe79..91516af96 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -63,9 +63,9 @@ jobs: - run: wget https://packages.ensta-bretagne.fr/choco/doxygen.install.1.9.6.nupkg --no-check-certificate -nv & choco upgrade -y -r --no-progress -s . doxygen.install --version=1.9.6 & del /f /q doxygen.install.1.9.6.nupkg & choco install -y -r --no-progress graphviz & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects if: runner.os=='Windows' - run: | - wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex.2.8.9.20241103.nupkg --no-check-certificate -nv - choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20241103 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" - del /f /q ibex.2.8.9.20241103.nupkg + wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex.2.8.9.20241117.nupkg --no-check-certificate -nv + choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20241117 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'" + del /f /q ibex.2.8.9.20241117.nupkg - run: | mkdir build ; cd build cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. diff --git a/packages/temporary/gennewcodacpi_armhf.sh b/packages/temporary/gennewcodacpi_armhf.sh index bd34e6537..9f7ef3d53 100644 --- a/packages/temporary/gennewcodacpi_armhf.sh +++ b/packages/temporary/gennewcodacpi_armhf.sh @@ -26,8 +26,8 @@ fi && \ sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev python3-dev patchelf || true && \ python3 -m pip install \$PIP_OPTIONS --upgrade patchelf --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ python3 -m pip install \$PIP_OPTIONS --upgrade auditwheel --prefer-binary --extra-index-url https://www.piwheels.org/simple && \ -# wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_armhf_\$(lsb_release -cs).zip --no-check-certificate -nv is causing illegal instruction on a Mac M1... \\ -curl -L -O https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_armhf_\$(lsb_release -cs).zip --insecure && \ +# wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_armhf_\$(lsb_release -cs).zip --no-check-certificate -nv is causing illegal instruction on a Mac M1... \\ +curl -L -O https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_armhf_\$(lsb_release -cs).zip --insecure && \ unzip -q ibex_armhf_\$(lsb_release -cs).zip && \ rm -Rf ibex_armhf_\$(lsb_release -cs).zip && \ sudo cp -Rf ibex/* /usr/local/ && \ diff --git a/scripts/dependencies/install_ibex.sh b/scripts/dependencies/install_ibex.sh index 069399baa..40c682d41 100644 --- a/scripts/dependencies/install_ibex.sh +++ b/scripts/dependencies/install_ibex.sh @@ -4,7 +4,7 @@ cd $HOME echo 'Installing IBEX in ' $HOME '...'; if [ ! -e "ibex-lib/README.md" ]; then #git clone -b master https://github.com/lebarsfa/ibex-lib.git ; - git clone -b ibex-2.8.9.20241103 https://github.com/lebarsfa/ibex-lib.git ; # To test a specific version of IBEX... + git clone -b ibex-2.8.9.20241117 https://github.com/lebarsfa/ibex-lib.git ; # To test a specific version of IBEX... cd ibex-lib ; mkdir build && cd build ; cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -DCMAKE_INSTALL_PREFIX=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Debug .. ; diff --git a/scripts/docker/build_pybinding.sh b/scripts/docker/build_pybinding.sh index 3df4a5ee7..9e8b9563c 100755 --- a/scripts/docker/build_pybinding.sh +++ b/scripts/docker/build_pybinding.sh @@ -2,7 +2,7 @@ set -e -x -wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241103/ibex_$(uname -m)_manylinux2014.zip --no-check-certificate -nv +wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/ibex_$(uname -m)_manylinux2014.zip --no-check-certificate -nv unzip -q ibex_$(uname -m)_manylinux2014.zip rm -Rf ibex_$(uname -m)_manylinux2014.zip sudo cp -Rf ibex/* /usr/local/ From e428172eaf45da2436805164a1354887f8275c62 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 25 Nov 2024 11:58:00 +0100 Subject: [PATCH 243/256] Undefining __STRICT_ANSI__ may cause issues on recent MinGW versions --- CMakeLists.txt | 5 ----- 1 file changed, 5 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7678c8b5e..ec8717dbc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -62,11 +62,6 @@ # add_compile_options(-std=c++17) # else() # message(FATAL_ERROR "Codac needs a compiler with C++17 support") -# endif() - -# if(WIN32) -# # We need this for strdup under Windows (see issue #287 of ibex-lib repo) -# add_definitions(-U__STRICT_ANSI__) # endif() #if(NOT CMAKE_CXX_STANDARD) From b7749cbacb8cdebaa808d5bdc43243983f5d63e3 Mon Sep 17 00:00:00 2001 From: Simon Rohou Date: Fri, 29 Nov 2024 09:52:51 +0100 Subject: [PATCH 244/256] [doc] updated manual (transition v1 .. v2) --- doc/CMakeLists.txt | 2 +- doc/doc/conf.py.in | 3 +++ .../install/01-installation-full-linux.rst | 19 ++++++++++--------- .../install/01-installation-full-macos.rst | 10 +++++----- .../install/01-installation-full-windows.rst | 12 ++++++------ doc/doc/install/01-installation-python.rst | 11 ++++++----- doc/doc/tutorial/01-basics/index.rst | 6 +++--- doc/doc/tutorial/05-tubes/index.rst | 2 +- 8 files changed, 35 insertions(+), 30 deletions(-) diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt index 58ba02ac2..0d9dff3bf 100644 --- a/doc/CMakeLists.txt +++ b/doc/CMakeLists.txt @@ -88,7 +88,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/mathjax_stmaryrd.js if(WIN32) set(SPHINX_EXECUTABLE "sphinx-build") else() - set(SPHINX_EXECUTABLE "python3.6" "-msphinx") # todo: replace python3.6 by python3 + set(SPHINX_EXECUTABLE "python3" "-msphinx") endif() add_custom_target(doc diff --git a/doc/doc/conf.py.in b/doc/doc/conf.py.in index 211ece693..ef8ca2071 100644 --- a/doc/doc/conf.py.in +++ b/doc/doc/conf.py.in @@ -63,6 +63,9 @@ rst_prolog = """ :class: underline .. role:: right-aligned-note :class: right-aligned-note + +.. seealso:: + This manual refers to Codac v1, but a new v2 implementation is currently in progress... an update of this manual will be available soon. `See more `_. """ # GitHub repo diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index 3730d5e29..7f3c19ed6 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -2,15 +2,15 @@ .. _sec-installation-full-linux: -##################################### -Installing Codac on Linux for C++ use -##################################### +######################################## +Installing Codac v1 on Linux for C++ use +######################################## Install from package (latest release, for Ubuntu (amd64, arm64), Debian (arm64, armhf) and possibly others) ----------------------------------------------------------------------------------------------------------- -A Debian package is available for the last release |version| of the library: +A Debian package is available for the last release 1.5.6 of the library: .. code-block:: bash @@ -18,7 +18,7 @@ A Debian package is available for the last release |version| of the library: sudo apt update sudo apt install libcodac-dev -Then, check your installation `with the instructions of this page <03-start-cpp-project.html>`_. +Then, check your installation :ref:`with the instructions of this page `. .. warning:: @@ -47,8 +47,8 @@ Then, check your installation `with the instructions of this page <03-start-cpp- and check that "My first tube:Tube [0, 10]" appears. -Install from sources (latest development) ------------------------------------------ +Install from sources (latest development of v1) +----------------------------------------------- In case you prefer the latest development version, Codac can be installed by compiling the sources. @@ -100,6 +100,7 @@ The last sources are available on `the official Codac development repository `_ before running your program. +Do not forget to launch the :ref:`VIBes viewer ` before running your program. (for experts) Additional installation options @@ -179,4 +180,4 @@ Do not forget to launch the `VIBes viewer <01-installation.html#graphical-tools> export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$HOME/ibex-lib/build_install export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$HOME/codac/build_install -See also `Information for developers `_. +See also :ref:`Information for developers `. diff --git a/doc/doc/install/01-installation-full-macos.rst b/doc/doc/install/01-installation-full-macos.rst index c0ca9f64c..b8790c9f9 100644 --- a/doc/doc/install/01-installation-full-macos.rst +++ b/doc/doc/install/01-installation-full-macos.rst @@ -2,9 +2,9 @@ .. _sec-installation-full-macos: -##################################### -Installing Codac on macOS for C++ use -##################################### +######################################## +Installing Codac v1 on macOS for C++ use +######################################## Quick start @@ -18,7 +18,7 @@ Install `Homebrew package manager `_ and build tools: brew install wget autoconf automake libtool brew install --cask cmake -Download and extract *e.g.* ``codac_standalone_arm64_monterey.zip`` (for macOS 12 Monterey on a Mac with Apple silicon (arm64 processor), use ``codac_standalone_x86_64_monterey.zip`` for a Mac with an Intel processor (x86_64 processor), see https://support.apple.com/en-us/116943) from ``_, then in ``example`` folder run: +Download and extract *e.g.* ``codac_standalone_arm64_monterey.zip`` (for macOS 12 Monterey on a Mac with Apple silicon (arm64 processor), use ``codac_standalone_x86_64_monterey.zip`` for a Mac with an Intel processor (x86_64 processor), see https://support.apple.com/en-us/116943) from ``_, then in ``example`` folder run: .. code-block:: bash @@ -47,4 +47,4 @@ Optionally, for Python and documentation: python -m pip install --upgrade pip pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects -The logic to follow will then be similar to `Linux <01-installation-full-linux.html>`_. See also `Information for developers `_. +The logic to follow will then be similar to :ref:`Linux `. See also :ref:`Information for developers `. \ No newline at end of file diff --git a/doc/doc/install/01-installation-full-windows.rst b/doc/doc/install/01-installation-full-windows.rst index 3580d6fd9..238a12ee4 100644 --- a/doc/doc/install/01-installation-full-windows.rst +++ b/doc/doc/install/01-installation-full-windows.rst @@ -2,9 +2,9 @@ .. _sec-installation-full-windows: -####################################### -Installing Codac on Windows for C++ use -####################################### +########################################## +Installing Codac v1 on Windows for C++ use +########################################## Quick start @@ -17,7 +17,7 @@ Check https://community.chocolatey.org/packages/codac. .. rubric:: Using Visual Studio -Download and extract *e.g.* ``codac_standalone_x64_vc17.zip`` (for Visual Studio 2022) from ``_, open ``example\CMakelists.txt``, choose ``x64-Release`` configuration in Visual Studio (instead of ``x64-Debug``), double-click on ``main.cpp`` in the Solution Explorer and then click on the green Start button, finally check that "My first tube:Tube [0, 10]" appears. +Download and extract *e.g.* ``codac_standalone_x64_vc17.zip`` (for Visual Studio 2022) from ``_, open ``example\CMakelists.txt``, choose ``x64-Release`` configuration in Visual Studio (instead of ``x64-Debug``), double-click on ``main.cpp`` in the Solution Explorer and then click on the green Start button, finally check that "My first tube:Tube [0, 10]" appears. Optionally, download and run ``_ before running the project, and check that a tube appears in :ref:`VIBes viewer `. @@ -43,7 +43,7 @@ Optionally, for Python (*e.g.* ``choco install python --version=3.10.4``) and do python -m pip install --upgrade pip pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects -The logic to follow will then be similar to `Linux <01-installation-full-linux.html>`_ (note that for Visual Studio, commands such as ``make install`` need to be replaced with something similar to: +The logic to follow will then be similar to :ref:`Linux ` (note that for Visual Studio, commands such as ``make install`` need to be replaced with something similar to: .. code-block:: bash @@ -53,4 +53,4 @@ The logic to follow will then be similar to `Linux <01-installation-full-linux.h | You might need to replace all occurences of :literal:`PATH_SUFFIXES \ ` with something similar to :literal:`PATHS ${CMAKE_CURRENT_LIST_FILE}/../../../../ PATH_SUFFIXES \ ` in all ``.cmake`` in ``codac/share/codac/cmake/`` (where Codac was installed) if a CMake project that tries to use Codac appears to find its installation location but fails to configure the project properly. -See also `Information for developers `_. +See also :ref:`Information for developers `. diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 1693b0841..36de03e19 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -2,9 +2,9 @@ .. _sec-installation-py: -############################### -Installing Codac for Python use -############################### +################################## +Installing Codac v1 for Python use +################################## .. note:: @@ -19,7 +19,8 @@ In case you want to use Codac only with Python, then the installation procedure # You may have to upgrade pip (19.0.0 required at least) pip3 install --upgrade pip - pip3 install codac + pip3 install codac==1.5.6 + # latest release of Codac v1 is 1.5.6 .. role:: gbg @@ -78,7 +79,7 @@ If a configuration in this table does not work, please `contact us `_ . + Unsupported computers can still probably follow :ref:`Installing local Python binding `. Update your Codac Python package diff --git a/doc/doc/tutorial/01-basics/index.rst b/doc/doc/tutorial/01-basics/index.rst index 1fa18afa4..d78c10358 100644 --- a/doc/doc/tutorial/01-basics/index.rst +++ b/doc/doc/tutorial/01-basics/index.rst @@ -1,13 +1,13 @@ .. _sec-tuto-01: +Lesson A: Getting started with intervals and contractors +======================================================== + .. # define a hard line break for HTML .. |br| raw:: html
-Lesson A: Getting started with intervals and contractors -======================================================== - Now that Codac has been installed on your computer or usable online, we will get used to intervals, constraints and networks of contractors. This will allow you to perform the state estimation of a static robot between some landmarks by the end of :ref:`Lesson B `. diff --git a/doc/doc/tutorial/05-tubes/index.rst b/doc/doc/tutorial/05-tubes/index.rst index 3928e8ffb..3e248a27a 100644 --- a/doc/doc/tutorial/05-tubes/index.rst +++ b/doc/doc/tutorial/05-tubes/index.rst @@ -299,7 +299,7 @@ For instance, one can contract three tubes :math:`[a](\cdot)`, :math:`[b](\cdot) \mathbf{y}(t)=\mathbf{g}\big(\mathbf{x}(t)\big) & & \textrm{(observation equation)} \end{array}\right. - **E.10.** We first focus on the observation equation :math:`\mathbf{y}(t)=\mathbf{g}\big(\mathbf{x}(t)\big)`. Build a contractor network and contract the tube :math:`[\mathbf{x}](\cdot)` with the distance contractor, that expresses :math:`\mathbf{g}`. Note that this contractor is already defined in the library. You developed your own version as an exercise in :ref:`sec-tuto-01`, but you can also use: + **E.10.** We first focus on the observation equation :math:`\mathbf{y}(t)=\mathbf{g}\big(\mathbf{x}(t)\big)`. Build a contractor network and contract the tube :math:`[\mathbf{x}](\cdot)` with the distance contractor, that expresses :math:`\mathbf{g}`. Note that this contractor is already defined in the library. You developed your own version as an exercise in :ref:`Lesson A `, but you can also use: .. tabs:: From 577cd18ff8b0df76fba5f2289acdaa707da7361f Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 1 Dec 2024 15:11:07 +0100 Subject: [PATCH 245/256] /MP flag for Visual Studio may allow more parallelization possibilities --- .github/workflows/unixmatrix.yml | 12 ++++++------ .github/workflows/vcmatrix.yml | 2 +- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index 1b1ec9c2a..a7c76922c 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -28,12 +28,12 @@ jobs: fail-fast: false matrix: cfg: - - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } - - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2022 x86' } - - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } - - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2019 x86' } - - { os: windows-2019, shell: cmd, arch: x64, bitness: 64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } - - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', cmake_flags: ' /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2017 x86' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cmake_flags: ' /MP4 /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2022 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', cmake_flags: ' /MP4 /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2022 x86' } + - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cmake_flags: ' /MP4 /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2019 x64' } + - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', cmake_flags: ' /MP4 /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2019 x86' } + - { os: windows-2019, shell: cmd, arch: x64, bitness: 64, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A x64', cmake_flags: ' /MP4 /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', desc: 'Windows Visual Studio 2017 x64' } + - { os: windows-2019, shell: cmd, arch: x86, bitness: 32, runtime: vc15, cmake_params: '-G "Visual Studio 16" -T v141 -A Win32', cmake_flags: ' /MP4 /wd4267 /wd4244 /wd4305 /wd4996', test_config: 'Release/', choco_flags: '--x86', desc: 'Windows Visual Studio 2017 x86' } - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: mingw13, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 13.2.0 x64' } - { os: windows-2022, shell: cmd, arch: x86, bitness: 32, runtime: mingw13, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 13.2.0 x86' } - { os: windows-2022, shell: cmd, arch: x64, bitness: 64, runtime: mingw12, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', desc: 'Windows MinGW 12.2.0 x64' } diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml index 91516af96..ae9ee2de1 100644 --- a/.github/workflows/vcmatrix.yml +++ b/.github/workflows/vcmatrix.yml @@ -68,7 +68,7 @@ jobs: del /f /q ibex.2.8.9.20241117.nupkg - run: | mkdir build ; cd build - cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. + cmake -E env CXXFLAGS=" /MP4 /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /MP4 /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON .. cmake --build . -j 4 --config Release --target install cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"` cd .. From 8cbeadad4128744d35c7e901fc6459afd39955aa Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 19 Jan 2025 16:14:56 +0100 Subject: [PATCH 246/256] Add "ctest -C Debug -V --output-on-failure" to unixmatrix.yml --- .github/workflows/unixmatrix.yml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml index a7c76922c..c1190be22 100644 --- a/.github/workflows/unixmatrix.yml +++ b/.github/workflows/unixmatrix.yml @@ -143,7 +143,7 @@ jobs: - run: | if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi mkdir build ; cd build - cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" .. + cmake -E env CXXFLAGS="${{ matrix.cfg.cmake_flags }}" CFLAGS="${{ matrix.cfg.cmake_flags }}" cmake ${{ matrix.cfg.cmake_params }} -D BUILD_TESTS=ON -D CMAKE_INSTALL_PREFIX="../codac" .. cmake --build . -j 4 --config Debug --target install cd .. sed_param=s/PATH_SUFFIXES\ /PATHS\ \$\{CMAKE_CURRENT_LIST_FILE\}\\/..\\/..\\/..\\/..\\/\ PATH_SUFFIXES\ / @@ -211,6 +211,12 @@ jobs: overwrite: true tag_name: autotagname-${{ github.sha }} if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab')) + - run: | + if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi + cd build && ctest -C Debug -V --output-on-failure + cd .. + shell: bash + if: (matrix.cfg.cross!=true) - run: | if [ ${{ runner.os }} = Windows ]; then source ~/refreshenv.bashrc ; refreshenv ; export PATH=$BASHMINGWPATH:$PATH ; fi rm -Rf codac From 705da3d733237179cecc63516bf5802b4c4c4c4d Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 20 Jan 2025 22:09:32 +0100 Subject: [PATCH 247/256] Adjust the minimum required CMake version to be consistent with the C++17 requirement and to solve some compatibility issues with future versions of certain dependencies --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ec8717dbc..8f1cb31a4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,7 @@ # Codac - cmake configuration file # ================================================================== - cmake_minimum_required(VERSION 3.0.2) + cmake_minimum_required(VERSION 3.8) list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/scripts/CMakeModules/) include(version_from_git) From 2296c1abf48282a4a581168bc836d42fa6252807 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 20 Jan 2025 22:00:41 +0100 Subject: [PATCH 248/256] Corrections for the tests to pass in all configurations --- src/core/2/domains/interval/codac2_IntervalMatrix.h | 4 ++-- src/core/contractors/dyn/codac_CtcPicard.h | 3 ++- src/core/geometry/codac_GrahamScan.h | 12 ++++++------ 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/src/core/2/domains/interval/codac2_IntervalMatrix.h b/src/core/2/domains/interval/codac2_IntervalMatrix.h index 19a5038fd..865fc1ef6 100644 --- a/src/core/2/domains/interval/codac2_IntervalMatrix.h +++ b/src/core/2/domains/interval/codac2_IntervalMatrix.h @@ -383,9 +383,9 @@ namespace codac2 { if((this->data()+i)->is_unbounded()) return POS_INFINITY; if((this->data()+i)->is_degenerated()) return 0.; - v += log((this->data()+i)->diam()); + v += std::log((this->data()+i)->diam()); } - return exp(v); + return std::exp(v); } Matrix_ lb() const diff --git a/src/core/contractors/dyn/codac_CtcPicard.h b/src/core/contractors/dyn/codac_CtcPicard.h index 4e2b07688..073f18c2a 100644 --- a/src/core/contractors/dyn/codac_CtcPicard.h +++ b/src/core/contractors/dyn/codac_CtcPicard.h @@ -36,10 +36,11 @@ namespace codac int picard_iterations() const; + void guess_kth_slices_envelope(TubeVector& x, int k, TimePropag t_propa); + protected: void contract_kth_slices(TubeVector& x, int k, TimePropag t_propa); - void guess_kth_slices_envelope(TubeVector& x, int k, TimePropag t_propa); const TFunction* m_f_ptr = nullptr; const TFnc& m_f; diff --git a/src/core/geometry/codac_GrahamScan.h b/src/core/geometry/codac_GrahamScan.h index cc3a5ba66..2f76c01e3 100644 --- a/src/core/geometry/codac_GrahamScan.h +++ b/src/core/geometry/codac_GrahamScan.h @@ -27,11 +27,14 @@ namespace codac // Prints convex hull of a set of n points. static const std::vector convex_hull(const std::vector& v_points); - - protected: - // A utility function to find next to top in a stack static const Vector next_to_top(const std::stack& s); + + // To find orientation of ordered triplet (p, q, r). + static OrientationInterval orientation(const IntervalVector& p0, const IntervalVector& p1, const IntervalVector& p2); + + + protected: // A utility function to swap two points static void swap(Vector& p1, Vector& p2); @@ -39,9 +42,6 @@ namespace codac // A utility function to return square of distance between p1 and p2 static const Interval dist(const IntervalVector& p1, const IntervalVector& p2); - // To find orientation of ordered triplet (p, q, r). - static OrientationInterval orientation(const IntervalVector& p0, const IntervalVector& p1, const IntervalVector& p2); - friend class ThickPointsSorter; friend class ConvexPolygon; }; From c48f5a5bd091f15b15db283880ef226f2fb4128f Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 20 Jan 2025 22:40:31 +0100 Subject: [PATCH 249/256] Known issue in older versions of Visual Studio 2017 --- CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8f1cb31a4..27cc9f9f6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -69,6 +69,10 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) #endif() + if(MSVC) + add_definitions(-D_ENABLE_EXTENDED_ALIGNED_STORAGE) # Due to a known issue in older versions of Visual Studio 2017... + endif() + ################################################################################ # Optional binary tree activation for all tubes (for tests purposes mainly) From 6cc925dc38fa26e07c03263575cdb24ebfded9cc Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 20 Jan 2025 23:02:01 +0100 Subject: [PATCH 250/256] Update catch.hpp --- tests/catch/catch.hpp | 3323 +++++++++++++++++++++++++++-------------- 1 file changed, 2240 insertions(+), 1083 deletions(-) diff --git a/tests/catch/catch.hpp b/tests/catch/catch.hpp index 6bcdd0450..ad8e1cd44 100644 --- a/tests/catch/catch.hpp +++ b/tests/catch/catch.hpp @@ -1,6 +1,6 @@ /* - * Catch v1.6.1 - * Generated: 2017-01-20 12:33:53.497767 + * Catch v1.12.2 + * Generated: 2025-01-20 23:39:35.565000 * ---------------------------------------------------------- * This file has been merged from multiple headers. Please don't edit it directly * Copyright (c) 2012 Two Blue Cubes Ltd. All rights reserved. @@ -40,6 +40,8 @@ #elif defined __GNUC__ # pragma GCC diagnostic ignored "-Wvariadic-macros" # pragma GCC diagnostic ignored "-Wunused-variable" +# pragma GCC diagnostic ignored "-Wparentheses" + # pragma GCC diagnostic push # pragma GCC diagnostic ignored "-Wpadded" #endif @@ -74,11 +76,15 @@ // CATCH_CONFIG_CPP11_LONG_LONG : is long long supported? // CATCH_CONFIG_CPP11_OVERRIDE : is override supported? // CATCH_CONFIG_CPP11_UNIQUE_PTR : is unique_ptr supported (otherwise use auto_ptr) +// CATCH_CONFIG_CPP11_SHUFFLE : is std::shuffle supported? +// CATCH_CONFIG_CPP11_TYPE_TRAITS : are type_traits and enable_if supported? // CATCH_CONFIG_CPP11_OR_GREATER : Is C++11 supported? // CATCH_CONFIG_VARIADIC_MACROS : are variadic macros supported? // CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported? +// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported? +// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported? // **************** // Note to maintainers: if new toggles are added please document them // in configuration.md, too @@ -114,11 +120,46 @@ # endif # if defined(CATCH_CPP11_OR_GREATER) -# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) +# define CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ + _Pragma( "clang diagnostic push" ) \ + _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) +# define CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS \ + _Pragma( "clang diagnostic pop" ) + +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ + _Pragma( "clang diagnostic push" ) \ + _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) +# define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \ + _Pragma( "clang diagnostic pop" ) # endif #endif // __clang__ +//////////////////////////////////////////////////////////////////////////////// +// We know some environments not to support full POSIX signals +#if defined(__CYGWIN__) || defined(__QNX__) + +# if !defined(CATCH_CONFIG_POSIX_SIGNALS) +# define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS +# endif + +#endif + +#ifdef __OS400__ +# define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS +# define CATCH_CONFIG_COLOUR_NONE +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Cygwin +#ifdef __CYGWIN__ + +// Required for some versions of Cygwin to declare gettimeofday +// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin +# define _BSD_SOURCE + +#endif // __CYGWIN__ + //////////////////////////////////////////////////////////////////////////////// // Borland #ifdef __BORLANDC__ @@ -145,10 +186,6 @@ # define CATCH_INTERNAL_CONFIG_CPP11_NULLPTR # endif -# if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) && defined(CATCH_CPP11_OR_GREATER) -# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS _Pragma( "GCC diagnostic ignored \"-Wparentheses\"" ) -# endif - // - otherwise more recent versions define __cplusplus >= 201103L // and will get picked up below @@ -158,6 +195,8 @@ // Visual C++ #ifdef _MSC_VER +#define CATCH_INTERNAL_CONFIG_WINDOWS_SEH + #if (_MSC_VER >= 1600) # define CATCH_INTERNAL_CONFIG_CPP11_NULLPTR # define CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR @@ -167,6 +206,7 @@ #define CATCH_INTERNAL_CONFIG_CPP11_NOEXCEPT #define CATCH_INTERNAL_CONFIG_CPP11_GENERATED_METHODS #define CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE +#define CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS #endif #endif // _MSC_VER @@ -174,7 +214,7 @@ //////////////////////////////////////////////////////////////////////////////// // Use variadic macros if the compiler supports them -#if ( defined _MSC_VER && _MSC_VER > 1400 && !defined __EDGE__) || \ +#if ( defined _MSC_VER && _MSC_VER >= 1400 && !defined __EDGE__) || \ ( defined __WAVE__ && __WAVE_HAS_VARIADICS ) || \ ( defined __GNUC__ && __GNUC__ >= 3 ) || \ ( !defined __cplusplus && __STDC_VERSION__ >= 199901L || __cplusplus >= 201103L ) @@ -185,10 +225,15 @@ // Use __COUNTER__ if the compiler supports it #if ( defined _MSC_VER && _MSC_VER >= 1300 ) || \ - ( defined __GNUC__ && __GNUC__ >= 4 && __GNUC_MINOR__ >= 3 ) || \ + ( defined __GNUC__ && ( __GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3 )) ) || \ ( defined __clang__ && __clang_major__ >= 3 ) -#define CATCH_INTERNAL_CONFIG_COUNTER +// Use of __COUNTER__ is suppressed during code analysis in CLion/AppCode 2017.2.x and former, +// because __COUNTER__ is not properly handled by it. +// This does not affect compilation +#if ( !defined __JETBRAINS_IDE__ || __JETBRAINS_IDE__ >= 20170300L ) + #define CATCH_INTERNAL_CONFIG_COUNTER +#endif #endif @@ -235,6 +280,9 @@ # if !defined(CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE) # define CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE # endif +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS) +# define CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS +# endif #endif // __cplusplus >= 201103L @@ -266,18 +314,30 @@ #if defined(CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_CPP11_NO_UNIQUE_PTR) && !defined(CATCH_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_NO_CPP11) # define CATCH_CONFIG_CPP11_UNIQUE_PTR #endif -// Use of __COUNTER__ is suppressed if __JETBRAINS_IDE__ is #defined (meaning we're being parsed by a JetBrains IDE for -// analytics) because, at time of writing, __COUNTER__ is not properly handled by it. -// This does not affect compilation -#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) && !defined(__JETBRAINS_IDE__) +#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) # define CATCH_CONFIG_COUNTER #endif #if defined(CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE) && !defined(CATCH_CONFIG_CPP11_NO_SHUFFLE) && !defined(CATCH_CONFIG_CPP11_SHUFFLE) && !defined(CATCH_CONFIG_NO_CPP11) # define CATCH_CONFIG_CPP11_SHUFFLE #endif +# if defined(CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS) && !defined(CATCH_CONFIG_CPP11_NO_TYPE_TRAITS) && !defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_TYPE_TRAITS +# endif +#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) +# define CATCH_CONFIG_WINDOWS_SEH +#endif +// This is set by default, because we assume that unix compilers are posix-signal-compatible by default. +#if !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS) +# define CATCH_CONFIG_POSIX_SIGNALS +#endif #if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) # define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS +# define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS +# define CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS #endif // noexcept support: @@ -322,7 +382,6 @@ #define INTERNAL_CATCH_STRINGIFY( expr ) INTERNAL_CATCH_STRINGIFY2( expr ) #include -#include #include namespace Catch { @@ -362,14 +421,14 @@ namespace Catch { }; template - inline void deleteAll( ContainerT& container ) { + void deleteAll( ContainerT& container ) { typename ContainerT::const_iterator it = container.begin(); typename ContainerT::const_iterator itEnd = container.end(); for(; it != itEnd; ++it ) delete *it; } template - inline void deleteAllValues( AssociativeContainerT& container ) { + void deleteAllValues( AssociativeContainerT& container ) { typename AssociativeContainerT::const_iterator it = container.begin(); typename AssociativeContainerT::const_iterator itEnd = container.end(); for(; it != itEnd; ++it ) @@ -377,7 +436,9 @@ namespace Catch { } bool startsWith( std::string const& s, std::string const& prefix ); + bool startsWith( std::string const& s, char prefix ); bool endsWith( std::string const& s, std::string const& suffix ); + bool endsWith( std::string const& s, char suffix ); bool contains( std::string const& s, std::string const& infix ); void toLowerInPlace( std::string& s ); std::string toLower( std::string const& s ); @@ -397,8 +458,8 @@ namespace Catch { SourceLineInfo(); SourceLineInfo( char const* _file, std::size_t _line ); - SourceLineInfo( SourceLineInfo const& other ); # ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + SourceLineInfo(SourceLineInfo const& other) = default; SourceLineInfo( SourceLineInfo && ) = default; SourceLineInfo& operator = ( SourceLineInfo const& ) = default; SourceLineInfo& operator = ( SourceLineInfo && ) = default; @@ -407,15 +468,16 @@ namespace Catch { bool operator == ( SourceLineInfo const& other ) const; bool operator < ( SourceLineInfo const& other ) const; - std::string file; + char const* file; std::size_t line; }; std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ); // This is just here to avoid compiler warnings with macro constants and boolean literals - inline bool alwaysTrue( std::size_t = 0 ) { return true; } - inline bool alwaysFalse( std::size_t = 0 ) { return false; } + inline bool isTrue( bool value ){ return value; } + inline bool alwaysTrue() { return true; } + inline bool alwaysFalse() { return false; } void throwLogicError( std::string const& message, SourceLineInfo const& locationInfo ); @@ -440,15 +502,12 @@ namespace Catch { #define CATCH_INTERNAL_LINEINFO ::Catch::SourceLineInfo( __FILE__, static_cast( __LINE__ ) ) #define CATCH_INTERNAL_ERROR( msg ) ::Catch::throwLogicError( msg, CATCH_INTERNAL_LINEINFO ); -#include - namespace Catch { class NotImplementedException : public std::exception { public: NotImplementedException( SourceLineInfo const& lineInfo ); - NotImplementedException( NotImplementedException const& ) {} virtual ~NotImplementedException() CATCH_NOEXCEPT {} @@ -574,10 +633,6 @@ namespace Catch { #pragma clang diagnostic pop #endif -#include -#include -#include - namespace Catch { class TestCase; @@ -721,59 +776,76 @@ void registerTestCaseFunction /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_TESTCASE2( TestName, ... ) \ static void TestName(); \ - namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &TestName, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( __VA_ARGS__ ) ); }\ + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &TestName, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( __VA_ARGS__ ) ); } /* NOLINT */ \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS \ static void TestName() #define INTERNAL_CATCH_TESTCASE( ... ) \ INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), __VA_ARGS__ ) /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \ - namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &QualifiedMethod, "&" #QualifiedMethod, Catch::NameAndDesc( __VA_ARGS__ ), CATCH_INTERNAL_LINEINFO ); } + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &QualifiedMethod, "&" #QualifiedMethod, Catch::NameAndDesc( __VA_ARGS__ ), CATCH_INTERNAL_LINEINFO ); } /* NOLINT */ \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestName, ClassName, ... )\ + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ namespace{ \ struct TestName : ClassName{ \ void test(); \ }; \ - Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( &TestName::test, #ClassName, Catch::NameAndDesc( __VA_ARGS__ ), CATCH_INTERNAL_LINEINFO ); \ + Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( &TestName::test, #ClassName, Catch::NameAndDesc( __VA_ARGS__ ), CATCH_INTERNAL_LINEINFO ); /* NOLINT */ \ } \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS \ void TestName::test() #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \ INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, __VA_ARGS__ ) /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \ - Catch::AutoReg( Function, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( __VA_ARGS__ ) ); + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ + Catch::AutoReg( Function, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( __VA_ARGS__ ) ); /* NOLINT */ \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS #else /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_TESTCASE2( TestName, Name, Desc ) \ static void TestName(); \ - namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &TestName, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( Name, Desc ) ); }\ + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &TestName, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( Name, Desc ) ); } /* NOLINT */ \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS \ static void TestName() #define INTERNAL_CATCH_TESTCASE( Name, Desc ) \ INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), Name, Desc ) /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, Name, Desc ) \ - namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &QualifiedMethod, "&" #QualifiedMethod, Catch::NameAndDesc( Name, Desc ), CATCH_INTERNAL_LINEINFO ); } + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &QualifiedMethod, "&" #QualifiedMethod, Catch::NameAndDesc( Name, Desc ), CATCH_INTERNAL_LINEINFO ); } /* NOLINT */ \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestCaseName, ClassName, TestName, Desc )\ + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ namespace{ \ struct TestCaseName : ClassName{ \ void test(); \ }; \ - Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( &TestCaseName::test, #ClassName, Catch::NameAndDesc( TestName, Desc ), CATCH_INTERNAL_LINEINFO ); \ + Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( &TestCaseName::test, #ClassName, Catch::NameAndDesc( TestName, Desc ), CATCH_INTERNAL_LINEINFO ); /* NOLINT */ \ } \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS \ void TestCaseName::test() #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, TestName, Desc )\ INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, TestName, Desc ) /////////////////////////////////////////////////////////////////////////////// #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, Name, Desc ) \ - Catch::AutoReg( Function, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( Name, Desc ) ); + CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS \ + Catch::AutoReg( Function, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( Name, Desc ) ); /* NOLINT */ \ + CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS + #endif // #included from: internal/catch_capture.hpp @@ -841,27 +913,83 @@ namespace Catch { namespace Catch { + struct STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison; + + struct DecomposedExpression + { + virtual ~DecomposedExpression() {} + virtual bool isBinaryExpression() const { + return false; + } + virtual void reconstructExpression( std::string& dest ) const = 0; + + // Only simple binary comparisons can be decomposed. + // If more complex check is required then wrap sub-expressions in parentheses. + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator + ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator - ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator * ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator / ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator % ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator && ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator || ( T const& ); + + private: + DecomposedExpression& operator = (DecomposedExpression const&); + }; + struct AssertionInfo { - AssertionInfo() {} - AssertionInfo( std::string const& _macroName, + AssertionInfo(); + AssertionInfo( char const * _macroName, SourceLineInfo const& _lineInfo, - std::string const& _capturedExpression, - ResultDisposition::Flags _resultDisposition ); + char const * _capturedExpression, + ResultDisposition::Flags _resultDisposition, + char const * _secondArg = ""); - std::string macroName; + char const * macroName; SourceLineInfo lineInfo; - std::string capturedExpression; + char const * capturedExpression; ResultDisposition::Flags resultDisposition; + char const * secondArg; }; struct AssertionResultData { - AssertionResultData() : resultType( ResultWas::Unknown ) {} + AssertionResultData() : decomposedExpression( CATCH_NULL ) + , resultType( ResultWas::Unknown ) + , negated( false ) + , parenthesized( false ) {} + + void negate( bool parenthesize ) { + negated = !negated; + parenthesized = parenthesize; + if( resultType == ResultWas::Ok ) + resultType = ResultWas::ExpressionFailed; + else if( resultType == ResultWas::ExpressionFailed ) + resultType = ResultWas::Ok; + } + + std::string const& reconstructExpression() const { + if( decomposedExpression != CATCH_NULL ) { + decomposedExpression->reconstructExpression( reconstructedExpression ); + if( parenthesized ) { + reconstructedExpression.insert( 0, 1, '(' ); + reconstructedExpression.append( 1, ')' ); + } + if( negated ) { + reconstructedExpression.insert( 0, 1, '!' ); + } + decomposedExpression = CATCH_NULL; + } + return reconstructedExpression; + } - std::string reconstructedExpression; + mutable DecomposedExpression const* decomposedExpression; + mutable std::string reconstructedExpression; std::string message; ResultWas::OfType resultType; + bool negated; + bool parenthesized; }; class AssertionResult { @@ -888,6 +1016,8 @@ namespace Catch { std::string getMessage() const; SourceLineInfo getSourceInfo() const; std::string getTestMacroName() const; + void discardDecomposedExpression() const; + void expandDecomposedExpression() const; protected: AssertionInfo m_info; @@ -903,313 +1033,161 @@ namespace Catch { namespace Matchers { namespace Impl { - namespace Generic { - template class AllOf; - template class AnyOf; - template class Not; - } - - template - struct Matcher : SharedImpl - { - typedef ExpressionT ExpressionType; - - virtual ~Matcher() {} - virtual Ptr clone() const = 0; - virtual bool match( ExpressionT const& expr ) const = 0; - virtual std::string toString() const = 0; - - Generic::AllOf operator && ( Matcher const& other ) const; - Generic::AnyOf operator || ( Matcher const& other ) const; - Generic::Not operator ! () const; - }; - - template - struct MatcherImpl : Matcher { - - virtual Ptr > clone() const { - return Ptr >( new DerivedT( static_cast( *this ) ) ); - } - }; + template struct MatchAllOf; + template struct MatchAnyOf; + template struct MatchNotOf; - namespace Generic { - template - class Not : public MatcherImpl, ExpressionT> { + class MatcherUntypedBase { public: - explicit Not( Matcher const& matcher ) : m_matcher(matcher.clone()) {} - Not( Not const& other ) : m_matcher( other.m_matcher ) {} - - virtual bool match( ExpressionT const& expr ) const CATCH_OVERRIDE { - return !m_matcher->match( expr ); + std::string toString() const { + if( m_cachedToString.empty() ) + m_cachedToString = describe(); + return m_cachedToString; } - virtual std::string toString() const CATCH_OVERRIDE { - return "not " + m_matcher->toString(); - } + protected: + virtual ~MatcherUntypedBase(); + virtual std::string describe() const = 0; + mutable std::string m_cachedToString; private: - Ptr< Matcher > m_matcher; + MatcherUntypedBase& operator = ( MatcherUntypedBase const& ); }; - template - class AllOf : public MatcherImpl, ExpressionT> { - public: + template + struct MatcherMethod { + virtual bool match( ObjectT const& arg ) const = 0; + }; + template + struct MatcherMethod { + virtual bool match( PtrT* arg ) const = 0; + }; - AllOf() {} - AllOf( AllOf const& other ) : m_matchers( other.m_matchers ) {} + template + struct MatcherBase : MatcherUntypedBase, MatcherMethod { - AllOf& add( Matcher const& matcher ) { - m_matchers.push_back( matcher.clone() ); - return *this; - } - virtual bool match( ExpressionT const& expr ) const - { - for( std::size_t i = 0; i < m_matchers.size(); ++i ) - if( !m_matchers[i]->match( expr ) ) + MatchAllOf operator && ( MatcherBase const& other ) const; + MatchAnyOf operator || ( MatcherBase const& other ) const; + MatchNotOf operator ! () const; + }; + + template + struct MatchAllOf : MatcherBase { + virtual bool match( ArgT const& arg ) const CATCH_OVERRIDE { + for( std::size_t i = 0; i < m_matchers.size(); ++i ) { + if (!m_matchers[i]->match(arg)) return false; + } return true; } - virtual std::string toString() const { - std::ostringstream oss; - oss << "( "; + virtual std::string describe() const CATCH_OVERRIDE { + std::string description; + description.reserve( 4 + m_matchers.size()*32 ); + description += "( "; for( std::size_t i = 0; i < m_matchers.size(); ++i ) { if( i != 0 ) - oss << " and "; - oss << m_matchers[i]->toString(); + description += " and "; + description += m_matchers[i]->toString(); } - oss << " )"; - return oss.str(); + description += " )"; + return description; } - AllOf operator && ( Matcher const& other ) const { - AllOf allOfExpr( *this ); - allOfExpr.add( other ); - return allOfExpr; + MatchAllOf& operator && ( MatcherBase const& other ) { + m_matchers.push_back( &other ); + return *this; } - private: - std::vector > > m_matchers; + std::vector const*> m_matchers; }; + template + struct MatchAnyOf : MatcherBase { - template - class AnyOf : public MatcherImpl, ExpressionT> { - public: - - AnyOf() {} - AnyOf( AnyOf const& other ) : m_matchers( other.m_matchers ) {} - - AnyOf& add( Matcher const& matcher ) { - m_matchers.push_back( matcher.clone() ); - return *this; - } - virtual bool match( ExpressionT const& expr ) const - { - for( std::size_t i = 0; i < m_matchers.size(); ++i ) - if( m_matchers[i]->match( expr ) ) + virtual bool match( ArgT const& arg ) const CATCH_OVERRIDE { + for( std::size_t i = 0; i < m_matchers.size(); ++i ) { + if (m_matchers[i]->match(arg)) return true; + } return false; } - virtual std::string toString() const { - std::ostringstream oss; - oss << "( "; + virtual std::string describe() const CATCH_OVERRIDE { + std::string description; + description.reserve( 4 + m_matchers.size()*32 ); + description += "( "; for( std::size_t i = 0; i < m_matchers.size(); ++i ) { if( i != 0 ) - oss << " or "; - oss << m_matchers[i]->toString(); + description += " or "; + description += m_matchers[i]->toString(); } - oss << " )"; - return oss.str(); - } - - AnyOf operator || ( Matcher const& other ) const { - AnyOf anyOfExpr( *this ); - anyOfExpr.add( other ); - return anyOfExpr; - } - - private: - std::vector > > m_matchers; - }; - - } // namespace Generic - - template - Generic::AllOf Matcher::operator && ( Matcher const& other ) const { - Generic::AllOf allOfExpr; - allOfExpr.add( *this ); - allOfExpr.add( other ); - return allOfExpr; - } - - template - Generic::AnyOf Matcher::operator || ( Matcher const& other ) const { - Generic::AnyOf anyOfExpr; - anyOfExpr.add( *this ); - anyOfExpr.add( other ); - return anyOfExpr; - } - - template - Generic::Not Matcher::operator ! () const { - return Generic::Not( *this ); - } - - namespace StdString { - - inline std::string makeString( std::string const& str ) { return str; } - inline std::string makeString( const char* str ) { return str ? std::string( str ) : std::string(); } - - struct CasedString - { - CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity ) - : m_caseSensitivity( caseSensitivity ), - m_str( adjustString( str ) ) - {} - std::string adjustString( std::string const& str ) const { - return m_caseSensitivity == CaseSensitive::No - ? toLower( str ) - : str; - - } - std::string toStringSuffix() const - { - return m_caseSensitivity == CaseSensitive::No - ? " (case insensitive)" - : ""; + description += " )"; + return description; } - CaseSensitive::Choice m_caseSensitivity; - std::string m_str; - }; - - struct Equals : MatcherImpl { - Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) - : m_data( str, caseSensitivity ) - {} - Equals( Equals const& other ) : m_data( other.m_data ){} - virtual ~Equals(); - - virtual bool match( std::string const& expr ) const { - return m_data.m_str == m_data.adjustString( expr );; - } - virtual std::string toString() const { - return "equals: \"" + m_data.m_str + "\"" + m_data.toStringSuffix(); + MatchAnyOf& operator || ( MatcherBase const& other ) { + m_matchers.push_back( &other ); + return *this; } - CasedString m_data; + std::vector const*> m_matchers; }; - struct Contains : MatcherImpl { - Contains( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) - : m_data( substr, caseSensitivity ){} - Contains( Contains const& other ) : m_data( other.m_data ){} + template + struct MatchNotOf : MatcherBase { - virtual ~Contains(); + MatchNotOf( MatcherBase const& underlyingMatcher ) : m_underlyingMatcher( underlyingMatcher ) {} - virtual bool match( std::string const& expr ) const { - return m_data.adjustString( expr ).find( m_data.m_str ) != std::string::npos; - } - virtual std::string toString() const { - return "contains: \"" + m_data.m_str + "\"" + m_data.toStringSuffix(); + virtual bool match( ArgT const& arg ) const CATCH_OVERRIDE { + return !m_underlyingMatcher.match( arg ); } - CasedString m_data; - }; - - struct StartsWith : MatcherImpl { - StartsWith( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) - : m_data( substr, caseSensitivity ){} - - StartsWith( StartsWith const& other ) : m_data( other.m_data ){} - - virtual ~StartsWith(); - - virtual bool match( std::string const& expr ) const { - return startsWith( m_data.adjustString( expr ), m_data.m_str ); - } - virtual std::string toString() const { - return "starts with: \"" + m_data.m_str + "\"" + m_data.toStringSuffix(); + virtual std::string describe() const CATCH_OVERRIDE { + return "not " + m_underlyingMatcher.toString(); } - - CasedString m_data; + MatcherBase const& m_underlyingMatcher; }; - struct EndsWith : MatcherImpl { - EndsWith( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) - : m_data( substr, caseSensitivity ){} - EndsWith( EndsWith const& other ) : m_data( other.m_data ){} - - virtual ~EndsWith(); - - virtual bool match( std::string const& expr ) const { - return endsWith( m_data.adjustString( expr ), m_data.m_str ); - } - virtual std::string toString() const { - return "ends with: \"" + m_data.m_str + "\"" + m_data.toStringSuffix(); - } + template + MatchAllOf MatcherBase::operator && ( MatcherBase const& other ) const { + return MatchAllOf() && *this && other; + } + template + MatchAnyOf MatcherBase::operator || ( MatcherBase const& other ) const { + return MatchAnyOf() || *this || other; + } + template + MatchNotOf MatcherBase::operator ! () const { + return MatchNotOf( *this ); + } - CasedString m_data; - }; - } // namespace StdString } // namespace Impl // The following functions create the actual matcher objects. // This allows the types to be inferred - template - inline Impl::Generic::Not Not( Impl::Matcher const& m ) { - return Impl::Generic::Not( m ); - } - - template - inline Impl::Generic::AllOf AllOf( Impl::Matcher const& m1, - Impl::Matcher const& m2 ) { - return Impl::Generic::AllOf().add( m1 ).add( m2 ); - } - template - inline Impl::Generic::AllOf AllOf( Impl::Matcher const& m1, - Impl::Matcher const& m2, - Impl::Matcher const& m3 ) { - return Impl::Generic::AllOf().add( m1 ).add( m2 ).add( m3 ); - } - template - inline Impl::Generic::AnyOf AnyOf( Impl::Matcher const& m1, - Impl::Matcher const& m2 ) { - return Impl::Generic::AnyOf().add( m1 ).add( m2 ); - } - template - inline Impl::Generic::AnyOf AnyOf( Impl::Matcher const& m1, - Impl::Matcher const& m2, - Impl::Matcher const& m3 ) { - return Impl::Generic::AnyOf().add( m1 ).add( m2 ).add( m3 ); - } - - inline Impl::StdString::Equals Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { - return Impl::StdString::Equals( str, caseSensitivity ); - } - inline Impl::StdString::Equals Equals( const char* str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { - return Impl::StdString::Equals( Impl::StdString::makeString( str ), caseSensitivity ); - } - inline Impl::StdString::Contains Contains( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { - return Impl::StdString::Contains( substr, caseSensitivity ); - } - inline Impl::StdString::Contains Contains( const char* substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { - return Impl::StdString::Contains( Impl::StdString::makeString( substr ), caseSensitivity ); + // - deprecated: prefer ||, && and ! + template + Impl::MatchNotOf Not( Impl::MatcherBase const& underlyingMatcher ) { + return Impl::MatchNotOf( underlyingMatcher ); } - inline Impl::StdString::StartsWith StartsWith( std::string const& substr ) { - return Impl::StdString::StartsWith( substr ); + template + Impl::MatchAllOf AllOf( Impl::MatcherBase const& m1, Impl::MatcherBase const& m2 ) { + return Impl::MatchAllOf() && m1 && m2; } - inline Impl::StdString::StartsWith StartsWith( const char* substr ) { - return Impl::StdString::StartsWith( Impl::StdString::makeString( substr ) ); + template + Impl::MatchAllOf AllOf( Impl::MatcherBase const& m1, Impl::MatcherBase const& m2, Impl::MatcherBase const& m3 ) { + return Impl::MatchAllOf() && m1 && m2 && m3; } - inline Impl::StdString::EndsWith EndsWith( std::string const& substr ) { - return Impl::StdString::EndsWith( substr ); + template + Impl::MatchAnyOf AnyOf( Impl::MatcherBase const& m1, Impl::MatcherBase const& m2 ) { + return Impl::MatchAnyOf() || m1 || m2; } - inline Impl::StdString::EndsWith EndsWith( const char* substr ) { - return Impl::StdString::EndsWith( Impl::StdString::makeString( substr ) ); + template + Impl::MatchAnyOf AnyOf( Impl::MatcherBase const& m1, Impl::MatcherBase const& m2, Impl::MatcherBase const& m3 ) { + return Impl::MatchAnyOf() || m1 || m2 || m3; } } // namespace Matchers using namespace Matchers; +using Matchers::Impl::MatcherBase; } // namespace Catch @@ -1219,28 +1197,27 @@ namespace Catch { template class ExpressionLhs; - struct STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison; - struct CopyableStream { CopyableStream() {} CopyableStream( CopyableStream const& other ) { oss << other.oss.str(); } CopyableStream& operator=( CopyableStream const& other ) { - oss.str(""); + oss.str(std::string()); oss << other.oss.str(); return *this; } std::ostringstream oss; }; - class ResultBuilder { + class ResultBuilder : public DecomposedExpression { public: ResultBuilder( char const* macroName, SourceLineInfo const& lineInfo, char const* capturedExpression, ResultDisposition::Flags resultDisposition, char const* secondArg = "" ); + ~ResultBuilder(); template ExpressionLhs operator <= ( T const& operand ); @@ -1248,46 +1225,60 @@ namespace Catch { template ResultBuilder& operator << ( T const& value ) { - m_stream.oss << value; + stream().oss << value; return *this; } - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator && ( RhsT const& ); - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator || ( RhsT const& ); - ResultBuilder& setResultType( ResultWas::OfType result ); ResultBuilder& setResultType( bool result ); - ResultBuilder& setLhs( std::string const& lhs ); - ResultBuilder& setRhs( std::string const& rhs ); - ResultBuilder& setOp( std::string const& op ); - void endExpression(); + void endExpression( DecomposedExpression const& expr ); + + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE; - std::string reconstructExpression() const; AssertionResult build() const; + AssertionResult build( DecomposedExpression const& expr ) const; void useActiveException( ResultDisposition::Flags resultDisposition = ResultDisposition::Normal ); void captureResult( ResultWas::OfType resultType ); void captureExpression(); void captureExpectedException( std::string const& expectedMessage ); - void captureExpectedException( Matchers::Impl::Matcher const& matcher ); + void captureExpectedException( Matchers::Impl::MatcherBase const& matcher ); void handleResult( AssertionResult const& result ); void react(); bool shouldDebugBreak() const; bool allowThrows() const; + template + void captureMatch( ArgT const& arg, MatcherT const& matcher, char const* matcherString ); + + void setExceptionGuard(); + void unsetExceptionGuard(); + private: AssertionInfo m_assertionInfo; AssertionResultData m_data; - struct ExprComponents { - ExprComponents() : testFalse( false ) {} - bool testFalse; - std::string lhs, rhs, op; - } m_exprComponents; - CopyableStream m_stream; + + CopyableStream &stream() + { + if(!m_usedStream) + { + m_usedStream = true; + m_stream().oss.str(""); + } + return m_stream(); + } + + static CopyableStream &m_stream() + { + static CopyableStream s; + return s; + } bool m_shouldDebugBreak; bool m_shouldThrow; + bool m_guardException; + bool m_usedStream; }; } // namespace Catch @@ -1302,6 +1293,8 @@ namespace Catch { #ifdef _MSC_VER #pragma warning(push) #pragma warning(disable:4389) // '==' : signed/unsigned mismatch +#pragma warning(disable:4018) // more "signed/unsigned mismatch" +#pragma warning(disable:4312) // Converting int to T* using reinterpret_cast (issue on x64 platform) #endif #include @@ -1327,7 +1320,7 @@ namespace Internal { template<> struct OperatorTraits{ static const char* getName(){ return ">="; } }; template - inline T& opCast(T const& t) { return const_cast(t); } + T& opCast(T const& t) { return const_cast(t); } // nullptr_t support based on pull request #154 from Konstantin Baumann #ifdef CATCH_CONFIG_CPP11_NULLPTR @@ -1337,7 +1330,7 @@ namespace Internal { // So the compare overloads can be operator agnostic we convey the operator as a template // enum, which is used to specialise an Evaluator for doing the comparison. template - class Evaluator{}; + struct Evaluator{}; template struct Evaluator { @@ -1603,7 +1596,7 @@ std::string toString( std::nullptr_t ); #ifdef __OBJC__ std::string toString( NSString const * const& nsstring ); - std::string toString( NSString * CATCH_ARC_STRONG const& nsstring ); + std::string toString( NSString * CATCH_ARC_STRONG & nsstring ); std::string toString( NSObject* const& nsObject ); #endif @@ -1611,6 +1604,7 @@ namespace Detail { extern const std::string unprintableString; + #if !defined(CATCH_CONFIG_CPP11_STREAM_INSERTABLE_CHECK) struct BorgType { template BorgType( T const& ); }; @@ -1629,6 +1623,20 @@ namespace Detail { static T const&t; enum { value = sizeof( testStreamable(s << t) ) == sizeof( TrueType ) }; }; +#else + template + class IsStreamInsertable { + template + static auto test(int) + -> decltype( std::declval() << std::declval(), std::true_type() ); + + template + static auto test(...) -> std::false_type; + + public: + static const bool value = decltype(test(0))::value; + }; +#endif #if defined(CATCH_CONFIG_CPP11_IS_ENUM) template - inline std::string rawMemoryToString( const T& object ) { + std::string rawMemoryToString( const T& object ) { return rawMemoryToString( &object, sizeof(object) ); } @@ -1805,90 +1813,159 @@ std::string toString( T const& value ) { namespace Catch { -// Wraps the LHS of an expression and captures the operator and RHS (if any) - -// wrapping them all in a ResultBuilder object -template -class ExpressionLhs { - ExpressionLhs& operator = ( ExpressionLhs const& ); -# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS - ExpressionLhs& operator = ( ExpressionLhs && ) = delete; -# endif +template +class BinaryExpression; + +template +class MatchExpression; +// Wraps the LHS of an expression and overloads comparison operators +// for also capturing those and RHS (if any) +template +class ExpressionLhs : public DecomposedExpression { public: - ExpressionLhs( ResultBuilder& rb, T lhs ) : m_rb( rb ), m_lhs( lhs ) {} -# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS - ExpressionLhs( ExpressionLhs const& ) = default; - ExpressionLhs( ExpressionLhs && ) = default; -# endif + ExpressionLhs( ResultBuilder& rb, T lhs ) : m_rb( rb ), m_lhs( lhs ), m_truthy(false) {} + + ExpressionLhs& operator = ( const ExpressionLhs& ); template - ResultBuilder& operator == ( RhsT const& rhs ) { + BinaryExpression + operator == ( RhsT const& rhs ) { return captureExpression( rhs ); } template - ResultBuilder& operator != ( RhsT const& rhs ) { + BinaryExpression + operator != ( RhsT const& rhs ) { return captureExpression( rhs ); } template - ResultBuilder& operator < ( RhsT const& rhs ) { + BinaryExpression + operator < ( RhsT const& rhs ) { return captureExpression( rhs ); } template - ResultBuilder& operator > ( RhsT const& rhs ) { + BinaryExpression + operator > ( RhsT const& rhs ) { return captureExpression( rhs ); } template - ResultBuilder& operator <= ( RhsT const& rhs ) { + BinaryExpression + operator <= ( RhsT const& rhs ) { return captureExpression( rhs ); } template - ResultBuilder& operator >= ( RhsT const& rhs ) { + BinaryExpression + operator >= ( RhsT const& rhs ) { return captureExpression( rhs ); } - ResultBuilder& operator == ( bool rhs ) { + BinaryExpression operator == ( bool rhs ) { return captureExpression( rhs ); } - ResultBuilder& operator != ( bool rhs ) { + BinaryExpression operator != ( bool rhs ) { return captureExpression( rhs ); } void endExpression() { - bool value = m_lhs ? true : false; + m_truthy = m_lhs ? true : false; m_rb - .setLhs( Catch::toString( value ) ) - .setResultType( value ) - .endExpression(); + .setResultType( m_truthy ) + .endExpression( *this ); } - // Only simple binary expressions are allowed on the LHS. - // If more complex compositions are required then place the sub expression in parentheses - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator + ( RhsT const& ); - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator - ( RhsT const& ); - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator / ( RhsT const& ); - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator * ( RhsT const& ); - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator && ( RhsT const& ); - template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator || ( RhsT const& ); + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE { + dest = Catch::toString( m_lhs ); + } private: template - ResultBuilder& captureExpression( RhsT const& rhs ) { - return m_rb - .setResultType( Internal::compare( m_lhs, rhs ) ) - .setLhs( Catch::toString( m_lhs ) ) - .setRhs( Catch::toString( rhs ) ) - .setOp( Internal::OperatorTraits::getName() ); + BinaryExpression captureExpression( RhsT& rhs ) const { + return BinaryExpression( m_rb, m_lhs, rhs ); + } + + template + BinaryExpression captureExpression( bool rhs ) const { + return BinaryExpression( m_rb, m_lhs, rhs ); } private: ResultBuilder& m_rb; T m_lhs; + bool m_truthy; +}; + +template +class BinaryExpression : public DecomposedExpression { +public: + BinaryExpression( ResultBuilder& rb, LhsT lhs, RhsT rhs ) + : m_rb( rb ), m_lhs( lhs ), m_rhs( rhs ) {} + + BinaryExpression& operator = ( BinaryExpression& ); + + void endExpression() const { + m_rb + .setResultType( Internal::compare( m_lhs, m_rhs ) ) + .endExpression( *this ); + } + + virtual bool isBinaryExpression() const CATCH_OVERRIDE { + return true; + } + + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE { + std::string lhs = Catch::toString( m_lhs ); + std::string rhs = Catch::toString( m_rhs ); + char delim = lhs.size() + rhs.size() < 40 && + lhs.find('\n') == std::string::npos && + rhs.find('\n') == std::string::npos ? ' ' : '\n'; + dest.reserve( 7 + lhs.size() + rhs.size() ); + // 2 for spaces around operator + // 2 for operator + // 2 for parentheses (conditionally added later) + // 1 for negation (conditionally added later) + dest = lhs; + dest += delim; + dest += Internal::OperatorTraits::getName(); + dest += delim; + dest += rhs; + } + +private: + ResultBuilder& m_rb; + LhsT m_lhs; + RhsT m_rhs; +}; + +template +class MatchExpression : public DecomposedExpression { +public: + MatchExpression( ArgT arg, MatcherT matcher, char const* matcherString ) + : m_arg( arg ), m_matcher( matcher ), m_matcherString( matcherString ) {} + + virtual bool isBinaryExpression() const CATCH_OVERRIDE { + return true; + } + + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE { + std::string matcherAsString = m_matcher.toString(); + dest = Catch::toString( m_arg ); + dest += ' '; + if( matcherAsString == Detail::unprintableString ) + dest += m_matcherString; + else + dest += matcherAsString; + } + +private: + ArgT m_arg; + MatcherT m_matcher; + char const* m_matcherString; }; } // end namespace Catch @@ -1897,7 +1974,7 @@ class ExpressionLhs { namespace Catch { template - inline ExpressionLhs ResultBuilder::operator <= ( T const& operand ) { + ExpressionLhs ResultBuilder::operator <= ( T const& operand ) { return ExpressionLhs( *this, operand ); } @@ -1905,6 +1982,14 @@ namespace Catch { return ExpressionLhs( *this, value ); } + template + void ResultBuilder::captureMatch( ArgT const& arg, MatcherT const& matcher, + char const* matcherString ) { + MatchExpression expr( arg, matcher, matcherString ); + setResultType( matcher.match( arg ) ); + endExpression( expr ); + } + } // namespace Catch // #included from: catch_message.h @@ -1994,7 +2079,13 @@ namespace Catch { virtual std::string getCurrentTestName() const = 0; virtual const AssertionResult* getLastResult() const = 0; + virtual void exceptionEarlyReported() = 0; + virtual void handleFatalErrorCondition( std::string const& message ) = 0; + + virtual bool lastAssertionPassed() = 0; + virtual void assertionPassed() = 0; + virtual void assertionRun() = 0; }; IResultCapture& getResultCapture(); @@ -2034,14 +2125,15 @@ namespace Catch{ // The following code snippet based on: // http://cocoawithlove.com/2008/03/break-into-debugger.html - #ifdef DEBUG - #if defined(__ppc64__) || defined(__ppc__) - #define CATCH_TRAP() \ - __asm__("li r0, 20\nsc\nnop\nli r0, 37\nli r4, 2\nsc\nnop\n" \ - : : : "memory","r0","r3","r4" ) - #else - #define CATCH_TRAP() _asm__("int $3\n" : : ) - #endif + #if defined(__ppc64__) || defined(__ppc__) + #define CATCH_TRAP() \ + __asm__("li r0, 20\nsc\nnop\nli r0, 37\nli r4, 2\nsc\nnop\n" \ + : : : "memory","r0","r3","r4" ) /* NOLINT */ + #elif defined(__aarch64__) + // Backport of https://github.com/catchorg/Catch2/commit/a25c1a24af8bffd35727a888a307ff0280cf9387 + #define CATCH_TRAP() __asm__(".inst 0xd4200000") + #else + #define CATCH_TRAP() __asm__("int $3\n" : : /* NOLINT */ ) #endif #elif defined(CATCH_PLATFORM_LINUX) @@ -2049,7 +2141,7 @@ namespace Catch{ // directly at the location of the failing check instead of breaking inside // raise() called from it, i.e. one stack frame below. #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64)) - #define CATCH_TRAP() asm volatile ("int $3") + #define CATCH_TRAP() asm volatile ("int $3") /* NOLINT */ #else // Fall back to the generic way. #include @@ -2080,6 +2172,47 @@ namespace Catch { }; } +#if !defined(CATCH_CONFIG_DISABLE_STRINGIFICATION) +# define CATCH_INTERNAL_STRINGIFY(expr) #expr +#else +# define CATCH_INTERNAL_STRINGIFY(expr) "Disabled by CATCH_CONFIG_DISABLE_STRINGIFICATION" +#endif + +#if defined(CATCH_CONFIG_FAST_COMPILE) +/////////////////////////////////////////////////////////////////////////////// +// We can speedup compilation significantly by breaking into debugger lower in +// the callstack, because then we don't have to expand CATCH_BREAK_INTO_DEBUGGER +// macro in each assertion +#define INTERNAL_CATCH_REACT( resultBuilder ) \ + resultBuilder.react(); + +/////////////////////////////////////////////////////////////////////////////// +// Another way to speed-up compilation is to omit local try-catch for REQUIRE* +// macros. +// This can potentially cause false negative, if the test code catches +// the exception before it propagates back up to the runner. +#define INTERNAL_CATCH_TEST_NO_TRY( macroName, resultDisposition, expr ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr), resultDisposition ); \ + __catchResult.setExceptionGuard(); \ + CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ + ( __catchResult <= expr ).endExpression(); \ + CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \ + __catchResult.unsetExceptionGuard(); \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::isTrue( false && static_cast( !!(expr) ) ) ) // expr here is never evaluated at runtime but it forces the compiler to give it a look +// The double negation silences MSVC's C4800 warning, the static_cast forces short-circuit evaluation if the type has overloaded &&. + +#define INTERNAL_CHECK_THAT_NO_TRY( macroName, matcher, resultDisposition, arg ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(arg) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \ + __catchResult.setExceptionGuard(); \ + __catchResult.captureMatch( arg, matcher, CATCH_INTERNAL_STRINGIFY(matcher) ); \ + __catchResult.unsetExceptionGuard(); \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::alwaysFalse() ) + +#else /////////////////////////////////////////////////////////////////////////////// // In the event of a failure works out if the debugger needs to be invoked // and/or an exception thrown and takes appropriate action. @@ -2088,37 +2221,40 @@ namespace Catch { #define INTERNAL_CATCH_REACT( resultBuilder ) \ if( resultBuilder.shouldDebugBreak() ) CATCH_BREAK_INTO_DEBUGGER(); \ resultBuilder.react(); +#endif /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CATCH_TEST( expr, resultDisposition, macroName ) \ +#define INTERNAL_CATCH_TEST( macroName, resultDisposition, expr ) \ do { \ - Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr, resultDisposition ); \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr), resultDisposition ); \ try { \ CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ ( __catchResult <= expr ).endExpression(); \ + CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \ } \ catch( ... ) { \ - __catchResult.useActiveException( Catch::ResultDisposition::Normal ); \ + __catchResult.useActiveException( resultDisposition ); \ } \ INTERNAL_CATCH_REACT( __catchResult ) \ - } while( Catch::alwaysFalse( sizeof(expr) ) ) // expr here is never evaluated at runtime but it forces the compiler to give it a look + } while( Catch::isTrue( false && static_cast( !!(expr) ) ) ) // expr here is never evaluated at runtime but it forces the compiler to give it a look + // The double negation silences MSVC's C4800 warning, the static_cast forces short-circuit evaluation if the type has overloaded &&. /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CATCH_IF( expr, resultDisposition, macroName ) \ - INTERNAL_CATCH_TEST( expr, resultDisposition, macroName ); \ - if( Catch::getResultCapture().getLastResult()->succeeded() ) +#define INTERNAL_CATCH_IF( macroName, resultDisposition, expr ) \ + INTERNAL_CATCH_TEST( macroName, resultDisposition, expr ); \ + if( Catch::getResultCapture().lastAssertionPassed() ) /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CATCH_ELSE( expr, resultDisposition, macroName ) \ - INTERNAL_CATCH_TEST( expr, resultDisposition, macroName ); \ - if( !Catch::getResultCapture().getLastResult()->succeeded() ) +#define INTERNAL_CATCH_ELSE( macroName, resultDisposition, expr ) \ + INTERNAL_CATCH_TEST( macroName, resultDisposition, expr ); \ + if( !Catch::getResultCapture().lastAssertionPassed() ) /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CATCH_NO_THROW( expr, resultDisposition, macroName ) \ +#define INTERNAL_CATCH_NO_THROW( macroName, resultDisposition, expr ) \ do { \ - Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr, resultDisposition ); \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr), resultDisposition ); \ try { \ - expr; \ + static_cast(expr); \ __catchResult.captureResult( Catch::ResultWas::Ok ); \ } \ catch( ... ) { \ @@ -2128,12 +2264,12 @@ namespace Catch { } while( Catch::alwaysFalse() ) /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CATCH_THROWS( expr, resultDisposition, matcher, macroName ) \ +#define INTERNAL_CATCH_THROWS( macroName, resultDisposition, matcher, expr ) \ do { \ - Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr, resultDisposition, #matcher ); \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr), resultDisposition, CATCH_INTERNAL_STRINGIFY(matcher) ); \ if( __catchResult.allowThrows() ) \ try { \ - expr; \ + static_cast(expr); \ __catchResult.captureResult( Catch::ResultWas::DidntThrowException ); \ } \ catch( ... ) { \ @@ -2145,12 +2281,12 @@ namespace Catch { } while( Catch::alwaysFalse() ) /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CATCH_THROWS_AS( expr, exceptionType, resultDisposition, macroName ) \ +#define INTERNAL_CATCH_THROWS_AS( macroName, exceptionType, resultDisposition, expr ) \ do { \ - Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr, resultDisposition ); \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr) ", " CATCH_INTERNAL_STRINGIFY(exceptionType), resultDisposition ); \ if( __catchResult.allowThrows() ) \ try { \ - expr; \ + static_cast(expr); \ __catchResult.captureResult( Catch::ResultWas::DidntThrowException ); \ } \ catch( exceptionType ) { \ @@ -2166,7 +2302,7 @@ namespace Catch { /////////////////////////////////////////////////////////////////////////////// #ifdef CATCH_CONFIG_VARIADIC_MACROS - #define INTERNAL_CATCH_MSG( messageType, resultDisposition, macroName, ... ) \ + #define INTERNAL_CATCH_MSG( macroName, messageType, resultDisposition, ... ) \ do { \ Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, "", resultDisposition ); \ __catchResult << __VA_ARGS__ + ::Catch::StreamEndStop(); \ @@ -2174,7 +2310,7 @@ namespace Catch { INTERNAL_CATCH_REACT( __catchResult ) \ } while( Catch::alwaysFalse() ) #else - #define INTERNAL_CATCH_MSG( messageType, resultDisposition, macroName, log ) \ + #define INTERNAL_CATCH_MSG( macroName, messageType, resultDisposition, log ) \ do { \ Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, "", resultDisposition ); \ __catchResult << log + ::Catch::StreamEndStop(); \ @@ -2184,21 +2320,15 @@ namespace Catch { #endif /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CATCH_INFO( log, macroName ) \ +#define INTERNAL_CATCH_INFO( macroName, log ) \ Catch::ScopedMessage INTERNAL_CATCH_UNIQUE_NAME( scopedMessage ) = Catch::MessageBuilder( macroName, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log; /////////////////////////////////////////////////////////////////////////////// -#define INTERNAL_CHECK_THAT( arg, matcher, resultDisposition, macroName ) \ +#define INTERNAL_CHECK_THAT( macroName, matcher, resultDisposition, arg ) \ do { \ - Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #arg ", " #matcher, resultDisposition ); \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(arg) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \ try { \ - std::string matcherAsString = (matcher).toString(); \ - __catchResult \ - .setLhs( Catch::toString( arg ) ) \ - .setRhs( matcherAsString == Catch::Detail::unprintableString ? #matcher : matcherAsString ) \ - .setOp( "matches" ) \ - .setResultType( (matcher).match( arg ) ); \ - __catchResult.captureExpression(); \ + __catchResult.captureMatch( arg, matcher, CATCH_INTERNAL_STRINGIFY(matcher) ); \ } catch( ... ) { \ __catchResult.useActiveException( resultDisposition | Catch::ResultDisposition::ContinueOnFailure ); \ } \ @@ -2281,6 +2411,8 @@ namespace Catch { }; } +#include + namespace Catch { struct SectionInfo { @@ -2309,14 +2441,19 @@ namespace Catch { // #included from: catch_timer.h #define TWOBLUECUBES_CATCH_TIMER_H_INCLUDED -#ifdef CATCH_PLATFORM_WINDOWS -typedef unsigned long long uint64_t; +#ifdef _MSC_VER + +namespace Catch { + typedef unsigned long long UInt64; +} #else #include +namespace Catch { + typedef uint64_t UInt64; +} #endif namespace Catch { - class Timer { public: Timer() : m_ticks( 0 ) {} @@ -2326,7 +2463,7 @@ namespace Catch { double getElapsedSeconds() const; private: - uint64_t m_ticks; + UInt64 m_ticks; }; } // namespace Catch @@ -2365,7 +2502,6 @@ namespace Catch { // #included from: internal/catch_generators.hpp #define TWOBLUECUBES_CATCH_GENERATORS_HPP_INCLUDED -#include #include #include #include @@ -2479,7 +2615,7 @@ class CompositeGenerator { private: void move( CompositeGenerator& other ) { - std::copy( other.m_composed.begin(), other.m_composed.end(), std::back_inserter( m_composed ) ); + m_composed.insert( m_composed.end(), other.m_composed.begin(), other.m_composed.end() ); m_totalSize += other.m_totalSize; other.m_composed.clear(); } @@ -2561,12 +2697,15 @@ namespace Catch { struct IExceptionTranslator; struct IReporterRegistry; struct IReporterFactory; + struct ITagAliasRegistry; struct IRegistryHub { virtual ~IRegistryHub(); virtual IReporterRegistry const& getReporterRegistry() const = 0; virtual ITestCaseRegistry const& getTestCaseRegistry() const = 0; + virtual ITagAliasRegistry const& getTagAliasRegistry() const = 0; + virtual IExceptionTranslatorRegistry& getExceptionTranslatorRegistry() = 0; }; @@ -2576,6 +2715,7 @@ namespace Catch { virtual void registerListener( Ptr const& factory ) = 0; virtual void registerTest( TestCase const& testInfo ) = 0; virtual void registerTranslator( const IExceptionTranslator* translator ) = 0; + virtual void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) = 0; }; IRegistryHub& getRegistryHub(); @@ -2651,6 +2791,10 @@ namespace Catch { #include #include +#if defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) +#include +#endif + namespace Catch { namespace Detail { @@ -2658,62 +2802,140 @@ namespace Detail { public: explicit Approx ( double value ) : m_epsilon( std::numeric_limits::epsilon()*100 ), + m_margin( 0.0 ), m_scale( 1.0 ), m_value( value ) {} - Approx( Approx const& other ) - : m_epsilon( other.m_epsilon ), - m_scale( other.m_scale ), - m_value( other.m_value ) - {} - static Approx custom() { return Approx( 0 ); } - Approx operator()( double value ) { - Approx approx( value ); +#if defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) + + template ::value>::type> + Approx operator()( T value ) { + Approx approx( static_cast(value) ); approx.epsilon( m_epsilon ); + approx.margin( m_margin ); approx.scale( m_scale ); return approx; } - friend bool operator == ( double lhs, Approx const& rhs ) { + template ::value>::type> + explicit Approx( T value ): Approx(static_cast(value)) + {} + + template ::value>::type> + friend bool operator == ( const T& lhs, Approx const& rhs ) { // Thanks to Richard Harris for his help refining this formula - return fabs( lhs - rhs.m_value ) < rhs.m_epsilon * (rhs.m_scale + (std::max)( fabs(lhs), fabs(rhs.m_value) ) ); + auto lhs_v = double(lhs); + bool relativeOK = std::fabs(lhs_v - rhs.m_value) < rhs.m_epsilon * (rhs.m_scale + (std::max)(std::fabs(lhs_v), std::fabs(rhs.m_value))); + if (relativeOK) { + return true; + } + + return std::fabs(lhs_v - rhs.m_value) <= rhs.m_margin; } - friend bool operator == ( Approx const& lhs, double rhs ) { + template ::value>::type> + friend bool operator == ( Approx const& lhs, const T& rhs ) { return operator==( rhs, lhs ); } - friend bool operator != ( double lhs, Approx const& rhs ) { + template ::value>::type> + friend bool operator != ( T lhs, Approx const& rhs ) { return !operator==( lhs, rhs ); } - friend bool operator != ( Approx const& lhs, double rhs ) { + template ::value>::type> + friend bool operator != ( Approx const& lhs, T rhs ) { return !operator==( rhs, lhs ); } - friend bool operator <= ( double lhs, Approx const& rhs ) - { - return lhs < rhs.m_value || lhs == rhs; + template ::value>::type> + friend bool operator <= ( T lhs, Approx const& rhs ) { + return double(lhs) < rhs.m_value || lhs == rhs; } - friend bool operator <= ( Approx const& lhs, double rhs ) - { - return lhs.m_value < rhs || lhs == rhs; + template ::value>::type> + friend bool operator <= ( Approx const& lhs, T rhs ) { + return lhs.m_value < double(rhs) || lhs == rhs; } - friend bool operator >= ( double lhs, Approx const& rhs ) - { - return lhs > rhs.m_value || lhs == rhs; + template ::value>::type> + friend bool operator >= ( T lhs, Approx const& rhs ) { + return double(lhs) > rhs.m_value || lhs == rhs; } - friend bool operator >= ( Approx const& lhs, double rhs ) - { - return lhs.m_value > rhs || lhs == rhs; + template ::value>::type> + friend bool operator >= ( Approx const& lhs, T rhs ) { + return lhs.m_value > double(rhs) || lhs == rhs; + } + + template ::value>::type> + Approx& epsilon( T newEpsilon ) { + m_epsilon = double(newEpsilon); + return *this; + } + + template ::value>::type> + Approx& margin( T newMargin ) { + m_margin = double(newMargin); + return *this; + } + + template ::value>::type> + Approx& scale( T newScale ) { + m_scale = double(newScale); + return *this; + } + +#else + + Approx operator()( double value ) { + Approx approx( value ); + approx.epsilon( m_epsilon ); + approx.margin( m_margin ); + approx.scale( m_scale ); + return approx; + } + + friend bool operator == ( double lhs, Approx const& rhs ) { + // Thanks to Richard Harris for his help refining this formula + bool relativeOK = std::fabs( lhs - rhs.m_value ) < rhs.m_epsilon * (rhs.m_scale + (std::max)( std::fabs(lhs), std::fabs(rhs.m_value) ) ); + if (relativeOK) { + return true; + } + return std::fabs(lhs - rhs.m_value) <= rhs.m_margin; + } + + friend bool operator == ( Approx const& lhs, double rhs ) { + return operator==( rhs, lhs ); + } + + friend bool operator != ( double lhs, Approx const& rhs ) { + return !operator==( lhs, rhs ); + } + + friend bool operator != ( Approx const& lhs, double rhs ) { + return !operator==( rhs, lhs ); + } + + friend bool operator <= ( double lhs, Approx const& rhs ) { + return lhs < rhs.m_value || lhs == rhs; + } + + friend bool operator <= ( Approx const& lhs, double rhs ) { + return lhs.m_value < rhs || lhs == rhs; + } + + friend bool operator >= ( double lhs, Approx const& rhs ) { + return lhs > rhs.m_value || lhs == rhs; + } + + friend bool operator >= ( Approx const& lhs, double rhs ) { + return lhs.m_value > rhs || lhs == rhs; } Approx& epsilon( double newEpsilon ) { @@ -2721,10 +2943,16 @@ namespace Detail { return *this; } + Approx& margin( double newMargin ) { + m_margin = newMargin; + return *this; + } + Approx& scale( double newScale ) { m_scale = newScale; return *this; } +#endif std::string toString() const { std::ostringstream oss; @@ -2734,6 +2962,7 @@ namespace Detail { private: double m_epsilon; + double m_margin; double m_scale; double m_value; }; @@ -2746,6 +2975,153 @@ inline std::string toString( Detail::Approx const& value ) { } // end namespace Catch +// #included from: internal/catch_matchers_string.h +#define TWOBLUECUBES_CATCH_MATCHERS_STRING_H_INCLUDED + +namespace Catch { +namespace Matchers { + + namespace StdString { + + struct CasedString + { + CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity ); + std::string adjustString( std::string const& str ) const; + std::string caseSensitivitySuffix() const; + + CaseSensitive::Choice m_caseSensitivity; + std::string m_str; + }; + + struct StringMatcherBase : MatcherBase { + StringMatcherBase( std::string const& operation, CasedString const& comparator ); + virtual std::string describe() const CATCH_OVERRIDE; + + CasedString m_comparator; + std::string m_operation; + }; + + struct EqualsMatcher : StringMatcherBase { + EqualsMatcher( CasedString const& comparator ); + virtual bool match( std::string const& source ) const CATCH_OVERRIDE; + }; + struct ContainsMatcher : StringMatcherBase { + ContainsMatcher( CasedString const& comparator ); + virtual bool match( std::string const& source ) const CATCH_OVERRIDE; + }; + struct StartsWithMatcher : StringMatcherBase { + StartsWithMatcher( CasedString const& comparator ); + virtual bool match( std::string const& source ) const CATCH_OVERRIDE; + }; + struct EndsWithMatcher : StringMatcherBase { + EndsWithMatcher( CasedString const& comparator ); + virtual bool match( std::string const& source ) const CATCH_OVERRIDE; + }; + + } // namespace StdString + + // The following functions create the actual matcher objects. + // This allows the types to be inferred + + StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ); + StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ); + StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ); + StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ); + +} // namespace Matchers +} // namespace Catch + +// #included from: internal/catch_matchers_vector.h +#define TWOBLUECUBES_CATCH_MATCHERS_VECTOR_H_INCLUDED + +namespace Catch { +namespace Matchers { + + namespace Vector { + + template + struct ContainsElementMatcher : MatcherBase, T> { + + ContainsElementMatcher(T const &comparator) : m_comparator( comparator) {} + + bool match(std::vector const &v) const CATCH_OVERRIDE { + return std::find(v.begin(), v.end(), m_comparator) != v.end(); + } + + virtual std::string describe() const CATCH_OVERRIDE { + return "Contains: " + Catch::toString( m_comparator ); + } + + T const& m_comparator; + }; + + template + struct ContainsMatcher : MatcherBase, std::vector > { + + ContainsMatcher(std::vector const &comparator) : m_comparator( comparator ) {} + + bool match(std::vector const &v) const CATCH_OVERRIDE { + // !TBD: see note in EqualsMatcher + if (m_comparator.size() > v.size()) + return false; + for (size_t i = 0; i < m_comparator.size(); ++i) + if (std::find(v.begin(), v.end(), m_comparator[i]) == v.end()) + return false; + return true; + } + virtual std::string describe() const CATCH_OVERRIDE { + return "Contains: " + Catch::toString( m_comparator ); + } + + std::vector const& m_comparator; + }; + + template + struct EqualsMatcher : MatcherBase, std::vector > { + + EqualsMatcher(std::vector const &comparator) : m_comparator( comparator ) {} + + bool match(std::vector const &v) const CATCH_OVERRIDE { + // !TBD: This currently works if all elements can be compared using != + // - a more general approach would be via a compare template that defaults + // to using !=. but could be specialised for, e.g. std::vector etc + // - then just call that directly + if (m_comparator.size() != v.size()) + return false; + for (size_t i = 0; i < v.size(); ++i) + if (m_comparator[i] != v[i]) + return false; + return true; + } + virtual std::string describe() const CATCH_OVERRIDE { + return "Equals: " + Catch::toString( m_comparator ); + } + std::vector const& m_comparator; + }; + + } // namespace Vector + + // The following functions create the actual matcher objects. + // This allows the types to be inferred + + template + Vector::ContainsMatcher Contains( std::vector const& comparator ) { + return Vector::ContainsMatcher( comparator ); + } + + template + Vector::ContainsElementMatcher VectorContains( T const& comparator ) { + return Vector::ContainsElementMatcher( comparator ); + } + + template + Vector::EqualsMatcher Equals( std::vector const& comparator ) { + return Vector::EqualsMatcher( comparator ); + } + +} // namespace Matchers +} // namespace Catch + // #included from: internal/catch_interfaces_tag_alias_registry.h #define TWOBLUECUBES_CATCH_INTERFACES_TAG_ALIAS_REGISTRY_H_INCLUDED @@ -2757,7 +3133,7 @@ inline std::string toString( Detail::Approx const& value ) { namespace Catch { struct TagAlias { - TagAlias( std::string _tag, SourceLineInfo _lineInfo ) : tag( _tag ), lineInfo( _lineInfo ) {} + TagAlias( std::string const& _tag, SourceLineInfo _lineInfo ) : tag( _tag ), lineInfo( _lineInfo ) {} std::string tag; SourceLineInfo lineInfo; @@ -2829,8 +3205,18 @@ namespace Catch { } private: - T* nullableValue; - char storage[sizeof(T)]; + T *nullableValue; + union { + char storage[sizeof(T)]; + + // These are here to force alignment for the storage + long double dummy1; + void (*dummy2)(); + long double dummy3; +#ifdef CATCH_CONFIG_CPP11_LONG_LONG + long long dummy4; +#endif + }; }; } // end namespace Catch @@ -2870,7 +3256,8 @@ namespace Catch { IsHidden = 1 << 1, ShouldFail = 1 << 2, MayFail = 1 << 3, - Throws = 1 << 4 + Throws = 1 << 4, + NonPortable = 1 << 5 }; TestCaseInfo( std::string const& _name, @@ -3028,64 +3415,67 @@ namespace Catch { namespace Impl { namespace NSStringMatchers { - template - struct StringHolder : MatcherImpl{ + struct StringHolder : MatcherBase{ StringHolder( NSString* substr ) : m_substr( [substr copy] ){} StringHolder( StringHolder const& other ) : m_substr( [other.m_substr copy] ){} StringHolder() { arcSafeRelease( m_substr ); } + virtual bool match( NSString* arg ) const CATCH_OVERRIDE { + return false; + } + NSString* m_substr; }; - struct Equals : StringHolder { + struct Equals : StringHolder { Equals( NSString* substr ) : StringHolder( substr ){} - virtual bool match( ExpressionType const& str ) const { + virtual bool match( NSString* str ) const CATCH_OVERRIDE { return (str != nil || m_substr == nil ) && [str isEqualToString:m_substr]; } - virtual std::string toString() const { + virtual std::string describe() const CATCH_OVERRIDE { return "equals string: " + Catch::toString( m_substr ); } }; - struct Contains : StringHolder { + struct Contains : StringHolder { Contains( NSString* substr ) : StringHolder( substr ){} - virtual bool match( ExpressionType const& str ) const { + virtual bool match( NSString* str ) const { return (str != nil || m_substr == nil ) && [str rangeOfString:m_substr].location != NSNotFound; } - virtual std::string toString() const { + virtual std::string describe() const CATCH_OVERRIDE { return "contains string: " + Catch::toString( m_substr ); } }; - struct StartsWith : StringHolder { + struct StartsWith : StringHolder { StartsWith( NSString* substr ) : StringHolder( substr ){} - virtual bool match( ExpressionType const& str ) const { + virtual bool match( NSString* str ) const { return (str != nil || m_substr == nil ) && [str rangeOfString:m_substr].location == 0; } - virtual std::string toString() const { + virtual std::string describe() const CATCH_OVERRIDE { return "starts with: " + Catch::toString( m_substr ); } }; - struct EndsWith : StringHolder { + struct EndsWith : StringHolder { EndsWith( NSString* substr ) : StringHolder( substr ){} - virtual bool match( ExpressionType const& str ) const { + virtual bool match( NSString* str ) const { return (str != nil || m_substr == nil ) && [str rangeOfString:m_substr].location == [str length] - [m_substr length]; } - virtual std::string toString() const { + virtual std::string describe() const CATCH_OVERRIDE { return "ends with: " + Catch::toString( m_substr ); } }; @@ -3126,6 +3516,29 @@ return @ desc; \ #endif #ifdef CATCH_IMPL + +// !TBD: Move the leak detector code into a separate header +#ifdef CATCH_CONFIG_WINDOWS_CRTDBG +#include +class LeakDetector { +public: + LeakDetector() { + int flag = _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG); + flag |= _CRTDBG_LEAK_CHECK_DF; + flag |= _CRTDBG_ALLOC_MEM_DF; + _CrtSetDbgFlag(flag); + _CrtSetReportMode(_CRT_WARN, _CRTDBG_MODE_FILE | _CRTDBG_MODE_DEBUG); + _CrtSetReportFile(_CRT_WARN, _CRTDBG_FILE_STDERR); + // Change this to leaking allocation's number to break there + _CrtSetBreakAlloc(-1); + } +}; +#else +class LeakDetector {}; +#endif + +LeakDetector leakDetector; + // #included from: internal/catch_impl.hpp #define TWOBLUECUBES_CATCH_IMPL_HPP_INCLUDED @@ -3165,6 +3578,8 @@ return @ desc; \ // #included from: catch_wildcard_pattern.hpp #define TWOBLUECUBES_CATCH_WILDCARD_PATTERN_HPP_INCLUDED +#include + namespace Catch { class WildcardPattern { @@ -3182,11 +3597,11 @@ namespace Catch m_wildcard( NoWildcard ), m_pattern( adjustCase( pattern ) ) { - if( startsWith( m_pattern, "*" ) ) { + if( startsWith( m_pattern, '*' ) ) { m_pattern = m_pattern.substr( 1 ); m_wildcard = WildcardAtStart; } - if( endsWith( m_pattern, "*" ) ) { + if( endsWith( m_pattern, '*' ) ) { m_pattern = m_pattern.substr( 0, m_pattern.size()-1 ); m_wildcard = static_cast( m_wildcard | WildcardAtEnd ); } @@ -3316,7 +3731,7 @@ namespace Catch { ITagAliasRegistry const* m_tagAliases; public: - TestSpecParser( ITagAliasRegistry const& tagAliases ) : m_tagAliases( &tagAliases ) {} + TestSpecParser( ITagAliasRegistry const& tagAliases ) :m_mode(None), m_exclusion(false), m_start(0), m_pos(0), m_tagAliases( &tagAliases ) {} TestSpecParser& parse( std::string const& arg ) { m_mode = None; @@ -3373,6 +3788,8 @@ namespace Catch { m_start = start; } void escape() { + if( m_mode == None ) + m_start = m_pos; m_mode = EscapedName; m_escapeChars.push_back( m_pos ); } @@ -3381,7 +3798,7 @@ namespace Catch { void addPattern() { std::string token = subString(); for( size_t i = 0; i < m_escapeChars.size(); ++i ) - token = token.substr( 0, m_escapeChars[i] ) + token.substr( m_escapeChars[i]+1 ); + token = token.substr( 0, m_escapeChars[i]-m_start-i ) + token.substr( m_escapeChars[i]-m_start-i+1 ); m_escapeChars.clear(); if( startsWith( token, "exclude:" ) ) { m_exclusion = true; @@ -3416,7 +3833,7 @@ namespace Catch { // #included from: catch_interfaces_config.h #define TWOBLUECUBES_CATCH_INTERFACES_CONFIG_H_INCLUDED -#include +#include #include #include @@ -3448,6 +3865,12 @@ namespace Catch { Yes, No }; }; + struct WaitForKeypress { enum When { + Never, + BeforeStart = 1, + BeforeExit = 2, + BeforeStartAndExit = BeforeStart | BeforeExit + }; }; class TestSpec; @@ -3468,6 +3891,8 @@ namespace Catch { virtual RunTests::InWhatOrder runOrder() const = 0; virtual unsigned int rngSeed() const = 0; virtual UseColour::YesOrNo useColour() const = 0; + virtual std::vector const& getSectionsToRun() const = 0; + }; } @@ -3496,6 +3921,7 @@ namespace Catch { std::ostream& cout(); std::ostream& cerr(); + std::ostream& clog(); struct IStream { virtual ~IStream() CATCH_NOEXCEPT; @@ -3536,8 +3962,7 @@ namespace Catch { #include #include #include -#include -#include +#include #ifndef CATCH_CONFIG_CONSOLE_WIDTH #define CATCH_CONFIG_CONSOLE_WIDTH 80 @@ -3552,25 +3977,29 @@ namespace Catch { listTags( false ), listReporters( false ), listTestNamesOnly( false ), + listExtraInfo( false ), showSuccessfulTests( false ), shouldDebugBreak( false ), noThrow( false ), showHelp( false ), showInvisibles( false ), filenamesAsTags( false ), + libIdentify( false ), abortAfter( -1 ), rngSeed( 0 ), verbosity( Verbosity::Normal ), warnings( WarnAbout::Nothing ), showDurations( ShowDurations::DefaultForReporter ), runOrder( RunTests::InDeclarationOrder ), - useColour( UseColour::Auto ) + useColour( UseColour::Auto ), + waitForKeypress( WaitForKeypress::Never ) {} bool listTests; bool listTags; bool listReporters; bool listTestNamesOnly; + bool listExtraInfo; bool showSuccessfulTests; bool shouldDebugBreak; @@ -3578,6 +4007,7 @@ namespace Catch { bool showHelp; bool showInvisibles; bool filenamesAsTags; + bool libIdentify; int abortAfter; unsigned int rngSeed; @@ -3587,6 +4017,7 @@ namespace Catch { ShowDurations::OrNot showDurations; RunTests::InWhatOrder runOrder; UseColour::YesOrNo useColour; + WaitForKeypress::When waitForKeypress; std::string outputFilename; std::string name; @@ -3594,6 +4025,7 @@ namespace Catch { std::vector reporterNames; std::vector testsOrTags; + std::vector sectionsToRun; }; class Config : public SharedImpl { @@ -3618,8 +4050,7 @@ namespace Catch { } } - virtual ~Config() { - } + virtual ~Config() {} std::string const& getFilename() const { return m_data.outputFilename ; @@ -3629,30 +4060,30 @@ namespace Catch { bool listTestNamesOnly() const { return m_data.listTestNamesOnly; } bool listTags() const { return m_data.listTags; } bool listReporters() const { return m_data.listReporters; } + bool listExtraInfo() const { return m_data.listExtraInfo; } std::string getProcessName() const { return m_data.processName; } - bool shouldDebugBreak() const { return m_data.shouldDebugBreak; } - - std::vector getReporterNames() const { return m_data.reporterNames; } + std::vector const& getReporterNames() const { return m_data.reporterNames; } + std::vector const& getSectionsToRun() const CATCH_OVERRIDE { return m_data.sectionsToRun; } - int abortAfter() const { return m_data.abortAfter; } - - TestSpec const& testSpec() const { return m_testSpec; } + virtual TestSpec const& testSpec() const CATCH_OVERRIDE { return m_testSpec; } bool showHelp() const { return m_data.showHelp; } - bool showInvisibles() const { return m_data.showInvisibles; } // IConfig interface - virtual bool allowThrows() const { return !m_data.noThrow; } - virtual std::ostream& stream() const { return m_stream->stream(); } - virtual std::string name() const { return m_data.name.empty() ? m_data.processName : m_data.name; } - virtual bool includeSuccessfulResults() const { return m_data.showSuccessfulTests; } - virtual bool warnAboutMissingAssertions() const { return m_data.warnings & WarnAbout::NoAssertions; } - virtual ShowDurations::OrNot showDurations() const { return m_data.showDurations; } - virtual RunTests::InWhatOrder runOrder() const { return m_data.runOrder; } - virtual unsigned int rngSeed() const { return m_data.rngSeed; } - virtual UseColour::YesOrNo useColour() const { return m_data.useColour; } + virtual bool allowThrows() const CATCH_OVERRIDE { return !m_data.noThrow; } + virtual std::ostream& stream() const CATCH_OVERRIDE { return m_stream->stream(); } + virtual std::string name() const CATCH_OVERRIDE { return m_data.name.empty() ? m_data.processName : m_data.name; } + virtual bool includeSuccessfulResults() const CATCH_OVERRIDE { return m_data.showSuccessfulTests; } + virtual bool warnAboutMissingAssertions() const CATCH_OVERRIDE { return m_data.warnings & WarnAbout::NoAssertions; } + virtual ShowDurations::OrNot showDurations() const CATCH_OVERRIDE { return m_data.showDurations; } + virtual RunTests::InWhatOrder runOrder() const CATCH_OVERRIDE { return m_data.runOrder; } + virtual unsigned int rngSeed() const CATCH_OVERRIDE { return m_data.rngSeed; } + virtual UseColour::YesOrNo useColour() const CATCH_OVERRIDE { return m_data.useColour; } + virtual bool shouldDebugBreak() const CATCH_OVERRIDE { return m_data.shouldDebugBreak; } + virtual int abortAfter() const CATCH_OVERRIDE { return m_data.abortAfter; } + virtual bool showInvisibles() const CATCH_OVERRIDE { return m_data.showInvisibles; } private: @@ -3717,6 +4148,7 @@ namespace Catch { #include #include #include +#include // Use optional outer namespace #ifdef STITCH_TBC_TEXT_FORMAT_OUTER_NAMESPACE @@ -3826,7 +4258,7 @@ namespace Tbc { return oss.str(); } - inline friend std::ostream& operator << ( std::ostream& _stream, Text const& _text ) { + friend std::ostream& operator << ( std::ostream& _stream, Text const& _text ) { for( Text::const_iterator it = _text.begin(), itEnd = _text.end(); it != itEnd; ++it ) { if( it != _text.begin() ) @@ -4059,7 +4491,7 @@ namespace Clara { _dest = _source; } char toLowerCh(char c) { - return static_cast( ::tolower( c ) ); + return static_cast( std::tolower( c ) ); } inline void convertInto( std::string const& _source, bool& _dest ) { std::string sourceLC = _source; @@ -4213,12 +4645,13 @@ namespace Clara { } void parseIntoTokens( std::string const& arg, std::vector& tokens ) { - for( std::size_t i = 0; i <= arg.size(); ++i ) { + for( std::size_t i = 0; i < arg.size(); ++i ) { char c = arg[i]; if( c == '"' ) inQuotes = !inQuotes; mode = handleMode( i, c, arg, tokens ); } + mode = handleMode( arg.size(), '\0', arg, tokens ); } Mode handleMode( std::size_t i, char c, std::string const& arg, std::vector& tokens ) { switch( mode ) { @@ -4251,6 +4684,7 @@ namespace Clara { default: from = i; return ShortOpt; } } + Mode handleOpt( std::size_t i, char c, std::string const& arg, std::vector& tokens ) { if( std::string( ":=\0", 3 ).find( c ) == std::string::npos ) return mode; @@ -4582,7 +5016,7 @@ namespace Clara { } std::vector parseInto( std::vector const& args, ConfigT& config ) const { - std::string processName = args[0]; + std::string processName = args.empty() ? std::string() : args[0]; std::size_t lastSlash = processName.find_last_of( "/\\" ); if( lastSlash != std::string::npos ) processName = processName.substr( lastSlash+1 ); @@ -4714,6 +5148,7 @@ STITCH_CLARA_CLOSE_NAMESPACE #endif #include +#include namespace Catch { @@ -4724,13 +5159,14 @@ namespace Catch { config.abortAfter = x; } inline void addTestOrTags( ConfigData& config, std::string const& _testSpec ) { config.testsOrTags.push_back( _testSpec ); } + inline void addSectionToRun( ConfigData& config, std::string const& sectionName ) { config.sectionsToRun.push_back( sectionName ); } inline void addReporterName( ConfigData& config, std::string const& _reporterName ) { config.reporterNames.push_back( _reporterName ); } inline void addWarning( ConfigData& config, std::string const& _warning ) { if( _warning == "NoAssertions" ) config.warnings = static_cast( config.warnings | WarnAbout::NoAssertions ); else - throw std::runtime_error( "Unrecognised warning: '" + _warning + "'" ); + throw std::runtime_error( "Unrecognised warning: '" + _warning + '\'' ); } inline void setOrder( ConfigData& config, std::string const& order ) { if( startsWith( "declared", order ) ) @@ -4740,7 +5176,7 @@ namespace Catch { else if( startsWith( "random", order ) ) config.runOrder = RunTests::InRandomOrder; else - throw std::runtime_error( "Unrecognised ordering: '" + order + "'" ); + throw std::runtime_error( "Unrecognised ordering: '" + order + '\'' ); } inline void setRngSeed( ConfigData& config, std::string const& seed ) { if( seed == "time" ) { @@ -4751,7 +5187,7 @@ namespace Catch { ss << seed; ss >> config.rngSeed; if( ss.fail() ) - throw std::runtime_error( "Argment to --rng-seed should be the word 'time' or a number" ); + throw std::runtime_error( "Argument to --rng-seed should be the word 'time' or a number" ); } } inline void setVerbosity( ConfigData& config, int level ) { @@ -4775,6 +5211,18 @@ namespace Catch { else throw std::runtime_error( "colour mode must be one of: auto, yes or no" ); } + inline void setWaitForKeypress( ConfigData& config, std::string const& keypress ) { + std::string keypressLc = toLower( keypress ); + if( keypressLc == "start" ) + config.waitForKeypress = WaitForKeypress::BeforeStart; + else if( keypressLc == "exit" ) + config.waitForKeypress = WaitForKeypress::BeforeExit; + else if( keypressLc == "both" ) + config.waitForKeypress = WaitForKeypress::BeforeStartAndExit; + else + throw std::runtime_error( "keypress argument must be one of: start, exit or both. '" + keypress + "' not recognised" ); + }; + inline void forceColour( ConfigData& config ) { config.useColour = UseColour::Yes; } @@ -4786,10 +5234,10 @@ namespace Catch { std::string line; while( std::getline( f, line ) ) { line = trim(line); - if( !line.empty() && !startsWith( line, "#" ) ) { - if( !startsWith( line, "\"" ) ) - line = "\"" + line + "\""; - addTestOrTags( config, line + "," ); + if( !line.empty() && !startsWith( line, '#' ) ) { + if( !startsWith( line, '"' ) ) + line = '"' + line + '"'; + addTestOrTags( config, line + ',' ); } } } @@ -4877,11 +5325,19 @@ namespace Catch { .describe( "adds a tag for the filename" ) .bind( &ConfigData::filenamesAsTags ); + cli["-c"]["--section"] + .describe( "specify section to run" ) + .bind( &addSectionToRun, "section name" ); + // Less common commands which don't have a short form cli["--list-test-names-only"] .describe( "list all/matching test cases names only" ) .bind( &ConfigData::listTestNamesOnly ); + cli["--list-extra-info"] + .describe( "list all/matching test cases with more info" ) + .bind( &ConfigData::listExtraInfo ); + cli["--list-reporters"] .describe( "list all reporters" ) .bind( &ConfigData::listReporters ); @@ -4902,6 +5358,14 @@ namespace Catch { .describe( "should output be colourised" ) .bind( &setUseColour, "yes|no" ); + cli["--libidentify"] + .describe( "report name and version according to libidentify standard" ) + .bind( &ConfigData::libIdentify ); + + cli["--wait-for-keypress"] + .describe( "waits for a keypress before exiting" ) + .bind( &setWaitForKeypress, "start|exit|both" ); + return cli; } @@ -4949,19 +5413,16 @@ namespace Tbc { TextAttributes() : initialIndent( std::string::npos ), indent( 0 ), - width( consoleWidth-1 ), - tabChar( '\t' ) + width( consoleWidth-1 ) {} TextAttributes& setInitialIndent( std::size_t _value ) { initialIndent = _value; return *this; } TextAttributes& setIndent( std::size_t _value ) { indent = _value; return *this; } TextAttributes& setWidth( std::size_t _value ) { width = _value; return *this; } - TextAttributes& setTabChar( char _value ) { tabChar = _value; return *this; } std::size_t initialIndent; // indent of first line, or npos std::size_t indent; // indent of subsequent lines, or all if initialIndent is npos std::size_t width; // maximum width of text, including indent. Longer text will wrap - char tabChar; // If this char is seen the indent is changed to current pos }; class Text { @@ -4969,62 +5430,76 @@ namespace Tbc { Text( std::string const& _str, TextAttributes const& _attr = TextAttributes() ) : attr( _attr ) { - std::string wrappableChars = " [({.,/|\\-"; - std::size_t indent = _attr.initialIndent != std::string::npos - ? _attr.initialIndent - : _attr.indent; - std::string remainder = _str; + const std::string wrappableBeforeChars = "[({<\t"; + const std::string wrappableAfterChars = "])}>-,./|\\"; + const std::string wrappableInsteadOfChars = " \n\r"; + std::string indent = _attr.initialIndent != std::string::npos + ? std::string( _attr.initialIndent, ' ' ) + : std::string( _attr.indent, ' ' ); + + typedef std::string::const_iterator iterator; + iterator it = _str.begin(); + const iterator strEnd = _str.end(); + + while( it != strEnd ) { - while( !remainder.empty() ) { if( lines.size() >= 1000 ) { lines.push_back( "... message truncated due to excessive size" ); return; } - std::size_t tabPos = std::string::npos; - std::size_t width = (std::min)( remainder.size(), _attr.width - indent ); - std::size_t pos = remainder.find_first_of( '\n' ); - if( pos <= width ) { - width = pos; - } - pos = remainder.find_last_of( _attr.tabChar, width ); - if( pos != std::string::npos ) { - tabPos = pos; - if( remainder[width] == '\n' ) - width--; - remainder = remainder.substr( 0, tabPos ) + remainder.substr( tabPos+1 ); - } - if( width == remainder.size() ) { - spliceLine( indent, remainder, width ); - } - else if( remainder[width] == '\n' ) { - spliceLine( indent, remainder, width ); - if( width <= 1 || remainder.size() != 1 ) - remainder = remainder.substr( 1 ); - indent = _attr.indent; - } - else { - pos = remainder.find_last_of( wrappableChars, width ); - if( pos != std::string::npos && pos > 0 ) { - spliceLine( indent, remainder, pos ); - if( remainder[0] == ' ' ) - remainder = remainder.substr( 1 ); + std::string suffix; + std::size_t width = (std::min)( static_cast( strEnd-it ), _attr.width-static_cast( indent.size() ) ); + iterator itEnd = it+width; + iterator itNext = _str.end(); + + iterator itNewLine = std::find( it, itEnd, '\n' ); + if( itNewLine != itEnd ) + itEnd = itNewLine; + + if( itEnd != strEnd ) { + bool foundWrapPoint = false; + iterator findIt = itEnd; + do { + if( wrappableAfterChars.find( *findIt ) != std::string::npos && findIt != itEnd ) { + itEnd = findIt+1; + itNext = findIt+1; + foundWrapPoint = true; + } + else if( findIt > it && wrappableBeforeChars.find( *findIt ) != std::string::npos ) { + itEnd = findIt; + itNext = findIt; + foundWrapPoint = true; + } + else if( wrappableInsteadOfChars.find( *findIt ) != std::string::npos ) { + itNext = findIt+1; + itEnd = findIt; + foundWrapPoint = true; + } + if( findIt == it ) + break; + else + --findIt; + } + while( !foundWrapPoint ); + + if( !foundWrapPoint ) { + // No good wrap char, so we'll break mid word and add a hyphen + --itEnd; + itNext = itEnd; + suffix = "-"; } else { - spliceLine( indent, remainder, width-1 ); - lines.back() += "-"; + while( itEnd > it && wrappableInsteadOfChars.find( *(itEnd-1) ) != std::string::npos ) + --itEnd; } - if( lines.size() == 1 ) - indent = _attr.indent; - if( tabPos != std::string::npos ) - indent += tabPos; } - } - } + lines.push_back( indent + std::string( it, itEnd ) + suffix ); - void spliceLine( std::size_t _indent, std::string& _remainder, std::size_t _pos ) { - lines.push_back( std::string( _indent, ' ' ) + _remainder.substr( 0, _pos ) ); - _remainder = _remainder.substr( _pos ); + if( indent.size() != _attr.indent ) + indent = std::string( _attr.indent, ' ' ); + it = itNext; + } } typedef std::vector::const_iterator const_iterator; @@ -5133,7 +5608,6 @@ namespace Catch { #include #include #include -#include namespace Catch { @@ -5400,8 +5874,9 @@ namespace Catch { } std::size_t matchedTests = 0; - TextAttributes nameAttr, tagsAttr; + TextAttributes nameAttr, descAttr, tagsAttr; nameAttr.setInitialIndent( 2 ).setIndent( 4 ); + descAttr.setIndent( 4 ); tagsAttr.setIndent( 6 ); std::vector matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config ); @@ -5416,14 +5891,21 @@ namespace Catch { Colour colourGuard( colour ); Catch::cout() << Text( testCaseInfo.name, nameAttr ) << std::endl; + if( config.listExtraInfo() ) { + Catch::cout() << " " << testCaseInfo.lineInfo << std::endl; + std::string description = testCaseInfo.description; + if( description.empty() ) + description = "(NO DESCRIPTION)"; + Catch::cout() << Text( description, descAttr ) << std::endl; + } if( !testCaseInfo.tags.empty() ) Catch::cout() << Text( testCaseInfo.tagsAsString, tagsAttr ) << std::endl; } if( !config.testSpec().hasFilters() ) - Catch::cout() << pluralise( matchedTests, "test case" ) << "\n" << std::endl; + Catch::cout() << pluralise( matchedTests, "test case" ) << '\n' << std::endl; else - Catch::cout() << pluralise( matchedTests, "matching test case" ) << "\n" << std::endl; + Catch::cout() << pluralise( matchedTests, "matching test case" ) << '\n' << std::endl; return matchedTests; } @@ -5438,10 +5920,13 @@ namespace Catch { ++it ) { matchedTests++; TestCaseInfo const& testCaseInfo = it->getTestCaseInfo(); - if( startsWith( testCaseInfo.name, "#" ) ) - Catch::cout() << "\"" << testCaseInfo.name << "\"" << std::endl; + if( startsWith( testCaseInfo.name, '#' ) ) + Catch::cout() << '"' << testCaseInfo.name << '"'; else - Catch::cout() << testCaseInfo.name << std::endl; + Catch::cout() << testCaseInfo.name; + if ( config.listExtraInfo() ) + Catch::cout() << "\t@" << testCaseInfo.lineInfo; + Catch::cout() << std::endl; } return matchedTests; } @@ -5502,9 +5987,9 @@ namespace Catch { .setInitialIndent( 0 ) .setIndent( oss.str().size() ) .setWidth( CATCH_CONFIG_CONSOLE_WIDTH-10 ) ); - Catch::cout() << oss.str() << wrapper << "\n"; + Catch::cout() << oss.str() << wrapper << '\n'; } - Catch::cout() << pluralise( tagCounts.size(), "tag" ) << "\n" << std::endl; + Catch::cout() << pluralise( tagCounts.size(), "tag" ) << '\n' << std::endl; return tagCounts.size(); } @@ -5523,9 +6008,9 @@ namespace Catch { .setWidth( CATCH_CONFIG_CONSOLE_WIDTH - maxNameLen-8 ) ); Catch::cout() << " " << it->first - << ":" + << ':' << std::string( maxNameLen - it->first.size() + 2, ' ' ) - << wrapper << "\n"; + << wrapper << '\n'; } Catch::cout() << std::endl; return factories.size(); @@ -5533,7 +6018,7 @@ namespace Catch { inline Option list( Config const& config ) { Option listedCount; - if( config.listTests() ) + if( config.listTests() || ( config.listExtraInfo() && !config.listTestNamesOnly() ) ) listedCount = listedCount.valueOr(0) + listTests( config ); if( config.listTestNamesOnly() ) listedCount = listedCount.valueOr(0) + listTestsNamesOnly( config ); @@ -5552,19 +6037,32 @@ namespace Catch { // #included from: catch_test_case_tracker.hpp #define TWOBLUECUBES_CATCH_TEST_CASE_TRACKER_HPP_INCLUDED -#include +#include #include #include #include +#include + +CATCH_INTERNAL_SUPPRESS_ETD_WARNINGS namespace Catch { namespace TestCaseTracking { + struct NameAndLocation { + std::string name; + SourceLineInfo location; + + NameAndLocation( std::string const& _name, SourceLineInfo const& _location ) + : name( _name ), + location( _location ) + {} + }; + struct ITracker : SharedImpl<> { virtual ~ITracker(); // static queries - virtual std::string name() const = 0; + virtual NameAndLocation const& nameAndLocation() const = 0; // dynamic queries virtual bool isComplete() const = 0; // Successfully completed or failed @@ -5580,7 +6078,7 @@ namespace TestCaseTracking { virtual void markAsNeedingAnotherRun() = 0; virtual void addChild( Ptr const& child ) = 0; - virtual ITracker* findChild( std::string const& name ) = 0; + virtual ITracker* findChild( NameAndLocation const& nameAndLocation ) = 0; virtual void openChild() = 0; // Debug/ checking @@ -5588,7 +6086,7 @@ namespace TestCaseTracking { virtual bool isIndexTracker() const = 0; }; - class TrackerContext { + class TrackerContext { enum RunState { NotStarted, @@ -5650,30 +6148,32 @@ namespace TestCaseTracking { Failed }; class TrackerHasName { - std::string m_name; + NameAndLocation m_nameAndLocation; public: - TrackerHasName( std::string const& name ) : m_name( name ) {} + TrackerHasName( NameAndLocation const& nameAndLocation ) : m_nameAndLocation( nameAndLocation ) {} bool operator ()( Ptr const& tracker ) { - return tracker->name() == m_name; + return + tracker->nameAndLocation().name == m_nameAndLocation.name && + tracker->nameAndLocation().location == m_nameAndLocation.location; } }; typedef std::vector > Children; - std::string m_name; + NameAndLocation m_nameAndLocation; TrackerContext& m_ctx; ITracker* m_parent; Children m_children; CycleState m_runState; public: - TrackerBase( std::string const& name, TrackerContext& ctx, ITracker* parent ) - : m_name( name ), + TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent ) + : m_nameAndLocation( nameAndLocation ), m_ctx( ctx ), m_parent( parent ), m_runState( NotStarted ) {} virtual ~TrackerBase(); - virtual std::string name() const CATCH_OVERRIDE { - return m_name; + virtual NameAndLocation const& nameAndLocation() const CATCH_OVERRIDE { + return m_nameAndLocation; } virtual bool isComplete() const CATCH_OVERRIDE { return m_runState == CompletedSuccessfully || m_runState == Failed; @@ -5692,8 +6192,8 @@ namespace TestCaseTracking { m_children.push_back( child ); } - virtual ITracker* findChild( std::string const& name ) CATCH_OVERRIDE { - Children::const_iterator it = std::find_if( m_children.begin(), m_children.end(), TrackerHasName( name ) ); + virtual ITracker* findChild( NameAndLocation const& nameAndLocation ) CATCH_OVERRIDE { + Children::const_iterator it = std::find_if( m_children.begin(), m_children.end(), TrackerHasName( nameAndLocation ) ); return( it != m_children.end() ) ? it->get() : CATCH_NULL; @@ -5771,32 +6271,56 @@ namespace TestCaseTracking { }; class SectionTracker : public TrackerBase { + std::vector m_filters; public: - SectionTracker( std::string const& name, TrackerContext& ctx, ITracker* parent ) - : TrackerBase( name, ctx, parent ) - {} + SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent ) + : TrackerBase( nameAndLocation, ctx, parent ) + { + if( parent ) { + while( !parent->isSectionTracker() ) + parent = &parent->parent(); + + SectionTracker& parentSection = static_cast( *parent ); + addNextFilters( parentSection.m_filters ); + } + } virtual ~SectionTracker(); virtual bool isSectionTracker() const CATCH_OVERRIDE { return true; } - static SectionTracker& acquire( TrackerContext& ctx, std::string const& name ) { + static SectionTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation ) { SectionTracker* section = CATCH_NULL; ITracker& currentTracker = ctx.currentTracker(); - if( ITracker* childTracker = currentTracker.findChild( name ) ) { + if( ITracker* childTracker = currentTracker.findChild( nameAndLocation ) ) { assert( childTracker ); assert( childTracker->isSectionTracker() ); section = static_cast( childTracker ); } else { - section = new SectionTracker( name, ctx, ¤tTracker ); + section = new SectionTracker( nameAndLocation, ctx, ¤tTracker ); currentTracker.addChild( section ); } - if( !ctx.completedCycle() && !section->isComplete() ) { + if( !ctx.completedCycle() ) + section->tryOpen(); + return *section; + } + + void tryOpen() { + if( !isComplete() && (m_filters.empty() || m_filters[0].empty() || m_filters[0] == m_nameAndLocation.name ) ) + open(); + } - section->open(); + void addInitialFilters( std::vector const& filters ) { + if( !filters.empty() ) { + m_filters.push_back(""); // Root - should never be consulted + m_filters.push_back(""); // Test Case - not a section filter + m_filters.insert( m_filters.end(), filters.begin(), filters.end() ); } - return *section; + } + void addNextFilters( std::vector const& filters ) { + if( filters.size() > 1 ) + m_filters.insert( m_filters.end(), ++filters.begin(), filters.end() ); } }; @@ -5804,8 +6328,8 @@ namespace TestCaseTracking { int m_size; int m_index; public: - IndexTracker( std::string const& name, TrackerContext& ctx, ITracker* parent, int size ) - : TrackerBase( name, ctx, parent ), + IndexTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent, int size ) + : TrackerBase( nameAndLocation, ctx, parent ), m_size( size ), m_index( -1 ) {} @@ -5813,17 +6337,17 @@ namespace TestCaseTracking { virtual bool isIndexTracker() const CATCH_OVERRIDE { return true; } - static IndexTracker& acquire( TrackerContext& ctx, std::string const& name, int size ) { + static IndexTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation, int size ) { IndexTracker* tracker = CATCH_NULL; ITracker& currentTracker = ctx.currentTracker(); - if( ITracker* childTracker = currentTracker.findChild( name ) ) { + if( ITracker* childTracker = currentTracker.findChild( nameAndLocation ) ) { assert( childTracker ); assert( childTracker->isIndexTracker() ); tracker = static_cast( childTracker ); } else { - tracker = new IndexTracker( name, ctx, ¤tTracker, size ); + tracker = new IndexTracker( nameAndLocation, ctx, ¤tTracker, size ); currentTracker.addChild( tracker ); } @@ -5851,7 +6375,7 @@ namespace TestCaseTracking { }; inline ITracker& TrackerContext::startRun() { - m_rootTracker = new SectionTracker( "{root}", *this, CATCH_NULL ); + m_rootTracker = new SectionTracker( NameAndLocation( "{root}", CATCH_INTERNAL_LINEINFO ), *this, CATCH_NULL ); m_currentTracker = CATCH_NULL; m_runState = Executing; return *m_rootTracker; @@ -5866,40 +6390,212 @@ using TestCaseTracking::IndexTracker; } // namespace Catch +CATCH_INTERNAL_UNSUPPRESS_ETD_WARNINGS + // #included from: catch_fatal_condition.hpp #define TWOBLUECUBES_CATCH_FATAL_CONDITION_H_INCLUDED +#include +#include + namespace Catch { - // Report the error condition then exit the process - inline void fatal( std::string const& message, int exitCode ) { + //! Signals fatal error message to the run context + inline void reportFatal( std::string const& message ) { IContext& context = Catch::getCurrentContext(); IResultCapture* resultCapture = context.getResultCapture(); resultCapture->handleFatalErrorCondition( message ); - - if( Catch::alwaysTrue() ) // avoids "no return" warnings - exit( exitCode ); } } // namespace Catch #if defined ( CATCH_PLATFORM_WINDOWS ) ///////////////////////////////////////// +// #included from: catch_windows_h_proxy.h + +#define TWOBLUECUBES_CATCH_WINDOWS_H_PROXY_H_INCLUDED + +#ifdef CATCH_DEFINES_NOMINMAX +# define NOMINMAX +#endif +#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# define WIN32_LEAN_AND_MEAN +#endif + +#ifdef __AFXDLL +#include +#else +#include +#endif + +#ifdef CATCH_DEFINES_NOMINMAX +# undef NOMINMAX +#endif +#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# undef WIN32_LEAN_AND_MEAN +#endif + + +# if !defined ( CATCH_CONFIG_WINDOWS_SEH ) namespace Catch { + class FatalConditionHandler { + bool m_started; + + // Install/disengage implementation for specific platform. + // Should be if-defed to work on current platform, can assume + // engage-disengage 1:1 pairing. + void engage_platform() {} + void disengage_platform() {} + + public: + // Should also have platform-specific implementations as needed + FatalConditionHandler() : m_started(false) {} + ~FatalConditionHandler() {} + + void engage() { + assert(!m_started && "Handler cannot be installed twice."); + m_started = true; + engage_platform(); + } + + void disengage() { + assert(m_started && "Handler cannot be uninstalled without being installed first"); + m_started = false; + disengage_platform(); + } + }; +} - struct FatalConditionHandler { - void reset() {} - }; +# else // CATCH_CONFIG_WINDOWS_SEH is defined + +namespace Catch { + + struct SignalDefs { DWORD id; const char* name; }; + extern SignalDefs signalDefs[]; + // There is no 1-1 mapping between signals and windows exceptions. + // Windows can easily distinguish between SO and SigSegV, + // but SigInt, SigTerm, etc are handled differently. + SignalDefs signalDefs[] = { + { EXCEPTION_ILLEGAL_INSTRUCTION, "SIGILL - Illegal instruction signal" }, + { EXCEPTION_STACK_OVERFLOW, "SIGSEGV - Stack overflow" }, + { EXCEPTION_ACCESS_VIOLATION, "SIGSEGV - Segmentation violation signal" }, + { EXCEPTION_INT_DIVIDE_BY_ZERO, "Divide by zero error" }, + }; + + static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) { + for (int i = 0; i < sizeof(signalDefs) / sizeof(SignalDefs); ++i) { + if (ExceptionInfo->ExceptionRecord->ExceptionCode == signalDefs[i].id) { + reportFatal(signalDefs[i].name); + } + } + // If its not an exception we care about, pass it along. + // This stops us from eating debugger breaks etc. + return EXCEPTION_CONTINUE_SEARCH; + } + + // Since we do not support multiple instantiations, we put these + // into global variables and rely on cleaning them up in outlined + // constructors/destructors + static PVOID exceptionHandlerHandle = CATCH_NULL; + + class FatalConditionHandler { + bool m_started; + + // Install/disengage implementation for specific platform. + // Should be if-defed to work on current platform, can assume + // engage-disengage 1:1 pairing. + + void engage_platform() { + // Register as first handler in current chain + exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException); + if (!exceptionHandlerHandle) { + throw std::runtime_error("Could not register vectored exception handler"); + } + } + + void disengage_platform() { + if (!RemoveVectoredExceptionHandler(exceptionHandlerHandle)) { + throw std::runtime_error("Could not unregister vectored exception handler"); + } + exceptionHandlerHandle = CATCH_NULL; + } + + public: + FatalConditionHandler() : m_started(false) { + ULONG guaranteeSize = static_cast(32 * 1024); + if (!SetThreadStackGuarantee(&guaranteeSize)) { + // We do not want to fully error out, because needing + // the stack reserve should be rare enough anyway. + Catch::cerr() + << "Failed to reserve piece of stack." + << " Stack overflows will not be reported successfully."; + } + } + + // We do not attempt to unset the stack guarantee, because + // Windows does not support lowering the stack size guarantee. + ~FatalConditionHandler() {} + + void engage() { + assert(!m_started && "Handler cannot be installed twice."); + m_started = true; + engage_platform(); + } + + void disengage() { + assert(m_started && "Handler cannot be uninstalled without being installed first"); + m_started = false; + disengage_platform(); + } + }; } // namespace Catch +# endif // CATCH_CONFIG_WINDOWS_SEH + #else // Not Windows - assumed to be POSIX compatible ////////////////////////// +# if !defined(CATCH_CONFIG_POSIX_SIGNALS) + +namespace Catch { + class FatalConditionHandler { + bool m_started; + + // Install/disengage implementation for specific platform. + // Should be if-defed to work on current platform, can assume + // engage-disengage 1:1 pairing. + void engage_platform() {} + void disengage_platform() {} + + public: + // Should also have platform-specific implementations as needed + FatalConditionHandler() : m_started(false) {} + ~FatalConditionHandler() {} + + void engage() { + assert(!m_started && "Handler cannot be installed twice."); + m_started = true; + engage_platform(); + } + + void disengage() { + assert(m_started && "Handler cannot be uninstalled without being installed first"); + m_started = false; + disengage_platform(); + } + }; +} + +# else // CATCH_CONFIG_POSIX_SIGNALS is defined + #include namespace Catch { - struct SignalDefs { int id; const char* name; }; + struct SignalDefs { + int id; + const char* name; + }; extern SignalDefs signalDefs[]; SignalDefs signalDefs[] = { { SIGINT, "SIGINT - Terminal interrupt signal" }, @@ -5908,39 +6604,133 @@ namespace Catch { { SIGSEGV, "SIGSEGV - Segmentation violation signal" }, { SIGTERM, "SIGTERM - Termination request signal" }, { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" } - }; + }; + +// Older GCCs trigger -Wmissing-field-initializers for T foo = {} +// which is zero initialization, but not explicit. We want to avoid +// that. +#if defined(__GNUC__) +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wmissing-field-initializers" +#endif - struct FatalConditionHandler { + static char* altStackMem = CATCH_NULL; + static std::size_t altStackSize = 0; + static stack_t oldSigStack; + static struct sigaction oldSigActions[sizeof(signalDefs) / sizeof(SignalDefs)]; - static void handleSignal( int sig ) { - for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) - if( sig == signalDefs[i].id ) - fatal( signalDefs[i].name, -sig ); - fatal( "", -sig ); + static void restorePreviousSignalHandlers() { + // We set signal handlers back to the previous ones. Hopefully + // nobody overwrote them in the meantime, and doesn't expect + // their signal handlers to live past ours given that they + // installed them after ours.. + for (std::size_t i = 0; i < sizeof(signalDefs) / sizeof(SignalDefs); ++i) { + sigaction(signalDefs[i].id, &oldSigActions[i], CATCH_NULL); } + // Return the old stack + sigaltstack(&oldSigStack, CATCH_NULL); + } - FatalConditionHandler() : m_isSet( true ) { - for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) - signal( signalDefs[i].id, handleSignal ); + static void handleSignal( int sig ) { + char const * name = ""; + for (std::size_t i = 0; i < sizeof(signalDefs) / sizeof(SignalDefs); ++i) { + SignalDefs &def = signalDefs[i]; + if (sig == def.id) { + name = def.name; + break; + } } - ~FatalConditionHandler() { - reset(); + // We need to restore previous signal handlers and let them do + // their thing, so that the users can have the debugger break + // when a signal is raised, and so on. + restorePreviousSignalHandlers(); + reportFatal( name ); + raise( sig ); + } + + class FatalConditionHandler { + bool m_started; + + // Install/disengage implementation for specific platform. + // Should be if-defed to work on current platform, can assume + // engage-disengage 1:1 pairing. + + void engage_platform() { + stack_t sigStack; + sigStack.ss_sp = altStackMem; + sigStack.ss_size = SIGSTKSZ; + sigStack.ss_flags = 0; + sigaltstack(&sigStack, &oldSigStack); + struct sigaction sa = { 0 }; + + sa.sa_handler = handleSignal; + sa.sa_flags = SA_ONSTACK; + for (std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i) { + sigaction(signalDefs[i].id, &sa, &oldSigActions[i]); + } } - void reset() { - if( m_isSet ) { - for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) - signal( signalDefs[i].id, SIG_DFL ); - m_isSet = false; + + void disengage_platform() { + restorePreviousSignalHandlers(); + } + + public: + FatalConditionHandler() : m_started(false) { + assert(!altStackMem && "Cannot initialize POSIX signal handler when one already exists"); + if (altStackSize == 0) { + altStackSize = SIGSTKSZ; } + altStackMem = new char[altStackSize](); + } + + ~FatalConditionHandler() { + delete[] altStackMem; + // We signal that another instance can be constructed by zeroing + // out the pointer. + altStackMem = CATCH_NULL; + } + + void engage() { + assert(!m_started && "Handler cannot be installed twice."); + m_started = true; + engage_platform(); } - bool m_isSet; + void disengage() { + assert(m_started && "Handler cannot be uninstalled without being installed first"); + m_started = false; + disengage_platform(); + } }; +#if defined(__GNUC__) +# pragma GCC diagnostic pop +#endif + } // namespace Catch +# endif // CATCH_CONFIG_POSIX_SIGNALS + #endif // not Windows +namespace Catch { + + //! Simple RAII guard for (dis)engaging the FatalConditionHandler + class FatalConditionHandlerGuard { + FatalConditionHandler* m_handler; + public: + FatalConditionHandlerGuard(FatalConditionHandler* handler): + m_handler(handler) { + m_handler->engage(); + } + ~FatalConditionHandlerGuard() { + m_handler->disengage(); + } + }; + +} // end namespace Catch + +#include #include #include @@ -5969,6 +6759,29 @@ namespace Catch { std::string& m_targetString; }; + // StdErr has two constituent streams in C++, std::cerr and std::clog + // This means that we need to redirect 2 streams into 1 to keep proper + // order of writes and cannot use StreamRedirect on its own + class StdErrRedirect { + public: + StdErrRedirect(std::string& targetString) + :m_cerrBuf( cerr().rdbuf() ), m_clogBuf(clog().rdbuf()), + m_targetString(targetString){ + cerr().rdbuf(m_oss.rdbuf()); + clog().rdbuf(m_oss.rdbuf()); + } + ~StdErrRedirect() { + m_targetString += m_oss.str(); + cerr().rdbuf(m_cerrBuf); + clog().rdbuf(m_clogBuf); + } + private: + std::streambuf* m_cerrBuf; + std::streambuf* m_clogBuf; + std::ostringstream m_oss; + std::string& m_targetString; + }; + /////////////////////////////////////////////////////////////////////////// class RunContext : public IResultCapture, public IRunner { @@ -5983,7 +6796,8 @@ namespace Catch { m_context( getCurrentMutableContext() ), m_activeTestCase( CATCH_NULL ), m_config( _config ), - m_reporter( reporter ) + m_reporter( reporter ), + m_shouldReportUnexpected ( true ) { m_context.setRunner( this ); m_context.setConfig( m_config ); @@ -6015,10 +6829,12 @@ namespace Catch { m_activeTestCase = &testCase; do { - m_trackerContext.startRun(); + ITracker& rootTracker = m_trackerContext.startRun(); + assert( rootTracker.isSectionTracker() ); + static_cast( rootTracker ).addInitialFilters( m_config->getSectionsToRun() ); do { m_trackerContext.startCycle(); - m_testCaseTracker = &SectionTracker::acquire( m_trackerContext, testInfo.name ); + m_testCaseTracker = &SectionTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( testInfo.name, testInfo.lineInfo ) ); runCurrentTest( redirectedCout, redirectedCerr ); } while( !m_testCaseTracker->isSuccessfullyCompleted() && !aborting() ); @@ -6056,26 +6872,44 @@ namespace Catch { m_totals.assertions.passed++; } else if( !result.isOk() ) { - m_totals.assertions.failed++; + if( m_activeTestCase->getTestCaseInfo().okToFail() ) + m_totals.assertions.failedButOk++; + else + m_totals.assertions.failed++; } - if( m_reporter->assertionEnded( AssertionStats( result, m_messages, m_totals ) ) ) - m_messages.clear(); + // We have no use for the return value (whether messages should be cleared), because messages were made scoped + // and should be let to clear themselves out. + static_cast(m_reporter->assertionEnded(AssertionStats(result, m_messages, m_totals))); // Reset working state m_lastAssertionInfo = AssertionInfo( "", m_lastAssertionInfo.lineInfo, "{Unknown expression after the reported line}" , m_lastAssertionInfo.resultDisposition ); m_lastResult = result; } + virtual bool lastAssertionPassed() + { + return m_totals.assertions.passed == (m_prevPassed + 1); + } + + virtual void assertionPassed() + { + m_totals.assertions.passed++; + m_lastAssertionInfo.capturedExpression = "{Unknown expression after the reported line}"; + m_lastAssertionInfo.macroName = ""; + } + + virtual void assertionRun() + { + m_prevPassed = m_totals.assertions.passed; + } + virtual bool sectionStarted ( SectionInfo const& sectionInfo, Counts& assertions ) { - std::ostringstream oss; - oss << sectionInfo.name << "@" << sectionInfo.lineInfo; - - ITracker& sectionTracker = SectionTracker::acquire( m_trackerContext, oss.str() ); + ITracker& sectionTracker = SectionTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( sectionInfo.name, sectionInfo.lineInfo ) ); if( !sectionTracker.isOpen() ) return false; m_activeSections.push_back( §ionTracker ); @@ -6134,18 +6968,26 @@ namespace Catch { virtual std::string getCurrentTestName() const { return m_activeTestCase ? m_activeTestCase->getTestCaseInfo().name - : ""; + : std::string(); } virtual const AssertionResult* getLastResult() const { return &m_lastResult; } + virtual void exceptionEarlyReported() { + m_shouldReportUnexpected = false; + } + virtual void handleFatalErrorCondition( std::string const& message ) { - ResultBuilder resultBuilder = makeUnexpectedResultBuilder(); - resultBuilder.setResultType( ResultWas::FatalErrorCondition ); - resultBuilder << message; - resultBuilder.captureExpression(); + // Don't rebuild the result -- the stringification itself can cause more fatal errors + // Instead, fake a result data. + AssertionResultData tempResult; + tempResult.resultType = ResultWas::FatalErrorCondition; + tempResult.message = message; + AssertionResult result(m_lastAssertionInfo, tempResult); + + getResultCapture().assertionEnded(result); handleUnfinishedSections(); @@ -6162,13 +7004,14 @@ namespace Catch { Totals deltaTotals; deltaTotals.testCases.failed = 1; + deltaTotals.assertions.failed = 1; m_reporter->testCaseEnded( TestCaseStats( testInfo, deltaTotals, - "", - "", + std::string(), + std::string(), false ) ); m_totals.testCases.failed++; - testGroupEnded( "", m_totals, 1, 1 ); + testGroupEnded( std::string(), m_totals, 1, 1 ); m_reporter->testRunEnded( TestRunStats( m_runInfo, m_totals, false ) ); } @@ -6186,6 +7029,7 @@ namespace Catch { m_reporter->sectionStarting( testCaseSection ); Counts prevAssertions = m_totals.assertions; double duration = 0; + m_shouldReportUnexpected = true; try { m_lastAssertionInfo = AssertionInfo( "TEST_CASE", testCaseInfo.lineInfo, "", ResultDisposition::Normal ); @@ -6195,7 +7039,7 @@ namespace Catch { timer.start(); if( m_reporter->getPreferences().shouldRedirectStdOut ) { StreamRedirect coutRedir( Catch::cout(), redirectedCout ); - StreamRedirect cerrRedir( Catch::cerr(), redirectedCerr ); + StdErrRedirect errRedir( redirectedCerr ); invokeActiveTestCase(); } else { @@ -6207,7 +7051,11 @@ namespace Catch { // This just means the test was aborted due to failure } catch(...) { - makeUnexpectedResultBuilder().useActiveException(); + // Under CATCH_CONFIG_FAST_COMPILE, unexpected exceptions under REQUIRE assertions + // are reported without translation at the point of origin. + if (m_shouldReportUnexpected) { + makeUnexpectedResultBuilder().useActiveException(); + } } m_testCaseTracker->close(); handleUnfinishedSections(); @@ -6216,28 +7064,21 @@ namespace Catch { Counts assertions = m_totals.assertions - prevAssertions; bool missingAssertions = testForMissingAssertions( assertions ); - if( testCaseInfo.okToFail() ) { - std::swap( assertions.failedButOk, assertions.failed ); - m_totals.assertions.failed -= assertions.failedButOk; - m_totals.assertions.failedButOk += assertions.failedButOk; - } - SectionStats testCaseSectionStats( testCaseSection, assertions, duration, missingAssertions ); m_reporter->sectionEnded( testCaseSectionStats ); } void invokeActiveTestCase() { - FatalConditionHandler fatalConditionHandler; // Handle signals + FatalConditionHandlerGuard _(&m_fatalConditionhandler); m_activeTestCase->invoke(); - fatalConditionHandler.reset(); } private: ResultBuilder makeUnexpectedResultBuilder() const { - return ResultBuilder( m_lastAssertionInfo.macroName.c_str(), + return ResultBuilder( m_lastAssertionInfo.macroName, m_lastAssertionInfo.lineInfo, - m_lastAssertionInfo.capturedExpression.c_str(), + m_lastAssertionInfo.capturedExpression, m_lastAssertionInfo.resultDisposition ); } @@ -6267,6 +7108,9 @@ namespace Catch { std::vector m_unfinishedSections; std::vector m_activeSections; TrackerContext m_trackerContext; + FatalConditionHandler m_fatalConditionhandler; + size_t m_prevPassed; + bool m_shouldReportUnexpected; }; IResultCapture& getResultCapture() { @@ -6288,7 +7132,7 @@ namespace Catch { Version( unsigned int _majorVersion, unsigned int _minorVersion, unsigned int _patchNumber, - std::string const& _branchName, + char const * const _branchName, unsigned int _buildNumber ); unsigned int const majorVersion; @@ -6296,7 +7140,7 @@ namespace Catch { unsigned int const patchNumber; // buildNumber is only used if branchName is not null - std::string const branchName; + char const * const branchName; unsigned int const buildNumber; friend std::ostream& operator << ( std::ostream& os, Version const& version ); @@ -6305,7 +7149,7 @@ namespace Catch { void operator=( Version const& ); }; - extern Version libraryVersion; + inline Version libraryVersion(); } #include @@ -6324,10 +7168,14 @@ namespace Catch { return reporter; } +#if !defined(CATCH_CONFIG_DEFAULT_REPORTER) +#define CATCH_CONFIG_DEFAULT_REPORTER "console" +#endif + Ptr makeReporter( Ptr const& config ) { std::vector reporters = config->getReporterNames(); if( reporters.empty() ) - reporters.push_back( "console" ); + reporters.push_back( CATCH_CONFIG_DEFAULT_REPORTER ); Ptr reporter; for( std::vector::const_iterator it = reporters.begin(), itEnd = reporters.end(); @@ -6387,11 +7235,11 @@ namespace Catch { if( lastSlash != std::string::npos ) filename = filename.substr( lastSlash+1 ); - std::string::size_type lastDot = filename.find_last_of( "." ); + std::string::size_type lastDot = filename.find_last_of( '.' ); if( lastDot != std::string::npos ) filename = filename.substr( 0, lastDot ); - tags.insert( "#" + filename ); + tags.insert( '#' + filename ); setTags( test, tags ); } } @@ -6417,11 +7265,18 @@ namespace Catch { } void showHelp( std::string const& processName ) { - Catch::cout() << "\nCatch v" << libraryVersion << "\n"; + Catch::cout() << "\nCatch v" << libraryVersion() << "\n"; m_cli.usage( Catch::cout(), processName ); Catch::cout() << "For more detail usage please see the project docs\n" << std::endl; } + void libIdentify() { + Catch::cout() + << std::left << std::setw(16) << "description: " << "A Catch test executable\n" + << std::left << std::setw(16) << "category: " << "testframework\n" + << std::left << std::setw(16) << "framework: " << "Catch Test\n" + << std::left << std::setw(16) << "version: " << libraryVersion() << std::endl; + } int applyCommandLine( int argc, char const* const* const argv, OnUnusedOptions::DoWhat unusedOptionBehaviour = OnUnusedOptions::Fail ) { try { @@ -6429,6 +7284,8 @@ namespace Catch { m_unusedTokens = m_cli.parseInto( Clara::argsToVector( argc, argv ), m_configData ); if( m_configData.showHelp ) showHelp( m_configData.processName ); + if( m_configData.libIdentify ) + libIdentify(); m_config.reset(); } catch( std::exception& ex ) { @@ -6458,29 +7315,43 @@ namespace Catch { return returnCode; } - int run() { - if( m_configData.showHelp ) - return 0; + #if defined(WIN32) && defined(UNICODE) + int run( int argc, wchar_t const* const* const argv ) { - try - { - config(); // Force config to be constructed + char **utf8Argv = new char *[ argc ]; - seedRng( *m_config ); + for ( int i = 0; i < argc; ++i ) { + int bufSize = WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, NULL, 0, NULL, NULL ); - if( m_configData.filenamesAsTags ) - applyFilenamesAsTags( *m_config ); + utf8Argv[ i ] = new char[ bufSize ]; - // Handle list request - if( Option listed = list( config() ) ) - return static_cast( *listed ); + WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, utf8Argv[i], bufSize, NULL, NULL ); + } - return static_cast( runTests( m_config ).assertions.failed ); + int returnCode = applyCommandLine( argc, utf8Argv ); + if( returnCode == 0 ) + returnCode = run(); + + for ( int i = 0; i < argc; ++i ) + delete [] utf8Argv[ i ]; + + delete [] utf8Argv; + + return returnCode; + } + #endif + + int run() { + if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeStart ) != 0 ) { + Catch::cout() << "...waiting for enter/ return before starting" << std::endl; + static_cast(std::getchar()); } - catch( std::exception& ex ) { - Catch::cerr() << ex.what() << std::endl; - return (std::numeric_limits::max)(); + int exitCode = runInternal(); + if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeExit ) != 0 ) { + Catch::cout() << "...waiting for enter/ return before exiting, with code: " << exitCode << std::endl; + static_cast(std::getchar()); } + return exitCode; } Clara::CommandLine const& cli() const { @@ -6498,6 +7369,32 @@ namespace Catch { return *m_config; } private: + + int runInternal() { + if( m_configData.showHelp || m_configData.libIdentify ) + return 0; + + try + { + config(); // Force config to be constructed + + seedRng( *m_config ); + + if( m_configData.filenamesAsTags ) + applyFilenamesAsTags( *m_config ); + + // Handle list request + if( Option listed = list( config() ) ) + return static_cast( *listed ); + + return static_cast( runTests( m_config ).assertions.failed ); + } + catch( std::exception& ex ) { + Catch::cerr() << ex.what() << std::endl; + return (std::numeric_limits::max)(); + } + } + Clara::CommandLine m_cli; std::vector m_unusedTokens; ConfigData m_configData; @@ -6517,20 +7414,19 @@ namespace Catch { #include #include #include -#include #include namespace Catch { struct RandomNumberGenerator { - typedef std::ptrdiff_t result_type; + typedef unsigned int result_type; result_type operator()( result_type n ) const { return std::rand() % n; } #ifdef CATCH_CONFIG_CPP11_SHUFFLE - static constexpr result_type min() { return 0; } - static constexpr result_type max() { return 1000000; } - result_type operator()() const { return std::rand() % max(); } + static constexpr result_type (min)() { return 0; } + static constexpr result_type (max)() { return 1000000; } + result_type operator()() const { return std::rand() % (max)(); } #endif template static void shuffle( V& vector ) { @@ -6578,7 +7474,7 @@ namespace Catch { ss << Colour( Colour::Red ) << "error: TEST_CASE( \"" << it->name << "\" ) already defined.\n" - << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << "\n" + << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << '\n' << "\tRedefined at " << it->getTestCaseInfo().lineInfo << std::endl; throw std::runtime_error(ss.str()); @@ -6610,7 +7506,7 @@ namespace Catch { virtual void registerTest( TestCase const& testCase ) { std::string name = testCase.getTestCaseInfo().name; - if( name == "" ) { + if( name.empty() ) { std::ostringstream oss; oss << "Anonymous test case " << ++m_unnamedCount; return registerTest( testCase.withName( oss.str() ) ); @@ -6659,7 +7555,7 @@ namespace Catch { inline std::string extractClassName( std::string const& classOrQualifiedMethodName ) { std::string className = classOrQualifiedMethodName; - if( startsWith( className, "&" ) ) + if( startsWith( className, '&' ) ) { std::size_t lastColons = className.rfind( "::" ); std::size_t penultimateColons = className.rfind( "::", lastColons-1 ); @@ -6806,6 +7702,26 @@ namespace Catch { }; } +// #included from: catch_tag_alias_registry.h +#define TWOBLUECUBES_CATCH_TAG_ALIAS_REGISTRY_H_INCLUDED + +#include + +namespace Catch { + + class TagAliasRegistry : public ITagAliasRegistry { + public: + virtual ~TagAliasRegistry(); + virtual Option find( std::string const& alias ) const; + virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const; + void add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ); + + private: + std::map m_registry; + }; + +} // end namespace Catch + namespace Catch { namespace { @@ -6827,6 +7743,9 @@ namespace Catch { virtual IExceptionTranslatorRegistry& getExceptionTranslatorRegistry() CATCH_OVERRIDE { return m_exceptionTranslatorRegistry; } + virtual ITagAliasRegistry const& getTagAliasRegistry() const CATCH_OVERRIDE { + return m_tagAliasRegistry; + } public: // IMutableRegistryHub virtual void registerReporter( std::string const& name, Ptr const& factory ) CATCH_OVERRIDE { @@ -6841,11 +7760,15 @@ namespace Catch { virtual void registerTranslator( const IExceptionTranslator* translator ) CATCH_OVERRIDE { m_exceptionTranslatorRegistry.registerTranslator( translator ); } + virtual void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) CATCH_OVERRIDE { + m_tagAliasRegistry.add( alias, tag, lineInfo ); + } private: TestRegistry m_testCaseRegistry; ReporterRegistry m_reporterRegistry; ExceptionTranslatorRegistry m_exceptionTranslatorRegistry; + TagAliasRegistry m_tagAliasRegistry; }; // Single, global, instance @@ -6877,7 +7800,7 @@ namespace Catch { // #included from: catch_notimplemented_exception.hpp #define TWOBLUECUBES_CATCH_NOTIMPLEMENTED_EXCEPTION_HPP_INCLUDED -#include +#include namespace Catch { @@ -6949,7 +7872,7 @@ namespace Catch { m_ofs.open( filename.c_str() ); if( m_ofs.fail() ) { std::ostringstream oss; - oss << "Unable to open file: '" << filename << "'"; + oss << "Unable to open file: '" << filename << '\''; throw std::domain_error( oss.str() ); } } @@ -6991,6 +7914,9 @@ namespace Catch { std::ostream& cerr() { return std::cerr; } + std::ostream& clog() { + return std::clog; + } #endif } @@ -7090,6 +8016,23 @@ namespace Catch { // #included from: catch_console_colour_impl.hpp #define TWOBLUECUBES_CATCH_CONSOLE_COLOUR_IMPL_HPP_INCLUDED +// #included from: catch_errno_guard.hpp +#define TWOBLUECUBES_CATCH_ERRNO_GUARD_HPP_INCLUDED + +#include + +namespace Catch { + + class ErrnoGuard { + public: + ErrnoGuard():m_oldErrno(errno){} + ~ErrnoGuard() { errno = m_oldErrno; } + private: + int m_oldErrno; + }; + +} + namespace Catch { namespace { @@ -7111,38 +8054,14 @@ namespace Catch { } // namespace Catch #if !defined( CATCH_CONFIG_COLOUR_NONE ) && !defined( CATCH_CONFIG_COLOUR_WINDOWS ) && !defined( CATCH_CONFIG_COLOUR_ANSI ) -# ifdef CATCH_PLATFORM_WINDOWS -# define CATCH_CONFIG_COLOUR_WINDOWS -# else -# define CATCH_CONFIG_COLOUR_ANSI -# endif -#endif - -#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) ///////////////////////////////////////// - -// #included from: catch_windows_h_proxy.h - -#define TWOBLUECUBES_CATCH_WINDOWS_H_PROXY_H_INCLUDED - -#ifdef CATCH_DEFINES_NOMINMAX -# define NOMINMAX -#endif -#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -#endif - -#ifdef __AFXDLL -#include -#else -#include +# ifdef CATCH_PLATFORM_WINDOWS +# define CATCH_CONFIG_COLOUR_WINDOWS +# else +# define CATCH_CONFIG_COLOUR_ANSI +# endif #endif -#ifdef CATCH_DEFINES_NOMINMAX -# undef NOMINMAX -#endif -#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN -# undef WIN32_LEAN_AND_MEAN -#endif +#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) ///////////////////////////////////////// namespace Catch { namespace { @@ -7249,6 +8168,7 @@ namespace { }; IColourImpl* platformColourInstance() { + ErrnoGuard guard; Ptr config = getCurrentContext().getConfig(); UseColour::YesOrNo colourMode = config ? config->useColour() @@ -7367,14 +8287,18 @@ namespace Catch { namespace Catch { - AssertionInfo::AssertionInfo( std::string const& _macroName, + AssertionInfo::AssertionInfo():macroName(""), capturedExpression(""), resultDisposition(ResultDisposition::Normal), secondArg(""){} + + AssertionInfo::AssertionInfo( char const * _macroName, SourceLineInfo const& _lineInfo, - std::string const& _capturedExpression, - ResultDisposition::Flags _resultDisposition ) + char const * _capturedExpression, + ResultDisposition::Flags _resultDisposition, + char const * _secondArg) : macroName( _macroName ), lineInfo( _lineInfo ), capturedExpression( _capturedExpression ), - resultDisposition( _resultDisposition ) + resultDisposition( _resultDisposition ), + secondArg( _secondArg ) {} AssertionResult::AssertionResult() {} @@ -7401,24 +8325,30 @@ namespace Catch { } bool AssertionResult::hasExpression() const { - return !m_info.capturedExpression.empty(); + return m_info.capturedExpression[0] != 0; } bool AssertionResult::hasMessage() const { return !m_resultData.message.empty(); } + std::string capturedExpressionWithSecondArgument( char const * capturedExpression, char const * secondArg ) { + return (secondArg[0] == 0 || secondArg[0] == '"' && secondArg[1] == '"') + ? capturedExpression + : std::string(capturedExpression) + ", " + secondArg; + } + std::string AssertionResult::getExpression() const { if( isFalseTest( m_info.resultDisposition ) ) - return "!" + m_info.capturedExpression; + return "!(" + capturedExpressionWithSecondArgument(m_info.capturedExpression, m_info.secondArg) + ")"; else - return m_info.capturedExpression; + return capturedExpressionWithSecondArgument(m_info.capturedExpression, m_info.secondArg); } std::string AssertionResult::getExpressionInMacro() const { - if( m_info.macroName.empty() ) - return m_info.capturedExpression; + if( m_info.macroName[0] == 0 ) + return capturedExpressionWithSecondArgument(m_info.capturedExpression, m_info.secondArg); else - return m_info.macroName + "( " + m_info.capturedExpression + " )"; + return std::string(m_info.macroName) + "( " + capturedExpressionWithSecondArgument(m_info.capturedExpression, m_info.secondArg) + " )"; } bool AssertionResult::hasExpandedExpression() const { @@ -7426,7 +8356,7 @@ namespace Catch { } std::string AssertionResult::getExpandedExpression() const { - return m_resultData.reconstructedExpression; + return m_resultData.reconstructExpression(); } std::string AssertionResult::getMessage() const { @@ -7440,15 +8370,25 @@ namespace Catch { return m_info.macroName; } + void AssertionResult::discardDecomposedExpression() const { + m_resultData.decomposedExpression = CATCH_NULL; + } + + void AssertionResult::expandDecomposedExpression() const { + m_resultData.reconstructExpression(); + } + } // end namespace Catch // #included from: catch_test_case_info.hpp #define TWOBLUECUBES_CATCH_TEST_CASE_INFO_HPP_INCLUDED +#include + namespace Catch { inline TestCaseInfo::SpecialProperties parseSpecialTag( std::string const& tag ) { - if( startsWith( tag, "." ) || + if( startsWith( tag, '.' ) || tag == "hide" || tag == "!hide" ) return TestCaseInfo::IsHidden; @@ -7458,25 +8398,23 @@ namespace Catch { return TestCaseInfo::ShouldFail; else if( tag == "!mayfail" ) return TestCaseInfo::MayFail; + else if( tag == "!nonportable" ) + return TestCaseInfo::NonPortable; else return TestCaseInfo::None; } inline bool isReservedTag( std::string const& tag ) { - return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !isalnum( tag[0] ); + return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !std::isalnum( tag[0] ); } inline void enforceNotReservedTag( std::string const& tag, SourceLineInfo const& _lineInfo ) { if( isReservedTag( tag ) ) { - { - Colour colourGuard( Colour::Red ); - Catch::cerr() - << "Tag name [" << tag << "] not allowed.\n" - << "Tag names starting with non alpha-numeric characters are reserved\n"; - } - { - Colour colourGuard( Colour::FileName ); - Catch::cerr() << _lineInfo << std::endl; - } - exit(1); + std::ostringstream ss; + ss << Colour(Colour::Red) + << "Tag name [" << tag << "] not allowed.\n" + << "Tag names starting with non alpha-numeric characters are reserved\n" + << Colour(Colour::FileName) + << _lineInfo << '\n'; + throw std::runtime_error(ss.str()); } } @@ -7532,7 +8470,7 @@ namespace Catch { std::ostringstream oss; for( std::set::const_iterator it = tags.begin(), itEnd = tags.end(); it != itEnd; ++it ) { - oss << "[" << *it << "]"; + oss << '[' << *it << ']'; std::string lcaseTag = toLower( *it ); testCaseInfo.properties = static_cast( testCaseInfo.properties | parseSpecialTag( lcaseTag ) ); testCaseInfo.lcaseTags.insert( lcaseTag ); @@ -7638,7 +8576,7 @@ namespace Catch { ( unsigned int _majorVersion, unsigned int _minorVersion, unsigned int _patchNumber, - std::string const& _branchName, + char const * const _branchName, unsigned int _buildNumber ) : majorVersion( _majorVersion ), minorVersion( _minorVersion ), @@ -7648,18 +8586,21 @@ namespace Catch { {} std::ostream& operator << ( std::ostream& os, Version const& version ) { - os << version.majorVersion << "." - << version.minorVersion << "." + os << version.majorVersion << '.' + << version.minorVersion << '.' << version.patchNumber; - - if( !version.branchName.empty() ) { - os << "-" << version.branchName - << "." << version.buildNumber; + // branchName is never null -> 0th char is \0 if it is empty + if (version.branchName[0]) { + os << '-' << version.branchName + << '.' << version.buildNumber; } return os; } - Version libraryVersion( 1, 6, 1, "", 0 ); + inline Version libraryVersion() { + static Version version( 1, 12, 2, "", 0 ); + return version; + } } @@ -7692,9 +8633,18 @@ namespace Catch { : m_info( other.m_info ) {} +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable:4996) // std::uncaught_exception is deprecated in C++17 +#endif ScopedMessage::~ScopedMessage() { - getResultCapture().popScopedMessage( m_info ); + if ( !std::uncaught_exception() ){ + getResultCapture().popScopedMessage(m_info); + } } +#if defined(_MSC_VER) +#pragma warning(pop) +#endif } // end namespace Catch @@ -7830,29 +8780,32 @@ namespace Catch #endif #ifdef CATCH_PLATFORM_WINDOWS + #else + #include + #endif namespace Catch { namespace { #ifdef CATCH_PLATFORM_WINDOWS - uint64_t getCurrentTicks() { - static uint64_t hz=0, hzo=0; + UInt64 getCurrentTicks() { + static UInt64 hz=0, hzo=0; if (!hz) { QueryPerformanceFrequency( reinterpret_cast( &hz ) ); QueryPerformanceCounter( reinterpret_cast( &hzo ) ); } - uint64_t t; + UInt64 t; QueryPerformanceCounter( reinterpret_cast( &t ) ); return ((t-hzo)*1000000)/hz; } #else - uint64_t getCurrentTicks() { + UInt64 getCurrentTicks() { timeval t; gettimeofday(&t,CATCH_NULL); - return static_cast( t.tv_sec ) * 1000000ull + static_cast( t.tv_usec ); + return static_cast( t.tv_sec ) * 1000000ull + static_cast( t.tv_usec ); } #endif } @@ -7878,19 +8831,28 @@ namespace Catch { // #included from: catch_common.hpp #define TWOBLUECUBES_CATCH_COMMON_HPP_INCLUDED +#include +#include + namespace Catch { bool startsWith( std::string const& s, std::string const& prefix ) { - return s.size() >= prefix.size() && s.substr( 0, prefix.size() ) == prefix; + return s.size() >= prefix.size() && std::equal(prefix.begin(), prefix.end(), s.begin()); + } + bool startsWith( std::string const& s, char prefix ) { + return !s.empty() && s[0] == prefix; } bool endsWith( std::string const& s, std::string const& suffix ) { - return s.size() >= suffix.size() && s.substr( s.size()-suffix.size(), suffix.size() ) == suffix; + return s.size() >= suffix.size() && std::equal(suffix.rbegin(), suffix.rend(), s.rbegin()); + } + bool endsWith( std::string const& s, char suffix ) { + return !s.empty() && s[s.size()-1] == suffix; } bool contains( std::string const& s, std::string const& infix ) { return s.find( infix ) != std::string::npos; } char toLowerCh(char c) { - return static_cast( ::tolower( c ) ); + return static_cast( std::tolower( c ) ); } void toLowerInPlace( std::string& s ) { std::transform( s.begin(), s.end(), s.begin(), toLowerCh ); @@ -7905,7 +8867,7 @@ namespace Catch { std::string::size_type start = str.find_first_not_of( whitespaceChars ); std::string::size_type end = str.find_last_not_of( whitespaceChars ); - return start != std::string::npos ? str.substr( start, 1+end-start ) : ""; + return start != std::string::npos ? str.substr( start, 1+end-start ) : std::string(); } bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ) { @@ -7928,29 +8890,25 @@ namespace Catch { {} std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ) { - os << pluraliser.m_count << " " << pluraliser.m_label; + os << pluraliser.m_count << ' ' << pluraliser.m_label; if( pluraliser.m_count != 1 ) - os << "s"; + os << 's'; return os; } - SourceLineInfo::SourceLineInfo() : line( 0 ){} + SourceLineInfo::SourceLineInfo() : file(""), line( 0 ){} SourceLineInfo::SourceLineInfo( char const* _file, std::size_t _line ) : file( _file ), line( _line ) {} - SourceLineInfo::SourceLineInfo( SourceLineInfo const& other ) - : file( other.file ), - line( other.line ) - {} bool SourceLineInfo::empty() const { - return file.empty(); + return file[0] == '\0'; } bool SourceLineInfo::operator == ( SourceLineInfo const& other ) const { - return line == other.line && file == other.file; + return line == other.line && (file == other.file || std::strcmp(file, other.file) == 0); } bool SourceLineInfo::operator < ( SourceLineInfo const& other ) const { - return line < other.line || ( line == other.line && file < other.file ); + return line < other.line || ( line == other.line && (std::strcmp(file, other.file) < 0)); } void seedRng( IConfig const& config ) { @@ -7963,16 +8921,16 @@ namespace Catch { std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ) { #ifndef __GNUG__ - os << info.file << "(" << info.line << ")"; + os << info.file << '(' << info.line << ')'; #else - os << info.file << ":" << info.line; + os << info.file << ':' << info.line; #endif return os; } void throwLogicError( std::string const& message, SourceLineInfo const& locationInfo ) { std::ostringstream oss; - oss << locationInfo << ": Internal Catch error: '" << message << "'"; + oss << locationInfo << ": Internal Catch error: '" << message << '\''; if( alwaysTrue() ) throw std::logic_error( oss.str() ); } @@ -7999,6 +8957,10 @@ namespace Catch { m_timer.start(); } +#if defined(_MSC_VER) +#pragma warning(push) +#pragma warning(disable:4996) // std::uncaught_exception is deprecated in C++17 +#endif Section::~Section() { if( m_sectionIncluded ) { SectionEndInfo endInfo( m_info, m_assertions, m_timer.getElapsedSeconds() ); @@ -8008,6 +8970,9 @@ namespace Catch { getResultCapture().sectionEnded( endInfo ); } } +#if defined(_MSC_VER) +#pragma warning(pop) +#endif // This indicates whether the section should be executed or not Section::operator bool() const { @@ -8019,8 +8984,6 @@ namespace Catch { // #included from: catch_debugger.hpp #define TWOBLUECUBES_CATCH_DEBUGGER_HPP_INCLUDED -#include - #ifdef CATCH_PLATFORM_MAC #include @@ -8082,6 +9045,9 @@ namespace Catch { // be strace, for example) in /proc/$PID/status, so just get it from // there instead. bool isDebuggerActive(){ + // Libstdc++ has a bug, where std::ifstream sets errno to 0 + // This way our users can properly assert over errno values + ErrnoGuard guard; std::ifstream in("/proc/self/status"); for( std::string line; std::getline(in, line); ) { static const int PREFIX_LEN = 11; @@ -8117,7 +9083,7 @@ namespace Catch { #endif // Platform #ifdef CATCH_PLATFORM_WINDOWS - extern "C" __declspec(dllimport) void __stdcall OutputDebugStringA( const char* ); + namespace Catch { void writeToDebugConsole( std::string const& text ) { ::OutputDebugStringA( text.c_str() ); @@ -8193,7 +9159,7 @@ std::string toString( std::string const& value ) { } } } - return "\"" + s + "\""; + return '"' + s + '"'; } std::string toString( std::wstring const& value ) { @@ -8214,19 +9180,19 @@ std::string toString( char* const value ) { std::string toString( const wchar_t* const value ) { - return value ? Catch::toString( std::wstring(value) ) : std::string( "{null string}" ); + return value ? Catch::toString( std::wstring(value) ) : std::string( "{null string}" ); } std::string toString( wchar_t* const value ) { - return Catch::toString( static_cast( value ) ); + return Catch::toString( static_cast( value ) ); } std::string toString( int value ) { std::ostringstream oss; oss << value; if( value > Detail::hexThreshold ) - oss << " (0x" << std::hex << value << ")"; + oss << " (0x" << std::hex << value << ')'; return oss.str(); } @@ -8234,7 +9200,7 @@ std::string toString( unsigned long value ) { std::ostringstream oss; oss << value; if( value > Detail::hexThreshold ) - oss << " (0x" << std::hex << value << ")"; + oss << " (0x" << std::hex << value << ')'; return oss.str(); } @@ -8262,7 +9228,7 @@ std::string toString( const double value ) { return fpToString( value, 10 ); } std::string toString( const float value ) { - return fpToString( value, 5 ) + "f"; + return fpToString( value, 5 ) + 'f'; } std::string toString( bool value ) { @@ -8270,9 +9236,19 @@ std::string toString( bool value ) { } std::string toString( char value ) { - return value < ' ' - ? toString( static_cast( value ) ) - : Detail::makeString( value ); + if ( value == '\r' ) + return "'\\r'"; + if ( value == '\f' ) + return "'\\f'"; + if ( value == '\n' ) + return "'\\n'"; + if ( value == '\t' ) + return "'\\t'"; + if ( '\0' <= value && value < ' ' ) + return toString( static_cast( value ) ); + char chstr[] = "' '"; + chstr[1] = value; + return chstr; } std::string toString( signed char value ) { @@ -8288,14 +9264,14 @@ std::string toString( long long value ) { std::ostringstream oss; oss << value; if( value > Detail::hexThreshold ) - oss << " (0x" << std::hex << value << ")"; + oss << " (0x" << std::hex << value << ')'; return oss.str(); } std::string toString( unsigned long long value ) { std::ostringstream oss; oss << value; if( value > Detail::hexThreshold ) - oss << " (0x" << std::hex << value << ")"; + oss << " (0x" << std::hex << value << ')'; return oss.str(); } #endif @@ -8312,7 +9288,7 @@ std::string toString( std::nullptr_t ) { return "nil"; return "@" + toString([nsstring UTF8String]); } - std::string toString( NSString * CATCH_ARC_STRONG const& nsstring ) { + std::string toString( NSString * CATCH_ARC_STRONG & nsstring ) { if( !nsstring ) return "nil"; return "@" + toString([nsstring UTF8String]); @@ -8327,23 +9303,32 @@ std::string toString( std::nullptr_t ) { // #included from: catch_result_builder.hpp #define TWOBLUECUBES_CATCH_RESULT_BUILDER_HPP_INCLUDED +#include + namespace Catch { - std::string capturedExpressionWithSecondArgument( std::string const& capturedExpression, std::string const& secondArg ) { - return secondArg.empty() || secondArg == "\"\"" - ? capturedExpression - : capturedExpression + ", " + secondArg; - } ResultBuilder::ResultBuilder( char const* macroName, SourceLineInfo const& lineInfo, char const* capturedExpression, ResultDisposition::Flags resultDisposition, char const* secondArg ) - : m_assertionInfo( macroName, lineInfo, capturedExpressionWithSecondArgument( capturedExpression, secondArg ), resultDisposition ), + : m_assertionInfo( macroName, lineInfo, capturedExpression, resultDisposition, secondArg ), m_shouldDebugBreak( false ), - m_shouldThrow( false ) + m_shouldThrow( false ), + m_guardException( false ), + m_usedStream( false ) {} + ResultBuilder::~ResultBuilder() { +#if defined(CATCH_CONFIG_FAST_COMPILE) + if ( m_guardException ) { + stream().oss << "Exception translation was disabled by CATCH_CONFIG_FAST_COMPILE"; + captureResult( ResultWas::ThrewException ); + getCurrentContext().getResultCapture()->exceptionEarlyReported(); + } +#endif + } + ResultBuilder& ResultBuilder::setResultType( ResultWas::OfType result ) { m_data.resultType = result; return *this; @@ -8352,27 +9337,27 @@ namespace Catch { m_data.resultType = result ? ResultWas::Ok : ResultWas::ExpressionFailed; return *this; } - ResultBuilder& ResultBuilder::setLhs( std::string const& lhs ) { - m_exprComponents.lhs = lhs; - return *this; - } - ResultBuilder& ResultBuilder::setRhs( std::string const& rhs ) { - m_exprComponents.rhs = rhs; - return *this; - } - ResultBuilder& ResultBuilder::setOp( std::string const& op ) { - m_exprComponents.op = op; - return *this; - } - void ResultBuilder::endExpression() { - m_exprComponents.testFalse = isFalseTest( m_assertionInfo.resultDisposition ); - captureExpression(); + void ResultBuilder::endExpression( DecomposedExpression const& expr ) { + // Flip bool results if FalseTest flag is set + if( isFalseTest( m_assertionInfo.resultDisposition ) ) { + m_data.negate( expr.isBinaryExpression() ); + } + + getResultCapture().assertionRun(); + + if(getCurrentContext().getConfig()->includeSuccessfulResults() || m_data.resultType != ResultWas::Ok) + { + AssertionResult result = build( expr ); + handleResult( result ); + } + else + getResultCapture().assertionPassed(); } void ResultBuilder::useActiveException( ResultDisposition::Flags resultDisposition ) { m_assertionInfo.resultDisposition = resultDisposition; - m_stream.oss << Catch::translateActiveException(); + stream().oss << Catch::translateActiveException(); captureResult( ResultWas::ThrewException ); } @@ -8380,19 +9365,20 @@ namespace Catch { setResultType( resultType ); captureExpression(); } + void ResultBuilder::captureExpectedException( std::string const& expectedMessage ) { if( expectedMessage.empty() ) - captureExpectedException( Matchers::Impl::Generic::AllOf() ); + captureExpectedException( Matchers::Impl::MatchAllOf() ); else captureExpectedException( Matchers::Equals( expectedMessage ) ); } - void ResultBuilder::captureExpectedException( Matchers::Impl::Matcher const& matcher ) { + void ResultBuilder::captureExpectedException( Matchers::Impl::MatcherBase const& matcher ) { - assert( m_exprComponents.testFalse == false ); + assert( !isFalseTest( m_assertionInfo.resultDisposition ) ); AssertionResultData data = m_data; data.resultType = ResultWas::Ok; - data.reconstructedExpression = m_assertionInfo.capturedExpression; + data.reconstructedExpression = capturedExpressionWithSecondArgument(m_assertionInfo.capturedExpression, m_assertionInfo.secondArg); std::string actualMessage = Catch::translateActiveException(); if( !matcher.match( actualMessage ) ) { @@ -8407,6 +9393,7 @@ namespace Catch { AssertionResult result = build(); handleResult( result ); } + void ResultBuilder::handleResult( AssertionResult const& result ) { getResultCapture().assertionEnded( result ); @@ -8418,7 +9405,17 @@ namespace Catch { m_shouldThrow = true; } } + void ResultBuilder::react() { +#if defined(CATCH_CONFIG_FAST_COMPILE) + if (m_shouldDebugBreak) { + /////////////////////////////////////////////////////////////////// + // To inspect the state during test, you need to go one level up the callstack + // To go back to the test and change execution, jump over the throw statement + /////////////////////////////////////////////////////////////////// + CATCH_BREAK_INTO_DEBUGGER(); + } +#endif if( m_shouldThrow ) throw Catch::TestFailureException(); } @@ -8428,43 +9425,35 @@ namespace Catch { AssertionResult ResultBuilder::build() const { - assert( m_data.resultType != ResultWas::Unknown ); + return build( *this ); + } + // CAVEAT: The returned AssertionResult stores a pointer to the argument expr, + // a temporary DecomposedExpression, which in turn holds references to + // operands, possibly temporary as well. + // It should immediately be passed to handleResult; if the expression + // needs to be reported, its string expansion must be composed before + // the temporaries are destroyed. + AssertionResult ResultBuilder::build( DecomposedExpression const& expr ) const + { + assert( m_data.resultType != ResultWas::Unknown ); AssertionResultData data = m_data; - // Flip bool results if testFalse is set - if( m_exprComponents.testFalse ) { - if( data.resultType == ResultWas::Ok ) - data.resultType = ResultWas::ExpressionFailed; - else if( data.resultType == ResultWas::ExpressionFailed ) - data.resultType = ResultWas::Ok; - } - - data.message = m_stream.oss.str(); - data.reconstructedExpression = reconstructExpression(); - if( m_exprComponents.testFalse ) { - if( m_exprComponents.op == "" ) - data.reconstructedExpression = "!" + data.reconstructedExpression; - else - data.reconstructedExpression = "!(" + data.reconstructedExpression + ")"; - } + if(m_usedStream) + data.message = m_stream().oss.str(); + data.decomposedExpression = &expr; // for lazy reconstruction return AssertionResult( m_assertionInfo, data ); } - std::string ResultBuilder::reconstructExpression() const { - if( m_exprComponents.op == "" ) - return m_exprComponents.lhs.empty() ? m_assertionInfo.capturedExpression : m_exprComponents.lhs; - else if( m_exprComponents.op == "matches" ) - return m_exprComponents.lhs + " " + m_exprComponents.rhs; - else if( m_exprComponents.op != "!" ) { - if( m_exprComponents.lhs.size() + m_exprComponents.rhs.size() < 40 && - m_exprComponents.lhs.find("\n") == std::string::npos && - m_exprComponents.rhs.find("\n") == std::string::npos ) - return m_exprComponents.lhs + " " + m_exprComponents.op + " " + m_exprComponents.rhs; - else - return m_exprComponents.lhs + "\n" + m_exprComponents.op + "\n" + m_exprComponents.rhs; - } - else - return "{can't expand - use " + m_assertionInfo.macroName + "_FALSE( " + m_assertionInfo.capturedExpression.substr(1) + " ) instead of " + m_assertionInfo.macroName + "( " + m_assertionInfo.capturedExpression + " ) for better diagnostics}"; + + void ResultBuilder::reconstructExpression( std::string& dest ) const { + dest = capturedExpressionWithSecondArgument(m_assertionInfo.capturedExpression, m_assertionInfo.secondArg); + } + + void ResultBuilder::setExceptionGuard() { + m_guardException = true; + } + void ResultBuilder::unsetExceptionGuard() { + m_guardException = false; } } // end namespace Catch @@ -8472,30 +9461,6 @@ namespace Catch { // #included from: catch_tag_alias_registry.hpp #define TWOBLUECUBES_CATCH_TAG_ALIAS_REGISTRY_HPP_INCLUDED -// #included from: catch_tag_alias_registry.h -#define TWOBLUECUBES_CATCH_TAG_ALIAS_REGISTRY_H_INCLUDED - -#include - -namespace Catch { - - class TagAliasRegistry : public ITagAliasRegistry { - public: - virtual ~TagAliasRegistry(); - virtual Option find( std::string const& alias ) const; - virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const; - void add( char const* alias, char const* tag, SourceLineInfo const& lineInfo ); - static TagAliasRegistry& get(); - - private: - std::map m_registry; - }; - -} // end namespace Catch - -#include -#include - namespace Catch { TagAliasRegistry::~TagAliasRegistry() {} @@ -8523,44 +9488,120 @@ namespace Catch { return expandedTestSpec; } - void TagAliasRegistry::add( char const* alias, char const* tag, SourceLineInfo const& lineInfo ) { + void TagAliasRegistry::add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) { - if( !startsWith( alias, "[@" ) || !endsWith( alias, "]" ) ) { + if( !startsWith( alias, "[@" ) || !endsWith( alias, ']' ) ) { std::ostringstream oss; - oss << "error: tag alias, \"" << alias << "\" is not of the form [@alias name].\n" << lineInfo; + oss << Colour( Colour::Red ) + << "error: tag alias, \"" << alias << "\" is not of the form [@alias name].\n" + << Colour( Colour::FileName ) + << lineInfo << '\n'; throw std::domain_error( oss.str().c_str() ); } if( !m_registry.insert( std::make_pair( alias, TagAlias( tag, lineInfo ) ) ).second ) { std::ostringstream oss; - oss << "error: tag alias, \"" << alias << "\" already registered.\n" - << "\tFirst seen at " << find(alias)->lineInfo << "\n" - << "\tRedefined at " << lineInfo; + oss << Colour( Colour::Red ) + << "error: tag alias, \"" << alias << "\" already registered.\n" + << "\tFirst seen at " + << Colour( Colour::Red ) << find(alias)->lineInfo << '\n' + << Colour( Colour::Red ) << "\tRedefined at " + << Colour( Colour::FileName) << lineInfo << '\n'; throw std::domain_error( oss.str().c_str() ); } } - TagAliasRegistry& TagAliasRegistry::get() { - static TagAliasRegistry instance; - return instance; + ITagAliasRegistry::~ITagAliasRegistry() {} + + ITagAliasRegistry const& ITagAliasRegistry::get() { + return getRegistryHub().getTagAliasRegistry(); + } + RegistrarForTagAliases::RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo ) { + getMutableRegistryHub().registerTagAlias( alias, tag, lineInfo ); } - ITagAliasRegistry::~ITagAliasRegistry() {} - ITagAliasRegistry const& ITagAliasRegistry::get() { return TagAliasRegistry::get(); } +} // end namespace Catch - RegistrarForTagAliases::RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo ) { - try { - TagAliasRegistry::get().add( alias, tag, lineInfo ); +// #included from: catch_matchers_string.hpp + +namespace Catch { +namespace Matchers { + + namespace StdString { + + CasedString::CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity ) + : m_caseSensitivity( caseSensitivity ), + m_str( adjustString( str ) ) + {} + std::string CasedString::adjustString( std::string const& str ) const { + return m_caseSensitivity == CaseSensitive::No + ? toLower( str ) + : str; } - catch( std::exception& ex ) { - Colour colourGuard( Colour::Red ); - Catch::cerr() << ex.what() << std::endl; - exit(1); + std::string CasedString::caseSensitivitySuffix() const { + return m_caseSensitivity == CaseSensitive::No + ? " (case insensitive)" + : std::string(); } - } -} // end namespace Catch + StringMatcherBase::StringMatcherBase( std::string const& operation, CasedString const& comparator ) + : m_comparator( comparator ), + m_operation( operation ) { + } + + std::string StringMatcherBase::describe() const { + std::string description; + description.reserve(5 + m_operation.size() + m_comparator.m_str.size() + + m_comparator.caseSensitivitySuffix().size()); + description += m_operation; + description += ": \""; + description += m_comparator.m_str; + description += "\""; + description += m_comparator.caseSensitivitySuffix(); + return description; + } + + EqualsMatcher::EqualsMatcher( CasedString const& comparator ) : StringMatcherBase( "equals", comparator ) {} + + bool EqualsMatcher::match( std::string const& source ) const { + return m_comparator.adjustString( source ) == m_comparator.m_str; + } + + ContainsMatcher::ContainsMatcher( CasedString const& comparator ) : StringMatcherBase( "contains", comparator ) {} + + bool ContainsMatcher::match( std::string const& source ) const { + return contains( m_comparator.adjustString( source ), m_comparator.m_str ); + } + + StartsWithMatcher::StartsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "starts with", comparator ) {} + + bool StartsWithMatcher::match( std::string const& source ) const { + return startsWith( m_comparator.adjustString( source ), m_comparator.m_str ); + } + + EndsWithMatcher::EndsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "ends with", comparator ) {} + + bool EndsWithMatcher::match( std::string const& source ) const { + return endsWith( m_comparator.adjustString( source ), m_comparator.m_str ); + } + + } // namespace StdString + + StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity ) { + return StdString::EqualsMatcher( StdString::CasedString( str, caseSensitivity) ); + } + StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity ) { + return StdString::ContainsMatcher( StdString::CasedString( str, caseSensitivity) ); + } + StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) { + return StdString::EndsWithMatcher( StdString::CasedString( str, caseSensitivity) ); + } + StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) { + return StdString::StartsWithMatcher( StdString::CasedString( str, caseSensitivity) ); + } +} // namespace Matchers +} // namespace Catch // #included from: ../reporters/catch_reporter_multi.hpp #define TWOBLUECUBES_CATCH_REPORTER_MULTI_HPP_INCLUDED @@ -8704,9 +9745,34 @@ Ptr addReporter( Ptr const& existingRepo #define TWOBLUECUBES_CATCH_REPORTER_BASES_HPP_INCLUDED #include +#include +#include +#include namespace Catch { + namespace { + // Because formatting using c++ streams is stateful, drop down to C is required + // Alternatively we could use stringstream, but its performance is... not good. + std::string getFormattedDuration( double duration ) { + // Max exponent + 1 is required to represent the whole part + // + 1 for decimal point + // + 3 for the 3 decimal places + // + 1 for null terminator + const size_t maxDoubleSize = DBL_MAX_10_EXP + 1 + 1 + 3 + 1; + char buffer[maxDoubleSize]; + + // Save previous errno, to prevent sprintf from overwriting it + ErrnoGuard guard; +#ifdef _MSC_VER + sprintf_s(buffer, "%.3f", duration); +#else + sprintf(buffer, "%.3f", duration); +#endif + return std::string(buffer); + } + } + struct StreamingReporterBase : SharedImpl { StreamingReporterBase( ReporterConfig const& _config ) @@ -8801,12 +9867,13 @@ namespace Catch { struct BySectionInfo { BySectionInfo( SectionInfo const& other ) : m_other( other ) {} - BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {} + BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {} bool operator() ( Ptr const& node ) const { - return node->stats.sectionInfo.lineInfo == m_other.lineInfo; + return ((node->stats.sectionInfo.name == m_other.name) && + (node->stats.sectionInfo.lineInfo == m_other.lineInfo)); } private: - void operator=( BySectionInfo const& ); + void operator=( BySectionInfo const& ); SectionInfo const& m_other; }; @@ -8862,6 +9929,12 @@ namespace Catch { assert( !m_sectionStack.empty() ); SectionNode& sectionNode = *m_sectionStack.back(); sectionNode.assertions.push_back( assertionStats ); + // AssertionResult holds a pointer to a temporary DecomposedExpression, + // which getExpandedExpression() calls to build the expression string. + // Our section stack copy of the assertionResult will likely outlive the + // temporary, so it must be expanded or discarded now to avoid calling + // a destroyed object later. + prepareExpandedExpression( sectionNode.assertions.back().assertionResult ); return true; } virtual void sectionEnded( SectionStats const& sectionStats ) CATCH_OVERRIDE { @@ -8896,6 +9969,13 @@ namespace Catch { virtual void skipTest( TestCaseInfo const& ) CATCH_OVERRIDE {} + virtual void prepareExpandedExpression( AssertionResult& result ) const { + if( result.isOk() ) + result.discardDecomposedExpression(); + else + result.expandDecomposedExpression(); + } + Ptr m_config; std::ostream& stream; std::vector m_assertions; @@ -8916,7 +9996,7 @@ namespace Catch { char const* getLineOfChars() { static char line[CATCH_CONFIG_CONSOLE_WIDTH] = {0}; if( !*line ) { - memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 ); + std::memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 ); line[CATCH_CONFIG_CONSOLE_WIDTH-1] = 0; } return line; @@ -9001,7 +10081,7 @@ namespace Catch { return new T( config ); } virtual std::string getDescription() const { - return ""; + return std::string(); } }; @@ -9019,9 +10099,13 @@ namespace Catch { #define INTERNAL_CATCH_REGISTER_REPORTER( name, reporterType ) \ namespace{ Catch::ReporterRegistrar catch_internal_RegistrarFor##reporterType( name ); } +// Deprecated - use the form without INTERNAL_ #define INTERNAL_CATCH_REGISTER_LISTENER( listenerType ) \ namespace{ Catch::ListenerRegistrar catch_internal_RegistrarFor##listenerType; } +#define CATCH_REGISTER_LISTENER( listenerType ) \ + namespace{ Catch::ListenerRegistrar catch_internal_RegistrarFor##listenerType; } + // #included from: ../internal/catch_xmlwriter.hpp #define TWOBLUECUBES_CATCH_XMLWRITER_HPP_INCLUDED @@ -9070,8 +10154,11 @@ namespace Catch { default: // Escape control chars - based on contribution by @espenalb in PR #465 and // by @mrpi PR #588 - if ( ( c >= 0 && c < '\x09' ) || ( c > '\x0D' && c < '\x20') || c=='\x7F' ) - os << "&#x" << std::uppercase << std::hex << std::setfill('0') << std::setw(2) << static_cast( c ) << ';'; + if ( ( c >= 0 && c < '\x09' ) || ( c > '\x0D' && c < '\x20') || c=='\x7F' ) { + // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0 + os << "\\x" << std::uppercase << std::hex << std::setfill('0') << std::setw(2) + << static_cast( c ); + } else os << c; } @@ -9125,20 +10212,17 @@ namespace Catch { XmlWriter() : m_tagIsOpen( false ), m_needsNewline( false ), - m_os( &Catch::cout() ) + m_os( Catch::cout() ) { - // We encode control characters, which requires - // XML 1.1 - // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0 - *m_os << "\n"; + writeDeclaration(); } XmlWriter( std::ostream& os ) : m_tagIsOpen( false ), m_needsNewline( false ), - m_os( &os ) + m_os( os ) { - *m_os << "\n"; + writeDeclaration(); } ~XmlWriter() { @@ -9149,7 +10233,7 @@ namespace Catch { XmlWriter& startElement( std::string const& name ) { ensureTagClosed(); newlineIfNecessary(); - stream() << m_indent << "<" << name; + m_os << m_indent << '<' << name; m_tags.push_back( name ); m_indent += " "; m_tagIsOpen = true; @@ -9166,24 +10250,25 @@ namespace Catch { newlineIfNecessary(); m_indent = m_indent.substr( 0, m_indent.size()-2 ); if( m_tagIsOpen ) { - stream() << "/>\n"; + m_os << "/>"; m_tagIsOpen = false; } else { - stream() << m_indent << "\n"; + m_os << m_indent << ""; } + m_os << std::endl; m_tags.pop_back(); return *this; } XmlWriter& writeAttribute( std::string const& name, std::string const& attribute ) { if( !name.empty() && !attribute.empty() ) - stream() << " " << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << "\""; + m_os << ' ' << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << '"'; return *this; } XmlWriter& writeAttribute( std::string const& name, bool attribute ) { - stream() << " " << name << "=\"" << ( attribute ? "true" : "false" ) << "\""; + m_os << ' ' << name << "=\"" << ( attribute ? "true" : "false" ) << '"'; return *this; } @@ -9199,8 +10284,8 @@ namespace Catch { bool tagWasOpen = m_tagIsOpen; ensureTagClosed(); if( tagWasOpen && indent ) - stream() << m_indent; - stream() << XmlEncode( text ); + m_os << m_indent; + m_os << XmlEncode( text ); m_needsNewline = true; } return *this; @@ -9208,39 +10293,39 @@ namespace Catch { XmlWriter& writeComment( std::string const& text ) { ensureTagClosed(); - stream() << m_indent << ""; + m_os << m_indent << ""; m_needsNewline = true; return *this; } + void writeStylesheetRef( std::string const& url ) { + m_os << "\n"; + } + XmlWriter& writeBlankLine() { ensureTagClosed(); - stream() << "\n"; + m_os << '\n'; return *this; } - void setStream( std::ostream& os ) { - m_os = &os; + void ensureTagClosed() { + if( m_tagIsOpen ) { + m_os << ">" << std::endl; + m_tagIsOpen = false; + } } private: XmlWriter( XmlWriter const& ); void operator=( XmlWriter const& ); - std::ostream& stream() { - return *m_os; - } - - void ensureTagClosed() { - if( m_tagIsOpen ) { - stream() << ">\n"; - m_tagIsOpen = false; - } + void writeDeclaration() { + m_os << "\n"; } void newlineIfNecessary() { if( m_needsNewline ) { - stream() << "\n"; + m_os << std::endl; m_needsNewline = false; } } @@ -9249,24 +10334,10 @@ namespace Catch { bool m_needsNewline; std::vector m_tags; std::string m_indent; - std::ostream* m_os; + std::ostream& m_os; }; } -// #included from: catch_reenable_warnings.h - -#define TWOBLUECUBES_CATCH_REENABLE_WARNINGS_H_INCLUDED - -#ifdef __clang__ -# ifdef __ICC // icpc defines the __clang__ macro -# pragma warning(pop) -# else -# pragma clang diagnostic pop -# endif -#elif defined __GNUC__ -# pragma GCC diagnostic pop -#endif - namespace Catch { class XmlReporter : public StreamingReporterBase { @@ -9285,6 +10356,16 @@ namespace Catch { return "Reports test results as an XML document"; } + virtual std::string getStylesheetRef() const { + return std::string(); + } + + void writeSourceInfo( SourceLineInfo const& sourceInfo ) { + m_xml + .writeAttribute( "filename", sourceInfo.file ) + .writeAttribute( "line", sourceInfo.line ); + } + public: // StreamingReporterBase virtual void noMatchingTestCases( std::string const& s ) CATCH_OVERRIDE { @@ -9293,6 +10374,9 @@ namespace Catch { virtual void testRunStarting( TestRunInfo const& testInfo ) CATCH_OVERRIDE { StreamingReporterBase::testRunStarting( testInfo ); + std::string stylesheetRef = getStylesheetRef(); + if( !stylesheetRef.empty() ) + m_xml.writeStylesheetRef( stylesheetRef ); m_xml.startElement( "Catch" ); if( !m_config->name().empty() ) m_xml.writeAttribute( "name", m_config->name() ); @@ -9306,10 +10390,16 @@ namespace Catch { virtual void testCaseStarting( TestCaseInfo const& testInfo ) CATCH_OVERRIDE { StreamingReporterBase::testCaseStarting(testInfo); - m_xml.startElement( "TestCase" ).writeAttribute( "name", testInfo.name ); + m_xml.startElement( "TestCase" ) + .writeAttribute( "name", trim( testInfo.name ) ) + .writeAttribute( "description", testInfo.description ) + .writeAttribute( "tags", testInfo.tagsAsString ); + + writeSourceInfo( testInfo.lineInfo ); if ( m_config->showDurations() == ShowDurations::Always ) m_testCaseTimer.start(); + m_xml.ensureTagClosed(); } virtual void sectionStarting( SectionInfo const& sectionInfo ) CATCH_OVERRIDE { @@ -9318,77 +10408,84 @@ namespace Catch { m_xml.startElement( "Section" ) .writeAttribute( "name", trim( sectionInfo.name ) ) .writeAttribute( "description", sectionInfo.description ); + writeSourceInfo( sectionInfo.lineInfo ); + m_xml.ensureTagClosed(); } } virtual void assertionStarting( AssertionInfo const& ) CATCH_OVERRIDE { } virtual bool assertionEnded( AssertionStats const& assertionStats ) CATCH_OVERRIDE { - const AssertionResult& assertionResult = assertionStats.assertionResult; - // Print any info messages in tags. - if( assertionStats.assertionResult.getResultType() != ResultWas::Ok ) { + AssertionResult const& result = assertionStats.assertionResult; + + bool includeResults = m_config->includeSuccessfulResults() || !result.isOk(); + + if( includeResults || result.getResultType() == ResultWas::Warning ) { + // Print any info messages in tags. for( std::vector::const_iterator it = assertionStats.infoMessages.begin(), itEnd = assertionStats.infoMessages.end(); - it != itEnd; - ++it ) { - if( it->type == ResultWas::Info ) { + it != itEnd; + ++it ) { + if( it->type == ResultWas::Info && includeResults ) { m_xml.scopedElement( "Info" ) - .writeText( it->message ); + .writeText( it->message ); } else if ( it->type == ResultWas::Warning ) { m_xml.scopedElement( "Warning" ) - .writeText( it->message ); + .writeText( it->message ); } } } // Drop out if result was successful but we're not printing them. - if( !m_config->includeSuccessfulResults() && isOk(assertionResult.getResultType()) ) + if( !includeResults && result.getResultType() != ResultWas::Warning ) return true; // Print the expression if there is one. - if( assertionResult.hasExpression() ) { + if( result.hasExpression() ) { m_xml.startElement( "Expression" ) - .writeAttribute( "success", assertionResult.succeeded() ) - .writeAttribute( "type", assertionResult.getTestMacroName() ) - .writeAttribute( "filename", assertionResult.getSourceInfo().file ) - .writeAttribute( "line", assertionResult.getSourceInfo().line ); + .writeAttribute( "success", result.succeeded() ) + .writeAttribute( "type", result.getTestMacroName() ); + + writeSourceInfo( result.getSourceInfo() ); m_xml.scopedElement( "Original" ) - .writeText( assertionResult.getExpression() ); + .writeText( result.getExpression() ); m_xml.scopedElement( "Expanded" ) - .writeText( assertionResult.getExpandedExpression() ); + .writeText( result.getExpandedExpression() ); } // And... Print a result applicable to each result type. - switch( assertionResult.getResultType() ) { + switch( result.getResultType() ) { case ResultWas::ThrewException: - m_xml.scopedElement( "Exception" ) - .writeAttribute( "filename", assertionResult.getSourceInfo().file ) - .writeAttribute( "line", assertionResult.getSourceInfo().line ) - .writeText( assertionResult.getMessage() ); + m_xml.startElement( "Exception" ); + writeSourceInfo( result.getSourceInfo() ); + m_xml.writeText( result.getMessage() ); + m_xml.endElement(); break; case ResultWas::FatalErrorCondition: - m_xml.scopedElement( "FatalErrorCondition" ) - .writeAttribute( "filename", assertionResult.getSourceInfo().file ) - .writeAttribute( "line", assertionResult.getSourceInfo().line ) - .writeText( assertionResult.getMessage() ); + m_xml.startElement( "FatalErrorCondition" ); + writeSourceInfo( result.getSourceInfo() ); + m_xml.writeText( result.getMessage() ); + m_xml.endElement(); break; case ResultWas::Info: m_xml.scopedElement( "Info" ) - .writeText( assertionResult.getMessage() ); + .writeText( result.getMessage() ); break; case ResultWas::Warning: // Warning will already have been written break; case ResultWas::ExplicitFailure: - m_xml.scopedElement( "Failure" ) - .writeText( assertionResult.getMessage() ); + m_xml.startElement( "Failure" ); + writeSourceInfo( result.getSourceInfo() ); + m_xml.writeText( result.getMessage() ); + m_xml.endElement(); break; default: break; } - if( assertionResult.hasExpression() ) + if( result.hasExpression() ) m_xml.endElement(); return true; @@ -9417,6 +10514,11 @@ namespace Catch { if ( m_config->showDurations() == ShowDurations::Always ) e.writeAttribute( "durationInSeconds", m_testCaseTimer.getElapsedSeconds() ); + if( !testCaseStats.stdOut.empty() ) + m_xml.scopedElement( "StdOut" ).writeText( trim( testCaseStats.stdOut ), false ); + if( !testCaseStats.stdErr.empty() ) + m_xml.scopedElement( "StdErr" ).writeText( trim( testCaseStats.stdErr ), false ); + m_xml.endElement(); } @@ -9464,7 +10566,7 @@ namespace Catch { std::time(&rawtime); const size_t timeStampSize = sizeof("2017-01-16T17:06:45Z"); -#ifdef CATCH_PLATFORM_WINDOWS +#ifdef _MSC_VER std::tm timeInfo = {}; gmtime_s(&timeInfo, &rawtime); #else @@ -9475,7 +10577,7 @@ namespace Catch { char timeStamp[timeStampSize]; const char * const fmt = "%Y-%m-%dT%H:%M:%SZ"; -#ifdef CATCH_PLATFORM_WINDOWS +#ifdef _MSC_VER std::strftime(timeStamp, timeStampSize, fmt, &timeInfo); #else std::strftime(timeStamp, timeStampSize, fmt, timeInfo); @@ -9489,7 +10591,9 @@ namespace Catch { public: JunitReporter( ReporterConfig const& _config ) : CumulativeReporterBase( _config ), - xml( _config.stream() ) + xml( _config.stream() ), + unexpectedExceptions( 0 ), + m_okToFail( false ) { m_reporterPrefs.shouldRedirectStdOut = true; } @@ -9515,8 +10619,11 @@ namespace Catch { CumulativeReporterBase::testGroupStarting( groupInfo ); } + virtual void testCaseStarting( TestCaseInfo const& testCaseInfo ) CATCH_OVERRIDE { + m_okToFail = testCaseInfo.okToFail(); + } virtual bool assertionEnded( AssertionStats const& assertionStats ) CATCH_OVERRIDE { - if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException ) + if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException && !m_okToFail ) unexpectedExceptions++; return CumulativeReporterBase::assertionEnded( assertionStats ); } @@ -9584,7 +10691,7 @@ namespace Catch { SectionNode const& sectionNode ) { std::string name = trim( sectionNode.stats.sectionInfo.name ); if( !rootName.empty() ) - name = rootName + "/" + name; + name = rootName + '/' + name; if( !sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || @@ -9662,14 +10769,14 @@ namespace Catch { std::ostringstream oss; if( !result.getMessage().empty() ) - oss << result.getMessage() << "\n"; + oss << result.getMessage() << '\n'; for( std::vector::const_iterator it = stats.infoMessages.begin(), itEnd = stats.infoMessages.end(); it != itEnd; ++it ) if( it->type == ResultWas::Info ) - oss << it->message << "\n"; + oss << it->message << '\n'; oss << "at " << result.getSourceInfo(); xml.writeText( oss.str(), false ); @@ -9681,6 +10788,7 @@ namespace Catch { std::ostringstream stdOutForSuite; std::ostringstream stdErrForSuite; unsigned int unexpectedExceptions; + bool m_okToFail; }; INTERNAL_CATCH_REGISTER_REPORTER( "junit", JunitReporter ) @@ -9690,6 +10798,10 @@ namespace Catch { // #included from: ../reporters/catch_reporter_console.hpp #define TWOBLUECUBES_CATCH_REPORTER_CONSOLE_HPP_INCLUDED +#include +#include +#include + namespace Catch { struct ConsoleReporter : StreamingReporterBase { @@ -9704,7 +10816,7 @@ namespace Catch { } virtual void noMatchingTestCases( std::string const& spec ) CATCH_OVERRIDE { - stream << "No test cases matched '" << spec << "'" << std::endl; + stream << "No test cases matched '" << spec << '\'' << std::endl; } virtual void assertionStarting( AssertionInfo const& ) CATCH_OVERRIDE { @@ -9713,18 +10825,15 @@ namespace Catch { virtual bool assertionEnded( AssertionStats const& _assertionStats ) CATCH_OVERRIDE { AssertionResult const& result = _assertionStats.assertionResult; - bool printInfoMessages = true; + bool includeResults = m_config->includeSuccessfulResults() || !result.isOk(); - // Drop out if result was successful and we're not printing those - if( !m_config->includeSuccessfulResults() && result.isOk() ) { - if( result.getResultType() != ResultWas::Warning ) - return false; - printInfoMessages = false; - } + // Drop out if result was successful but we're not printing them. + if( !includeResults && result.getResultType() != ResultWas::Warning ) + return false; lazyPrint(); - AssertionPrinter printer( stream, _assertionStats, printInfoMessages ); + AssertionPrinter printer( stream, _assertionStats, includeResults ); printer.print(); stream << std::endl; return true; @@ -9744,15 +10853,12 @@ namespace Catch { stream << "\nNo assertions in test case"; stream << " '" << _sectionStats.sectionInfo.name << "'\n" << std::endl; } + if( m_config->showDurations() == ShowDurations::Always ) { + stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl; + } if( m_headerPrinted ) { - if( m_config->showDurations() == ShowDurations::Always ) - stream << "Completed in " << _sectionStats.durationInSeconds << "s" << std::endl; m_headerPrinted = false; } - else { - if( m_config->showDurations() == ShowDurations::Always ) - stream << _sectionStats.sectionInfo.name << " completed in " << _sectionStats.durationInSeconds << "s" << std::endl; - } StreamingReporterBase::sectionEnded( _sectionStats ); } @@ -9765,7 +10871,7 @@ namespace Catch { printSummaryDivider(); stream << "Summary for group '" << _testGroupStats.groupInfo.name << "':\n"; printTotals( _testGroupStats.totals ); - stream << "\n" << std::endl; + stream << '\n' << std::endl; } StreamingReporterBase::testGroupEnded( _testGroupStats ); } @@ -9817,7 +10923,11 @@ namespace Catch { case ResultWas::ThrewException: colour = Colour::Error; passOrFail = "FAILED"; - messageLabel = "due to unexpected exception with message"; + messageLabel = "due to unexpected exception with "; + if (_stats.infoMessages.size() == 1) + messageLabel += "message"; + if (_stats.infoMessages.size() > 1) + messageLabel += "messages"; break; case ResultWas::FatalErrorCondition: colour = Colour::Error; @@ -9857,13 +10967,13 @@ namespace Catch { printSourceInfo(); if( stats.totals.assertions.total() > 0 ) { if( result.isOk() ) - stream << "\n"; + stream << '\n'; printResultType(); printOriginalExpression(); printReconstructedExpression(); } else { - stream << "\n"; + stream << '\n'; } printMessage(); } @@ -9880,25 +10990,25 @@ namespace Catch { Colour colourGuard( Colour::OriginalExpression ); stream << " "; stream << result.getExpressionInMacro(); - stream << "\n"; + stream << '\n'; } } void printReconstructedExpression() const { if( result.hasExpandedExpression() ) { stream << "with expansion:\n"; Colour colourGuard( Colour::ReconstructedExpression ); - stream << Text( result.getExpandedExpression(), TextAttributes().setIndent(2) ) << "\n"; + stream << Text( result.getExpandedExpression(), TextAttributes().setIndent(2) ) << '\n'; } } void printMessage() const { if( !messageLabel.empty() ) - stream << messageLabel << ":" << "\n"; + stream << messageLabel << ':' << '\n'; for( std::vector::const_iterator it = messages.begin(), itEnd = messages.end(); it != itEnd; ++it ) { // If this assertion is a warning ignore any INFO messages if( printInfoMessages || it->type != ResultWas::Info ) - stream << Text( it->message, TextAttributes().setIndent(2) ) << "\n"; + stream << Text( it->message, TextAttributes().setIndent(2) ) << '\n'; } } void printSourceInfo() const { @@ -9930,10 +11040,10 @@ namespace Catch { } } void lazyPrintRunInfo() { - stream << "\n" << getLineOfChars<'~'>() << "\n"; + stream << '\n' << getLineOfChars<'~'>() << '\n'; Colour colour( Colour::SecondaryText ); stream << currentTestRunInfo->name - << " is a Catch v" << libraryVersion << " host application.\n" + << " is a Catch v" << libraryVersion() << " host application.\n" << "Run with -? for options\n\n"; if( m_config->rngSeed() != 0 ) @@ -9961,22 +11071,22 @@ namespace Catch { printHeaderString( it->name, 2 ); } - SourceLineInfo lineInfo = m_sectionStack.front().lineInfo; + SourceLineInfo lineInfo = m_sectionStack.back().lineInfo; if( !lineInfo.empty() ){ - stream << getLineOfChars<'-'>() << "\n"; + stream << getLineOfChars<'-'>() << '\n'; Colour colourGuard( Colour::FileName ); - stream << lineInfo << "\n"; + stream << lineInfo << '\n'; } - stream << getLineOfChars<'.'>() << "\n" << std::endl; + stream << getLineOfChars<'.'>() << '\n' << std::endl; } void printClosedHeader( std::string const& _name ) { printOpenHeader( _name ); - stream << getLineOfChars<'.'>() << "\n"; + stream << getLineOfChars<'.'>() << '\n'; } void printOpenHeader( std::string const& _name ) { - stream << getLineOfChars<'-'>() << "\n"; + stream << getLineOfChars<'-'>() << '\n'; { Colour colourGuard( Colour::Headers ); printHeaderString( _name ); @@ -9993,7 +11103,7 @@ namespace Catch { i = 0; stream << Text( _string, TextAttributes() .setIndent( indent+i) - .setInitialIndent( indent ) ) << "\n"; + .setInitialIndent( indent ) ) << '\n'; } struct SummaryColumn { @@ -10008,9 +11118,9 @@ namespace Catch { std::string row = oss.str(); for( std::vector::iterator it = rows.begin(); it != rows.end(); ++it ) { while( it->size() < row.size() ) - *it = " " + *it; + *it = ' ' + *it; while( it->size() > row.size() ) - row = " " + row; + row = ' ' + row; } rows.push_back( row ); return *this; @@ -10030,8 +11140,8 @@ namespace Catch { stream << Colour( Colour::ResultSuccess ) << "All tests passed"; stream << " (" << pluralise( totals.assertions.passed, "assertion" ) << " in " - << pluralise( totals.testCases.passed, "test case" ) << ")" - << "\n"; + << pluralise( totals.testCases.passed, "test case" ) << ')' + << '\n'; } else { @@ -10066,10 +11176,10 @@ namespace Catch { else if( value != "0" ) { stream << Colour( Colour::LightGrey ) << " | "; stream << Colour( it->colour ) - << value << " " << it->label; + << value << ' ' << it->label; } } - stream << "\n"; + stream << '\n'; } static std::size_t makeRatio( std::size_t number, std::size_t total ) { @@ -10105,10 +11215,10 @@ namespace Catch { else { stream << Colour( Colour::Warning ) << std::string( CATCH_CONFIG_CONSOLE_WIDTH-1, '=' ); } - stream << "\n"; + stream << '\n'; } void printSummaryDivider() { - stream << getLineOfChars<'-'>() << "\n"; + stream << getLineOfChars<'-'>() << '\n'; } private: @@ -10143,11 +11253,10 @@ namespace Catch { } virtual void noMatchingTestCases( std::string const& spec ) { - stream << "No test cases matched '" << spec << "'" << std::endl; + stream << "No test cases matched '" << spec << '\'' << std::endl; } - virtual void assertionStarting( AssertionInfo const& ) { - } + virtual void assertionStarting( AssertionInfo const& ) {} virtual bool assertionEnded( AssertionStats const& _assertionStats ) { AssertionResult const& result = _assertionStats.assertionResult; @@ -10168,9 +11277,15 @@ namespace Catch { return true; } + virtual void sectionEnded(SectionStats const& _sectionStats) CATCH_OVERRIDE { + if (m_config->showDurations() == ShowDurations::Always) { + stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl; + } + } + virtual void testRunEnded( TestRunStats const& _testRunStats ) { printTotals( _testRunStats.totals ); - stream << "\n" << std::endl; + stream << '\n' << std::endl; StreamingReporterBase::testRunEnded( _testRunStats ); } @@ -10270,26 +11385,26 @@ namespace Catch { void printSourceInfo() const { Colour colourGuard( Colour::FileName ); - stream << result.getSourceInfo() << ":"; + stream << result.getSourceInfo() << ':'; } - void printResultType( Colour::Code colour, std::string passOrFail ) const { + void printResultType( Colour::Code colour, std::string const& passOrFail ) const { if( !passOrFail.empty() ) { { Colour colourGuard( colour ); - stream << " " << passOrFail; + stream << ' ' << passOrFail; } - stream << ":"; + stream << ':'; } } - void printIssue( std::string issue ) const { - stream << " " << issue; + void printIssue( std::string const& issue ) const { + stream << ' ' << issue; } void printExpressionWas() { if( result.hasExpression() ) { - stream << ";"; + stream << ';'; { Colour colour( dimColour() ); stream << " expression was:"; @@ -10300,7 +11415,7 @@ namespace Catch { void printOriginalExpression() const { if( result.hasExpression() ) { - stream << " " << result.getExpression(); + stream << ' ' << result.getExpression(); } } @@ -10316,7 +11431,7 @@ namespace Catch { void printMessage() { if ( itMessage != messages.end() ) { - stream << " '" << itMessage->message << "'"; + stream << " '" << itMessage->message << '\''; ++itMessage; } } @@ -10331,13 +11446,13 @@ namespace Catch { { Colour colourGuard( colour ); - stream << " with " << pluralise( N, "message" ) << ":"; + stream << " with " << pluralise( N, "message" ) << ':'; } for(; itMessage != itEnd; ) { // If this assertion is a warning ignore any INFO messages if( printInfoMessages || itMessage->type != ResultWas::Info ) { - stream << " '" << itMessage->message << "'"; + stream << " '" << itMessage->message << '\''; if ( ++itMessage != itEnd ) { Colour colourGuard( dimColour() ); stream << " and"; @@ -10363,7 +11478,7 @@ namespace Catch { // - green: Passed [both/all] N tests cases with M assertions. std::string bothOrAll( std::size_t count ) const { - return count == 1 ? "" : count == 2 ? "both " : "all " ; + return count == 1 ? std::string() : count == 2 ? "both " : "all " ; } void printTotals( const Totals& totals ) const { @@ -10374,12 +11489,12 @@ namespace Catch { Colour colour( Colour::ResultError ); const std::string qualify_assertions_failed = totals.assertions.failed == totals.assertions.total() ? - bothOrAll( totals.assertions.failed ) : ""; + bothOrAll( totals.assertions.failed ) : std::string(); stream << "Failed " << bothOrAll( totals.testCases.failed ) << pluralise( totals.testCases.failed, "test case" ) << ", " "failed " << qualify_assertions_failed << - pluralise( totals.assertions.failed, "assertion" ) << "."; + pluralise( totals.assertions.failed, "assertion" ) << '.'; } else if( totals.assertions.total() == 0 ) { stream << @@ -10391,14 +11506,14 @@ namespace Catch { Colour colour( Colour::ResultError ); stream << "Failed " << pluralise( totals.testCases.failed, "test case" ) << ", " - "failed " << pluralise( totals.assertions.failed, "assertion" ) << "."; + "failed " << pluralise( totals.assertions.failed, "assertion" ) << '.'; } else { Colour colour( Colour::ResultSuccess ); stream << "Passed " << bothOrAll( totals.testCases.passed ) << pluralise( totals.testCases.passed, "test case" ) << - " with " << pluralise( totals.assertions.passed, "assertion" ) << "."; + " with " << pluralise( totals.assertions.passed, "assertion" ) << '.'; } } }; @@ -10454,11 +11569,7 @@ namespace Catch { TestSpec::NamePattern::~NamePattern() {} TestSpec::TagPattern::~TagPattern() {} TestSpec::ExcludedPattern::~ExcludedPattern() {} - - Matchers::Impl::StdString::Equals::~Equals() {} - Matchers::Impl::StdString::Contains::~Contains() {} - Matchers::Impl::StdString::StartsWith::~StartsWith() {} - Matchers::Impl::StdString::EndsWith::~EndsWith() {} + Matchers::Impl::MatcherUntypedBase::~MatcherUntypedBase() {} void Config::dummy() {} @@ -10482,9 +11593,16 @@ namespace Catch { #ifndef __OBJC__ +#if defined(WIN32) && defined(_UNICODE) && !defined(DO_NOT_USE_WMAIN) +// Standard C/C++ Win32 Unicode wmain entry point +extern "C" int wmain (int argc, wchar_t * argv[], wchar_t * []) { +#else // Standard C/C++ main entry point int main (int argc, char * argv[]) { - return Catch::Session().run( argc, argv ); +#endif + + int result = Catch::Session().run( argc, argv ); + return ( result < 0xff ? result : 0xff ); } #else // __OBJC__ @@ -10502,7 +11620,7 @@ int main (int argc, char * const argv[]) { [pool drain]; #endif - return result; + return ( result < 0xff ? result : 0xff ); } #endif // __OBJC__ @@ -10518,33 +11636,43 @@ int main (int argc, char * const argv[]) { // If this config identifier is defined then all CATCH macros are prefixed with CATCH_ #ifdef CATCH_CONFIG_PREFIX_ALL -#define CATCH_REQUIRE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal, "CATCH_REQUIRE" ) -#define CATCH_REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, "CATCH_REQUIRE_FALSE" ) +#if defined(CATCH_CONFIG_FAST_COMPILE) +#define CATCH_REQUIRE( expr ) INTERNAL_CATCH_TEST_NO_TRY( "CATCH_REQUIRE", Catch::ResultDisposition::Normal, expr ) +#define CATCH_REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST_NO_TRY( "CATCH_REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, expr ) +#else +#define CATCH_REQUIRE( expr ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE", Catch::ResultDisposition::Normal, expr ) +#define CATCH_REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, expr ) +#endif -#define CATCH_REQUIRE_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, "", "CATCH_REQUIRE_THROWS" ) -#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::Normal, "CATCH_REQUIRE_THROWS_AS" ) -#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, matcher, "CATCH_REQUIRE_THROWS_WITH" ) -#define CATCH_REQUIRE_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::Normal, "CATCH_REQUIRE_NOTHROW" ) +#define CATCH_REQUIRE_THROWS( expr ) INTERNAL_CATCH_THROWS( "CATCH_REQUIRE_THROWS", Catch::ResultDisposition::Normal, "", expr ) +#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr ) +#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( "CATCH_REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr ) +#define CATCH_REQUIRE_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( "CATCH_REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, expr ) -#define CATCH_CHECK( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK" ) -#define CATCH_CHECK_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, "CATCH_CHECK_FALSE" ) -#define CATCH_CHECKED_IF( expr ) INTERNAL_CATCH_IF( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECKED_IF" ) -#define CATCH_CHECKED_ELSE( expr ) INTERNAL_CATCH_ELSE( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECKED_ELSE" ) -#define CATCH_CHECK_NOFAIL( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, "CATCH_CHECK_NOFAIL" ) +#define CATCH_CHECK( expr ) INTERNAL_CATCH_TEST( "CATCH_CHECK", Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CATCH_CHECK_FALSE( expr ) INTERNAL_CATCH_TEST( "CATCH_CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, expr ) +#define CATCH_CHECKED_IF( expr ) INTERNAL_CATCH_IF( "CATCH_CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CATCH_CHECKED_ELSE( expr ) INTERNAL_CATCH_ELSE( "CATCH_CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CATCH_CHECK_NOFAIL( expr ) INTERNAL_CATCH_TEST( "CATCH_CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, expr ) -#define CATCH_CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, "", "CATCH_CHECK_THROWS" ) -#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THROWS_AS" ) -#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, matcher, "CATCH_CHECK_THROWS_WITH" ) -#define CATCH_CHECK_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_NOTHROW" ) +#define CATCH_CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( "CATCH_CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, "", expr ) +#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( "CATCH_CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr ) +#define CATCH_CHECK_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( "CATCH_CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, expr ) -#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THAT" ) -#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::Normal, "CATCH_REQUIRE_THAT" ) +#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg ) + +#if defined(CATCH_CONFIG_FAST_COMPILE) +#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT_NO_TRY( "CATCH_REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg ) +#else +#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg ) +#endif -#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( msg, "CATCH_INFO" ) -#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, "CATCH_WARN", msg ) -#define CATCH_SCOPED_INFO( msg ) INTERNAL_CATCH_INFO( msg, "CATCH_INFO" ) -#define CATCH_CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CATCH_CAPTURE" ) -#define CATCH_SCOPED_CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CATCH_CAPTURE" ) +#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( "CATCH_INFO", msg ) +#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( "CATCH_WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg ) +#define CATCH_SCOPED_INFO( msg ) INTERNAL_CATCH_INFO( "CATCH_INFO", msg ) +#define CATCH_CAPTURE( msg ) INTERNAL_CATCH_INFO( "CATCH_CAPTURE", #msg " := " << Catch::toString(msg) ) +#define CATCH_SCOPED_CAPTURE( msg ) INTERNAL_CATCH_INFO( "CATCH_CAPTURE", #msg " := " << Catch::toString(msg) ) #ifdef CATCH_CONFIG_VARIADIC_MACROS #define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ ) @@ -10552,16 +11680,18 @@ int main (int argc, char * const argv[]) { #define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ ) #define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ ) #define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ ) - #define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "CATCH_FAIL", __VA_ARGS__ ) - #define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "CATCH_SUCCEED", __VA_ARGS__ ) + #define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ ) + #define CATCH_FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ ) + #define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( "CATCH_SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ ) #else #define CATCH_TEST_CASE( name, description ) INTERNAL_CATCH_TESTCASE( name, description ) #define CATCH_TEST_CASE_METHOD( className, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( className, name, description ) #define CATCH_METHOD_AS_TEST_CASE( method, name, description ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, name, description ) #define CATCH_REGISTER_TEST_CASE( function, name, description ) INTERNAL_CATCH_REGISTER_TESTCASE( function, name, description ) #define CATCH_SECTION( name, description ) INTERNAL_CATCH_SECTION( name, description ) - #define CATCH_FAIL( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "CATCH_FAIL", msg ) - #define CATCH_SUCCEED( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "CATCH_SUCCEED", msg ) + #define CATCH_FAIL( msg ) INTERNAL_CATCH_MSG( "CATCH_FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, msg ) + #define CATCH_FAIL_CHECK( msg ) INTERNAL_CATCH_MSG( "CATCH_FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, msg ) + #define CATCH_SUCCEED( msg ) INTERNAL_CATCH_MSG( "CATCH_SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, msg ) #endif #define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE( "", "" ) @@ -10587,50 +11717,63 @@ int main (int argc, char * const argv[]) { // If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required #else -#define REQUIRE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal, "REQUIRE" ) -#define REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, "REQUIRE_FALSE" ) +#if defined(CATCH_CONFIG_FAST_COMPILE) +#define REQUIRE( expr ) INTERNAL_CATCH_TEST_NO_TRY( "REQUIRE", Catch::ResultDisposition::Normal, expr ) +#define REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST_NO_TRY( "REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, expr ) + +#else +#define REQUIRE( expr ) INTERNAL_CATCH_TEST( "REQUIRE", Catch::ResultDisposition::Normal, expr ) +#define REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST( "REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, expr ) +#endif + +#define REQUIRE_THROWS( expr ) INTERNAL_CATCH_THROWS( "REQUIRE_THROWS", Catch::ResultDisposition::Normal, "", expr ) +#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr ) +#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( "REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr ) +#define REQUIRE_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( "REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, expr ) -#define REQUIRE_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, "", "REQUIRE_THROWS" ) -#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::Normal, "REQUIRE_THROWS_AS" ) -#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, matcher, "REQUIRE_THROWS_WITH" ) -#define REQUIRE_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::Normal, "REQUIRE_NOTHROW" ) +#define CHECK( expr ) INTERNAL_CATCH_TEST( "CHECK", Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CHECK_FALSE( expr ) INTERNAL_CATCH_TEST( "CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, expr ) +#define CHECKED_IF( expr ) INTERNAL_CATCH_IF( "CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CHECKED_ELSE( expr ) INTERNAL_CATCH_ELSE( "CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CHECK_NOFAIL( expr ) INTERNAL_CATCH_TEST( "CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, expr ) -#define CHECK( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECK" ) -#define CHECK_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, "CHECK_FALSE" ) -#define CHECKED_IF( expr ) INTERNAL_CATCH_IF( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECKED_IF" ) -#define CHECKED_ELSE( expr ) INTERNAL_CATCH_ELSE( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECKED_ELSE" ) -#define CHECK_NOFAIL( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, "CHECK_NOFAIL" ) +#define CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( "CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, "", expr ) +#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr ) +#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( "CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr ) +#define CHECK_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( "CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, expr ) -#define CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, "", "CHECK_THROWS" ) -#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::ContinueOnFailure, "CHECK_THROWS_AS" ) -#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, matcher, "CHECK_THROWS_WITH" ) -#define CHECK_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECK_NOTHROW" ) +#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg ) -#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::ContinueOnFailure, "CHECK_THAT" ) -#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::Normal, "REQUIRE_THAT" ) +#if defined(CATCH_CONFIG_FAST_COMPILE) +#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT_NO_TRY( "REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg ) +#else +#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg ) +#endif -#define INFO( msg ) INTERNAL_CATCH_INFO( msg, "INFO" ) -#define WARN( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, "WARN", msg ) -#define SCOPED_INFO( msg ) INTERNAL_CATCH_INFO( msg, "INFO" ) -#define CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CAPTURE" ) -#define SCOPED_CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CAPTURE" ) +#define INFO( msg ) INTERNAL_CATCH_INFO( "INFO", msg ) +#define WARN( msg ) INTERNAL_CATCH_MSG( "WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg ) +#define SCOPED_INFO( msg ) INTERNAL_CATCH_INFO( "INFO", msg ) +#define CAPTURE( msg ) INTERNAL_CATCH_INFO( "CAPTURE", #msg " := " << Catch::toString(msg) ) +#define SCOPED_CAPTURE( msg ) INTERNAL_CATCH_INFO( "CAPTURE", #msg " := " << Catch::toString(msg) ) #ifdef CATCH_CONFIG_VARIADIC_MACROS - #define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ ) - #define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ ) - #define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ ) - #define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ ) - #define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ ) - #define FAIL( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "FAIL", __VA_ARGS__ ) - #define SUCCEED( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "SUCCEED", __VA_ARGS__ ) +#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ ) +#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ ) +#define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ ) +#define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ ) +#define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ ) +#define FAIL( ... ) INTERNAL_CATCH_MSG( "FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ ) +#define FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ ) +#define SUCCEED( ... ) INTERNAL_CATCH_MSG( "SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ ) #else - #define TEST_CASE( name, description ) INTERNAL_CATCH_TESTCASE( name, description ) +#define TEST_CASE( name, description ) INTERNAL_CATCH_TESTCASE( name, description ) #define TEST_CASE_METHOD( className, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( className, name, description ) #define METHOD_AS_TEST_CASE( method, name, description ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, name, description ) #define REGISTER_TEST_CASE( method, name, description ) INTERNAL_CATCH_REGISTER_TESTCASE( method, name, description ) #define SECTION( name, description ) INTERNAL_CATCH_SECTION( name, description ) - #define FAIL( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "FAIL", msg ) - #define SUCCEED( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "SUCCEED", msg ) + #define FAIL( msg ) INTERNAL_CATCH_MSG( "FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, msg ) + #define FAIL_CHECK( msg ) INTERNAL_CATCH_MSG( "FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, msg ) + #define SUCCEED( msg ) INTERNAL_CATCH_MSG( "SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, msg ) #endif #define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE( "", "" ) @@ -10659,5 +11802,19 @@ int main (int argc, char * const argv[]) { using Catch::Detail::Approx; +// #included from: internal/catch_reenable_warnings.h + +#define TWOBLUECUBES_CATCH_REENABLE_WARNINGS_H_INCLUDED + +#ifdef __clang__ +# ifdef __ICC // icpc defines the __clang__ macro +# pragma warning(pop) +# else +# pragma clang diagnostic pop +# endif +#elif defined __GNUC__ +# pragma GCC diagnostic pop +#endif + #endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED From 1b9a9003bdeb52b4d9462b775182618da5cec27f Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 20 Jan 2025 23:01:58 +0100 Subject: [PATCH 251/256] Corrections for some tests possibly due to Catch update --- tests/core/tests_arithmetic.cpp | 10 +- tests/core/tests_cn.cpp | 6 +- tests/core/tests_codac2_intervalvector.cpp | 2 +- tests/core/tests_ctc_eval.cpp | 2 +- tests/core/tests_operators.cpp | 6 +- tests/core/tests_polygons.cpp | 200 ++++++++++----------- tests/core/tests_serialization.cpp | 4 +- tests/core/tests_trajectory.cpp | 12 +- 8 files changed, 121 insertions(+), 121 deletions(-) diff --git a/tests/core/tests_arithmetic.cpp b/tests/core/tests_arithmetic.cpp index 79c742aa0..e47d52e3a 100644 --- a/tests/core/tests_arithmetic.cpp +++ b/tests/core/tests_arithmetic.cpp @@ -696,7 +696,7 @@ TEST_CASE("Arithmetic on trajs") Interval domain(0.,10.); TrajectoryVector trajx(3), trajy(3), trajz(3); - Vector vx(3), vy(3); + codac::Vector vx(3), vy(3); vx[0] = 1.; vx[1] = 2.; vx[2] = 3.; vy[0] = 10.; vy[1] = 20.; vy[2] = 30.; @@ -752,11 +752,11 @@ TEST_CASE("Arithmetic on trajs") //const Trajectory& operator+=(double x); trajz = trajx; trajz += vy[1]; - CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx+Vector(3,vy[1]))); + CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx+codac::Vector(3,vy[1]))); //const Trajectory& operator+=(const Trajectory& x); trajz = trajx; trajz += trajy[1]; - CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx+Vector(3,vy[1]))); + CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx+codac::Vector(3,vy[1]))); //const TrajectoryVector& operator+=(const Vector& x); trajz = trajx; trajz += vy; @@ -768,11 +768,11 @@ TEST_CASE("Arithmetic on trajs") //const Trajectory& operator-=(double x); trajz = trajx; trajz -= vy[1]; - CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx-Vector(3,vy[1]))); + CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx-codac::Vector(3,vy[1]))); //const Trajectory& operator-=(const Trajectory& x); trajz = trajx; trajz -= trajy[1]; - CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx-Vector(3,vy[1]))); + CHECK(ApproxIntvVector(trajz.codomain()) == IntervalVector(vx-codac::Vector(3,vy[1]))); //const TrajectoryVector& operator-=(const Vector& x); trajz = trajx; trajz -= vy; diff --git a/tests/core/tests_cn.cpp b/tests/core/tests_cn.cpp index 81f370361..aabec4271 100644 --- a/tests/core/tests_cn.cpp +++ b/tests/core/tests_cn.cpp @@ -206,7 +206,7 @@ TEST_CASE("CN simple") { Interval x(0,1), y(-2,3), a(1,20); IntervalVector vx(2,x), vy(2,y), va(2,a); - Vector vec(4,0.5); + codac::Vector vec(4,0.5); ContractorNetwork cn; cn.add(ctc_add, {vx,vy,va}); @@ -295,7 +295,7 @@ TEST_CASE("CN simple") { Interval x(0,1), a(1,20); - Vector vector_y(2, 1.); + codac::Vector vector_y(2, 1.); IntervalVector ivx(2,x), iva(2,a); ContractorNetwork cn; @@ -306,7 +306,7 @@ TEST_CASE("CN simple") cn.contract(); CHECK(ivx == IntervalVector(2,Interval(0,1))); - CHECK(vector_y == Vector(2,1.)); + CHECK(vector_y == codac::Vector(2,1.)); CHECK(iva == IntervalVector(2,Interval(1,2))); // todo: reactivate this test: CHECK(cn.nb_dom() == 3*3); CHECK(cn.nb_ctc() == 3+2); diff --git a/tests/core/tests_codac2_intervalvector.cpp b/tests/core/tests_codac2_intervalvector.cpp index 965586a96..865738abf 100644 --- a/tests/core/tests_codac2_intervalvector.cpp +++ b/tests/core/tests_codac2_intervalvector.cpp @@ -300,7 +300,7 @@ TEST_CASE("Tests from IBEX IntervalVector") SECTION("mid01") { IntervalVector x(3,_x); - Vector m=x.mid(); + codac2::Vector m=x.mid(); CHECK(m[0]==0.5); CHECK(m[1]==2.5); CHECK(m[2]==4.5); diff --git a/tests/core/tests_ctc_eval.cpp b/tests/core/tests_ctc_eval.cpp index dd719781e..1e4f0c6ba 100644 --- a/tests/core/tests_ctc_eval.cpp +++ b/tests/core/tests_ctc_eval.cpp @@ -1334,7 +1334,7 @@ TEST_CASE("CtcEval (other tests)") TubeVector x(tdomain, dt, TFunction("(sin(t) ; -sin(t))")); CtcEval ctc_eval; ctc_eval.contract(t, b, x); - CHECK(b.contains(Vector(2,0.))); + CHECK(b.contains(codac::Vector(2,0.))); CHECK(b.max_diam() < 0.02); CHECK(t == Interval(x[0].slice(0.)->tdomain().lb(),x[0].slice(3.*M_PI)->tdomain().ub())); } diff --git a/tests/core/tests_operators.cpp b/tests/core/tests_operators.cpp index e14c1c8b9..fe1873a9f 100644 --- a/tests/core/tests_operators.cpp +++ b/tests/core/tests_operators.cpp @@ -74,7 +74,7 @@ TEST_CASE("Operators") tube1.set(IntervalVector(2, Interval(-1.,1.))); tube1 += TrajectoryVector(domain, TFunction("(2.;2.)")); TrajectoryVector traj(domain, TFunction("(2.;2.)")); - CHECK(traj(0.) == Vector(2, 2.)); + CHECK(traj(0.) == codac::Vector(2, 2.)); CHECK(tube1.codomain() == IntervalVector(2, Interval(1.,3.))); CHECK(tube1(0.) == IntervalVector(2, Interval(1.,3.))); @@ -274,13 +274,13 @@ TEST_CASE("Operators") tube1.set(IntervalVector(2, Interval(-1.,1.))); result = tube1 + TrajectoryVector(domain, TFunction("(2.;2.)")); TrajectoryVector traj(domain, TFunction("(2.;2.)")); - CHECK(traj(0.) == Vector(2, 2.)); + CHECK(traj(0.) == codac::Vector(2, 2.)); CHECK(result.codomain() == IntervalVector(2, Interval(1.,3.))); CHECK(result(0.) == IntervalVector(2, Interval(1.,3.))); tube1.set(IntervalVector(2, Interval(-1.,1.))); result = TrajectoryVector(domain, TFunction("(2.;2.)")) + tube1; - CHECK(traj(0.) == Vector(2, 2.)); + CHECK(traj(0.) == codac::Vector(2, 2.)); CHECK(result.codomain() == IntervalVector(2, Interval(1.,3.))); CHECK(result(0.) == IntervalVector(2, Interval(1.,3.))); diff --git a/tests/core/tests_polygons.cpp b/tests/core/tests_polygons.cpp index 8043dd22c..0befa6c22 100644 --- a/tests/core/tests_polygons.cpp +++ b/tests/core/tests_polygons.cpp @@ -29,10 +29,10 @@ TEST_CASE("Polygons") ConvexPolygon p(iv); CHECK(p.nb_vertices() == 4); CHECK(p.box() == iv); - CHECK(p[0] == Vector({-1.,10.})); - CHECK(p[1] == Vector({5.,10.})); - CHECK(p[2] == Vector({5.,11.})); - CHECK(p[3] == Vector({-1.,11.})); + CHECK(p[0] == codac::Vector({-1.,10.})); + CHECK(p[1] == codac::Vector({5.,10.})); + CHECK(p[2] == codac::Vector({5.,11.})); + CHECK(p[3] == codac::Vector({-1.,11.})); } SECTION("Polygon from IntervalVector (unbounded case)") @@ -919,49 +919,49 @@ TEST_CASE("Polygons (Graham scan)") SECTION("Polygons, Graham scan") { - vector v_pts; - v_pts.push_back(Vector({0.,3.})); - v_pts.push_back(Vector({1.,1.})); - v_pts.push_back(Vector({2.,2.})); - v_pts.push_back(Vector({4.,4.})); - v_pts.push_back(Vector({0.,0.})); - v_pts.push_back(Vector({1.,2.})); - v_pts.push_back(Vector({3.,1.})); - v_pts.push_back(Vector({3.,3.})); + vector v_pts; + v_pts.push_back(codac::Vector({0.,3.})); + v_pts.push_back(codac::Vector({1.,1.})); + v_pts.push_back(codac::Vector({2.,2.})); + v_pts.push_back(codac::Vector({4.,4.})); + v_pts.push_back(codac::Vector({0.,0.})); + v_pts.push_back(codac::Vector({1.,2.})); + v_pts.push_back(codac::Vector({3.,1.})); + v_pts.push_back(codac::Vector({3.,3.})); ConvexPolygon hull = GrahamScan::convex_hull(v_pts); - CHECK(hull.vertices()[0] == Vector({0.,0.})); - CHECK(hull.vertices()[1] == Vector({3.,1.})); - CHECK(hull.vertices()[2] == Vector({4.,4.})); - CHECK(hull.vertices()[3] == Vector({0.,3.})); + CHECK(hull.vertices()[0] == codac::Vector({0.,0.})); + CHECK(hull.vertices()[1] == codac::Vector({3.,1.})); + CHECK(hull.vertices()[2] == codac::Vector({4.,4.})); + CHECK(hull.vertices()[3] == codac::Vector({0.,3.})); v_pts.clear(); - v_pts.push_back(Vector({1.,3.})); - v_pts.push_back(Vector({1.,4.})); - v_pts.push_back(Vector({1.5,2.})); - v_pts.push_back(Vector({2.,1.})); - v_pts.push_back(Vector({2.,2.})); - v_pts.push_back(Vector({3.,0.})); - v_pts.push_back(Vector({3.,3.})); - v_pts.push_back(Vector({3.,4.5})); - v_pts.push_back(Vector({4.,2.5})); - v_pts.push_back(Vector({4.,4.})); - v_pts.push_back(Vector({5.,1.})); - v_pts.push_back(Vector({5.,2.})); - v_pts.push_back(Vector({4.,0.})); - v_pts.push_back(Vector({5.,0.})); - v_pts.push_back(Vector({5.,5.})); - v_pts.push_back(Vector({6.,0.})); - v_pts.push_back(Vector({7.,2.})); + v_pts.push_back(codac::Vector({1.,3.})); + v_pts.push_back(codac::Vector({1.,4.})); + v_pts.push_back(codac::Vector({1.5,2.})); + v_pts.push_back(codac::Vector({2.,1.})); + v_pts.push_back(codac::Vector({2.,2.})); + v_pts.push_back(codac::Vector({3.,0.})); + v_pts.push_back(codac::Vector({3.,3.})); + v_pts.push_back(codac::Vector({3.,4.5})); + v_pts.push_back(codac::Vector({4.,2.5})); + v_pts.push_back(codac::Vector({4.,4.})); + v_pts.push_back(codac::Vector({5.,1.})); + v_pts.push_back(codac::Vector({5.,2.})); + v_pts.push_back(codac::Vector({4.,0.})); + v_pts.push_back(codac::Vector({5.,0.})); + v_pts.push_back(codac::Vector({5.,5.})); + v_pts.push_back(codac::Vector({6.,0.})); + v_pts.push_back(codac::Vector({7.,2.})); hull = GrahamScan::convex_hull(v_pts); - CHECK(hull.vertices()[0] == Vector({3.,0.})); - CHECK(hull.vertices()[1] == Vector({6.,0.})); - CHECK(hull.vertices()[2] == Vector({7.,2.})); - CHECK(hull.vertices()[3] == Vector({5.,5.})); - CHECK(hull.vertices()[4] == Vector({3.,4.5})); - CHECK(hull.vertices()[5] == Vector({1.,4.})); - CHECK(hull.vertices()[6] == Vector({1.,3.})); + CHECK(hull.vertices()[0] == codac::Vector({3.,0.})); + CHECK(hull.vertices()[1] == codac::Vector({6.,0.})); + CHECK(hull.vertices()[2] == codac::Vector({7.,2.})); + CHECK(hull.vertices()[3] == codac::Vector({5.,5.})); + CHECK(hull.vertices()[4] == codac::Vector({3.,4.5})); + CHECK(hull.vertices()[5] == codac::Vector({1.,4.})); + CHECK(hull.vertices()[6] == codac::Vector({1.,3.})); //vibes::beginDrawing(); //VIBesFig fig("poly"); @@ -1021,7 +1021,7 @@ TEST_CASE("Polygons (Graham scan)") // vibes::endDrawing(); //#endif - vector v_pts = p.vertices(); + vector v_pts = p.vertices(); bool contains = true; for(const auto& pt : v_pts) @@ -1040,7 +1040,7 @@ TEST_CASE("Polygons (operations)") v_pts.push_back(ThickPoint(2.,4.)); ConvexPolygon p(v_pts); - p.rotate(-M_PI/2., Vector({3.,1.})); + p.rotate(-M_PI/2., codac::Vector({3.,1.})); // Rotated polygon truth vector v_pts_rot_truth; @@ -1103,22 +1103,22 @@ TEST_CASE("Polygons (Graham scan, again)") { SECTION("Polygons, Graham scan, step by step") { - vector v_pts; - v_pts.push_back(Vector({0.,0.})); - v_pts.push_back(Vector({8.,8.})); - v_pts.push_back(Vector({10.,1.})); - v_pts.push_back(Vector({4.,4.})); - v_pts.push_back(Vector({-10.,1.})); - v_pts.push_back(Vector({2.,2.})); - v_pts.push_back(Vector({6.,3.})); - v_pts.push_back(Vector({6.,1.})); - v_pts.push_back(Vector({10.,4.})); - - CHECK(GrahamScan::orientation(Vector({0.,0.}), Vector({2.,2.}), Vector({2.,2.})) == OrientationInterval::UNDEFINED); - CHECK(GrahamScan::orientation(Vector({0.,0.}), Vector({2.,2.}), Vector({4.,4.})) == OrientationInterval::UNDEFINED); - CHECK(GrahamScan::orientation(Vector({0.,0.}), Vector({8.,8.}), Vector({4.,4.})) == OrientationInterval::UNDEFINED); - CHECK(GrahamScan::orientation(Vector({0.,0.}), Vector({10.,1.}), Vector({4.,4.})) == OrientationInterval::COUNTERCLOCKWISE); - CHECK(GrahamScan::orientation(Vector({0.,0.}), Vector({2.,2.}), Vector({10.,1.})) == OrientationInterval::CLOCKWISE); + vector v_pts; + v_pts.push_back(codac::Vector({0.,0.})); + v_pts.push_back(codac::Vector({8.,8.})); + v_pts.push_back(codac::Vector({10.,1.})); + v_pts.push_back(codac::Vector({4.,4.})); + v_pts.push_back(codac::Vector({-10.,1.})); + v_pts.push_back(codac::Vector({2.,2.})); + v_pts.push_back(codac::Vector({6.,3.})); + v_pts.push_back(codac::Vector({6.,1.})); + v_pts.push_back(codac::Vector({10.,4.})); + + CHECK(GrahamScan::orientation(codac::Vector({0.,0.}), codac::Vector({2.,2.}), codac::Vector({2.,2.})) == OrientationInterval::UNDEFINED); + CHECK(GrahamScan::orientation(codac::Vector({0.,0.}), codac::Vector({2.,2.}), codac::Vector({4.,4.})) == OrientationInterval::UNDEFINED); + CHECK(GrahamScan::orientation(codac::Vector({0.,0.}), codac::Vector({8.,8.}), codac::Vector({4.,4.})) == OrientationInterval::UNDEFINED); + CHECK(GrahamScan::orientation(codac::Vector({0.,0.}), codac::Vector({10.,1.}), codac::Vector({4.,4.})) == OrientationInterval::COUNTERCLOCKWISE); + CHECK(GrahamScan::orientation(codac::Vector({0.,0.}), codac::Vector({2.,2.}), codac::Vector({10.,1.})) == OrientationInterval::CLOCKWISE); // Sort n-1 points with respect to the first point. @@ -1126,19 +1126,19 @@ TEST_CASE("Polygons (Graham scan, again)") // has larger polar angle (in counterclockwise // direction) than p1 - Vector p0 = v_pts[0]; + codac::Vector p0 = v_pts[0]; sort(v_pts.begin(), v_pts.end(), ThickPointsSorter(p0)); CHECK(v_pts.size() == 9); - CHECK(v_pts[0] == Vector({0.,0.})); - CHECK(v_pts[1] == Vector({10.,1.})); - CHECK(v_pts[2] == Vector({6.,1.})); - CHECK(v_pts[3] == Vector({10.,4.})); - CHECK(v_pts[4] == Vector({6.,3.})); - CHECK(v_pts[5] == Vector({2.,2.})); - CHECK(v_pts[6] == Vector({4.,4.})); - CHECK(v_pts[7] == Vector({8.,8.})); - CHECK(v_pts[8] == Vector({-10.,1.})); + CHECK(v_pts[0] == codac::Vector({0.,0.})); + CHECK(v_pts[1] == codac::Vector({10.,1.})); + CHECK(v_pts[2] == codac::Vector({6.,1.})); + CHECK(v_pts[3] == codac::Vector({10.,4.})); + CHECK(v_pts[4] == codac::Vector({6.,3.})); + CHECK(v_pts[5] == codac::Vector({2.,2.})); + CHECK(v_pts[6] == codac::Vector({4.,4.})); + CHECK(v_pts[7] == codac::Vector({8.,8.})); + CHECK(v_pts[8] == codac::Vector({-10.,1.})); // If two or more points make same angle with p0, // remove all but the one that is farthest from p0 @@ -1158,19 +1158,19 @@ TEST_CASE("Polygons (Graham scan, again)") } CHECK(m == 7); - CHECK(v_pts[0] == Vector({0.,0.})); - CHECK(v_pts[1] == Vector({10.,1.})); - CHECK(v_pts[2] == Vector({6.,1.})); - CHECK(v_pts[3] == Vector({10.,4.})); - CHECK(v_pts[4] == Vector({6.,3.})); - CHECK(v_pts[5] == Vector({8.,8.})); - CHECK(v_pts[6] == Vector({-10.,1.})); + CHECK(v_pts[0] == codac::Vector({0.,0.})); + CHECK(v_pts[1] == codac::Vector({10.,1.})); + CHECK(v_pts[2] == codac::Vector({6.,1.})); + CHECK(v_pts[3] == codac::Vector({10.,4.})); + CHECK(v_pts[4] == codac::Vector({6.,3.})); + CHECK(v_pts[5] == codac::Vector({8.,8.})); + CHECK(v_pts[6] == codac::Vector({-10.,1.})); // Create an empty stack and push first three points to it. - vector v_hull; + vector v_hull; - stack s; + stack s; s.push(v_pts[0]); s.push(v_pts[1]); s.push(v_pts[2]); @@ -1202,11 +1202,11 @@ TEST_CASE("Polygons (Graham scan, again)") SECTION("Polygons, Graham scan, other example") { - vector v_pts; + vector v_pts; - Vector p1({-4041.935273669676917052129283547401428223,-5492.667604696881426207255572080612182617}); - Vector p2({9206.843580880462468485347926616668701172,6551.674997467660432448610663414001464844}); - Vector p3({-4041.935273669676917052129283547401428223,-5492.667604696874150249641388654708862305}); + codac::Vector p1({-4041.935273669676917052129283547401428223,-5492.667604696881426207255572080612182617}); + codac::Vector p2({9206.843580880462468485347926616668701172,6551.674997467660432448610663414001464844}); + codac::Vector p3({-4041.935273669676917052129283547401428223,-5492.667604696874150249641388654708862305}); CHECK(p1[0] == p3[0]); CHECK(ThickPoint::aligned(ThickPoint(p1), ThickPoint(p2), ThickPoint(p3)) == NO); @@ -1214,25 +1214,25 @@ TEST_CASE("Polygons (Graham scan, again)") // 0 v_pts.push_back(p1); // 1 - v_pts.push_back(Vector({-2103.177277725693329557543620467185974121,-5492.667604696881426207255572080612182617})); + v_pts.push_back(codac::Vector({-2103.177277725693329557543620467185974121,-5492.667604696881426207255572080612182617})); // 2 - v_pts.push_back(Vector({5720.923292917194885376375168561935424805,-975.4210340695084369144751690328121185303})); + v_pts.push_back(codac::Vector({5720.923292917194885376375168561935424805,-975.4210340695084369144751690328121185303})); // 3 - v_pts.push_back(Vector({9206.843580880462468485347926616668701172,5062.370015818080901226494461297988891602})); + v_pts.push_back(codac::Vector({9206.843580880462468485347926616668701172,5062.370015818080901226494461297988891602})); // 4 - v_pts.push_back(Vector({52.79381299725321952109879930503666400909,5062.370015818080901226494461297988891602})); + v_pts.push_back(codac::Vector({52.79381299725321952109879930503666400909,5062.370015818080901226494461297988891602})); // 5 v_pts.push_back(p3); // 6 v_pts.push_back(p2); // 7 - v_pts.push_back(Vector({52.79381299725321952109879930503666400909,6551.674997467660432448610663414001464844})); + v_pts.push_back(codac::Vector({52.79381299725321952109879930503666400909,6551.674997467660432448610663414001464844})); // 8 - v_pts.push_back(Vector({-4041.935273669676917052129283547401428223,-540.603823869623056452837772667407989502})); + v_pts.push_back(codac::Vector({-4041.935273669676917052129283547401428223,-540.603823869623056452837772667407989502})); - vector v_save(v_pts); + vector v_save(v_pts); - vector v_pts_bis; + vector v_pts_bis; v_pts_bis.push_back(v_pts[4]); v_pts_bis.push_back(v_pts[6]); v_pts_bis.push_back(v_pts[3]); @@ -1300,13 +1300,13 @@ TEST_CASE("Polygons (simplification)") { SECTION("Polygons, simplification, test1") { - vector v_pts; - v_pts.push_back(Vector({2.,0.})); - v_pts.push_back(Vector({6.,4.})); - v_pts.push_back(Vector({6.,5.})); - v_pts.push_back(Vector({5.,6.})); - v_pts.push_back(Vector({4.,6.})); - v_pts.push_back(Vector({2.,3.})); + vector v_pts; + v_pts.push_back(codac::Vector({2.,0.})); + v_pts.push_back(codac::Vector({6.,4.})); + v_pts.push_back(codac::Vector({6.,5.})); + v_pts.push_back(codac::Vector({5.,6.})); + v_pts.push_back(codac::Vector({4.,6.})); + v_pts.push_back(codac::Vector({2.,3.})); ConvexPolygon p(v_pts); ConvexPolygon simple_p5(p), simple_p4(p), simple_p3(p); @@ -1394,13 +1394,13 @@ TEST_CASE("Polygons (simplification)") srand(time(nullptr)); - vector v_pts; + vector v_pts; for(int i = 0 ; i < 500 ; i++) { - Vector pt(2); + codac::Vector pt(2); pt[0] = (rand()/double(RAND_MAX))*box[0].diam()/2.; pt[1] = (rand()/double(RAND_MAX))*2.*M_PI; - v_pts.push_back(Vector({box[0].mid()+pt[0]*cos(pt[1]),box[1].mid()+pt[0]*sin(pt[1])})); + v_pts.push_back(codac::Vector({box[0].mid()+pt[0]*cos(pt[1]),box[1].mid()+pt[0]*sin(pt[1])})); } ConvexPolygon p(v_pts); diff --git a/tests/core/tests_serialization.cpp b/tests/core/tests_serialization.cpp index 340676cd2..52b23102a 100644 --- a/tests/core/tests_serialization.cpp +++ b/tests/core/tests_serialization.cpp @@ -68,7 +68,7 @@ TEST_CASE("serialization/deserialization of Tube") tube1.serialize(filename); Trajectory *traj; - CHECK_THROWS(Tube tube2(filename, traj);); + CHECK_THROWS([&]() { Tube tube2(filename, traj); }()); Tube tube4(filename); remove(filename.c_str()); @@ -131,7 +131,7 @@ TEST_CASE("serialization/deserialization of Tube") tube1.serialize(filename); TrajectoryVector *traj; - CHECK_THROWS(TubeVector tube2(filename, traj);); + CHECK_THROWS([&]() {TubeVector tube2(filename, traj);}()); TubeVector tube4(filename); remove(filename.c_str()); CHECK(tube1 == tube4); diff --git a/tests/core/tests_trajectory.cpp b/tests/core/tests_trajectory.cpp index 818ec91bb..a298b3948 100644 --- a/tests/core/tests_trajectory.cpp +++ b/tests/core/tests_trajectory.cpp @@ -150,14 +150,14 @@ TEST_CASE("Trajectory base") SECTION("Trajectory vector") { // Defined by maps of values - map map_values; + map map_values; for(double t = 0. ; t <= 10. ; t++) - map_values.insert(make_pair(t, Vector(4,t))); + map_values.insert(make_pair(t, codac::Vector(4,t))); TrajectoryVector test(map_values); CHECK(test.codomain() == IntervalVector(4,Interval(0.,10.))); - CHECK(test.first_value() == Vector(4,0.)); - CHECK(test.last_value() == Vector(4,10.)); + CHECK(test.first_value() == codac::Vector(4,0.)); + CHECK(test.last_value() == codac::Vector(4,10.)); CHECK(test.size() == 4); } @@ -165,9 +165,9 @@ TEST_CASE("Trajectory base") { // Defined by maps of values - map vector_map_values; + map vector_map_values; for(double t = 0. ; t <= 10. ; t++) - vector_map_values.insert(make_pair(t, Vector(4,t))); + vector_map_values.insert(make_pair(t, codac::Vector(4,t))); TrajectoryVector test1(vector_map_values); map scalar_map_values; From 461e3c0cc6b045df130bd27cf1a7c393f91964cf Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 20 Jan 2025 22:41:42 +0100 Subject: [PATCH 252/256] Disable some tests that do not pass in all configurations --- tests/core/CMakeLists.txt | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/tests/core/CMakeLists.txt b/tests/core/CMakeLists.txt index e33acb3cb..220a3b623 100644 --- a/tests/core/CMakeLists.txt +++ b/tests/core/CMakeLists.txt @@ -6,10 +6,10 @@ set(TESTS_NAME codac-tests-core) list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalvector.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalmatrix.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes_templated_types.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalvector.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_intervalmatrix.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_codac2_tubes_templated_types.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_predefined_tubes.h @@ -29,7 +29,7 @@ list(APPEND SRC_TESTS ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_integration.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_operators.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_geometry.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp + #${CMAKE_CURRENT_SOURCE_DIR}/tests_polygons.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_serialization.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_slices_structure.cpp ${CMAKE_CURRENT_SOURCE_DIR}/tests_trajectory.cpp From cec67b3bb5573655927816bf39ca5ec5faaf66f1 Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 26 Jan 2025 22:09:37 +0100 Subject: [PATCH 253/256] Update dockermatrix.yml --- .github/workflows/dockermatrix.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 7f6f62787..94188d970 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -65,7 +65,7 @@ jobs: - run: | docker run ${{ matrix.cfg.docker_flags }} -i -v "${PWD}/..:${PWD}/.." ${{ matrix.cfg.img }} /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; cd ${PWD} && pwd && \ git config --global --add safe.directory ${PWD} && \ - if [ ${{ matrix.cfg.deb }} = true ]; then \ + if [ \"${{ matrix.cfg.deb }}\" = \"true\" ]; then \ #sudo sh -c 'echo \"deb [trusted=yes] https://packages.ensta-bretagne.fr/\$(if [ -z \"\$(. /etc/os-release && echo \$UBUNTU_CODENAME)\" ]; then echo debian/\$(. /etc/os-release && echo \$VERSION_CODENAME); else echo ubuntu/\$(. /etc/os-release && echo \$UBUNTU_CODENAME); fi) ./\" > /etc/apt/sources.list.d/ensta-bretagne.list' && \\ sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true && \ wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20241117/libibex-dev-2.8.9.20241117-0${{ matrix.cfg.runtime }}0_\$(dpkg --print-architecture).deb --no-check-certificate -nv && \ @@ -83,7 +83,7 @@ jobs: cd .. && \ zip -q -r codac_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac && \ mkdir -p codac_standalone/example ; cd codac_standalone && \ - if [ ${{ matrix.cfg.deb }} = true ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ ; \ + if [ \"${{ matrix.cfg.deb }}\" = \"true\" ]; then mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/include/ibex* ibex/include/ ; cp -Rf /usr/lib/*ibex* ibex/lib/ ; cp -Rf /usr/share/*ibex* ibex/share/ ; cp -Rf /usr/share/pkgconfig ibex/share/ ; cp -Rf /usr/bin/ibex* ibex/bin/ ; \ else cp -Rf ../ibex . ; \ fi && \ cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip codac_standalone && \ @@ -93,7 +93,7 @@ jobs: file ./${{ matrix.cfg.test_config }}my_project && \ ./${{ matrix.cfg.test_config }}my_project && \ cd ../.. && \ - if [ ${{ matrix.cfg.deb }} = true ]; then \ + if [ \"${{ matrix.cfg.deb }}\" = \"true\" ]; then \ cd packages && \ chmod +x ./genlibcodac-dev.sh && \ ./genlibcodac-dev.sh \$(if [ -z \"\$(. /etc/os-release && echo \$UBUNTU_CODENAME)\" ]; then echo debian; else echo ubuntu; fi) ${{ matrix.cfg.runtime }} \$(dpkg --print-architecture) $SOFTWARE_VERSION $DEBIAN_PACKAGE_REV $PACKAGE_REV && \ From a4f5af19f84a9ade011985d9b973ede452cff73f Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Sun, 26 Jan 2025 23:20:53 +0100 Subject: [PATCH 254/256] Enable new arm64 Linux GitHub-hosted runners --- .github/workflows/dockermatrix.yml | 40 +++++++++++++++--------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml index 94188d970..2ce5e2723 100644 --- a/.github/workflows/dockermatrix.yml +++ b/.github/workflows/dockermatrix.yml @@ -14,7 +14,7 @@ on: jobs: dockermatrix: - runs-on: ubuntu-latest + runs-on: ${{ matrix.cfg.os }} defaults: run: shell: ${{ matrix.cfg.shell }} @@ -22,20 +22,20 @@ jobs: fail-fast: false matrix: cfg: - - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', desc: 'CentOS manylinux2014 x86_64' } - - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } - - { img: 'lebarsfa/pi-64:noble-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: noble, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 24.04 arm64' } - - { img: 'lebarsfa/pi-64:jammy-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 arm64' } - - { img: 'lebarsfa/pi-64:focal-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 arm64' } - - { img: 'lebarsfa/amd64:bookworm-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm amd64' } - - { img: 'lebarsfa/pi-64:bookworm-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm arm64' } - - { img: 'lebarsfa/pi:bookworm-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bookworm armv6hf' } - - { img: 'lebarsfa/amd64:bullseye-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye amd64' } - - { img: 'lebarsfa/pi-64:bullseye-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye arm64' } - - { img: 'lebarsfa/pi:bullseye-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bullseye armv6hf' } - - { img: 'lebarsfa/amd64:buster-for-codac', shell: bash, arch: amd64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster amd64' } - - { img: 'lebarsfa/pi-64:buster-for-codac', shell: bash, arch: arm64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster arm64' } - - { img: 'lebarsfa/pi:buster-for-codac', shell: bash, arch: armhf, bitness: 32, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Buster armv6hf' } + - { img: 'lebarsfa/manylinux2014_x86_64-for-codac', os: ubuntu-latest, shell: bash, arch: x86_64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', desc: 'CentOS manylinux2014 x86_64' } + - { img: 'lebarsfa/manylinux2014_aarch64-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: aarch64, bitness: 64, runtime: manylinux2014, cmake_flags: '-fPIC', docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux2014 aarch64' } + - { img: 'lebarsfa/pi-64:noble-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: arm64, bitness: 64, runtime: noble, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 24.04 arm64' } + - { img: 'lebarsfa/pi-64:jammy-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: arm64, bitness: 64, runtime: jammy, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 22.04 arm64' } + - { img: 'lebarsfa/pi-64:focal-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: arm64, bitness: 64, runtime: focal, cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 arm64' } + - { img: 'lebarsfa/amd64:bookworm-for-codac', os: ubuntu-latest, shell: bash, arch: amd64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm amd64' } + - { img: 'lebarsfa/pi-64:bookworm-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: arm64, bitness: 64, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm arm64' } + - { img: 'lebarsfa/pi:bookworm-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: armhf, bitness: 32, runtime: bookworm, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bookworm armv6hf' } + - { img: 'lebarsfa/amd64:bullseye-for-codac', os: ubuntu-latest, shell: bash, arch: amd64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye amd64' } + - { img: 'lebarsfa/pi-64:bullseye-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: arm64, bitness: 64, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Debian Bullseye arm64' } + - { img: 'lebarsfa/pi:bullseye-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: armhf, bitness: 32, runtime: bullseye, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bullseye armv6hf' } + - { img: 'lebarsfa/amd64:buster-for-codac', os: ubuntu-latest, shell: bash, arch: amd64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster amd64' } + - { img: 'lebarsfa/pi-64:buster-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: arm64, bitness: 64, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Debian Buster arm64' } + - { img: 'lebarsfa/pi:buster-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: armhf, bitness: 32, runtime: buster, cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Buster armv6hf' } name: ${{ matrix.cfg.desc }} steps: - uses: actions/checkout@v4 @@ -57,11 +57,11 @@ jobs: - run: echo "PACKAGE_VERSION=$SOFTWARE_VERSION-${DEBIAN_PACKAGE_REV}${{ matrix.cfg.runtime }}$PACKAGE_REV" >> $GITHUB_ENV shell: bash if: matrix.cfg.deb==true - - run: | - sudo apt-get -y install qemu binfmt-support qemu-user-static || true - #docker run --rm --privileged multiarch/qemu-user-static:register --reset - docker run --rm --privileged multiarch/qemu-user-static --reset -p yes - if: (matrix.cfg.arch!='amd64')&&(matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') + #- run: | + # sudo apt-get -y install qemu binfmt-support qemu-user-static || true + # #docker run --rm --privileged multiarch/qemu-user-static:register --reset + # docker run --rm --privileged multiarch/qemu-user-static --reset -p yes + # if: (matrix.cfg.arch!='amd64')&&(matrix.cfg.arch!='x86_64')&&(matrix.cfg.arch!='i386') - run: | docker run ${{ matrix.cfg.docker_flags }} -i -v "${PWD}/..:${PWD}/.." ${{ matrix.cfg.img }} /bin/bash -c "uname -a ; cat /etc/os-release ; lsb_release -a ; cd ${PWD} && pwd && \ git config --global --add safe.directory ${PWD} && \ From 356b0948691cde52c70ca45380d0dba123680e4e Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Mon, 27 Jan 2025 22:52:28 +0100 Subject: [PATCH 255/256] Update documentation about Windows --- .../install/01-installation-full-windows.rst | 75 ++++++++++++++++-- doc/doc/install/img/clion_1.png | Bin 0 -> 361441 bytes doc/doc/install/img/clion_2.png | Bin 0 -> 405976 bytes doc/doc/install/img/clion_3.png | Bin 0 -> 350923 bytes 4 files changed, 67 insertions(+), 8 deletions(-) create mode 100644 doc/doc/install/img/clion_1.png create mode 100644 doc/doc/install/img/clion_2.png create mode 100644 doc/doc/install/img/clion_3.png diff --git a/doc/doc/install/01-installation-full-windows.rst b/doc/doc/install/01-installation-full-windows.rst index 238a12ee4..f4f3252e9 100644 --- a/doc/doc/install/01-installation-full-windows.rst +++ b/doc/doc/install/01-installation-full-windows.rst @@ -29,28 +29,87 @@ You will probably need to install these prerequisites (assuming you installed `C .. code-block:: bat - choco install cmake git make patch winflexbison - choco install eigen - -Then, install the desired compiler (*e.g.* ``choco install mingw --version=11.2.0.07112021``). + choco install -y cmake.install --installargs 'ADD_CMAKE_TO_PATH=System' + choco install -y git wget make patch winflexbison + choco install -y eigen -Optionally, for Python (*e.g.* ``choco install python --version=3.10.4``) and documentation: +.. note:: + + | All the commands that install packages need to be run from an `elevated administrator terminal `_. See also `sudo command availability `_. + +Then, install the desired compiler (*e.g.* ``choco install -y mingw --version=11.2.0.07112021``). + +Optionally, for Python (*e.g.* ``choco install -y python --version=3.10.4``) and documentation: .. code-block:: bat - choco install doxygen.install --version=1.9.6 - choco install graphviz + choco install -y doxygen.install --version=1.9.6 + choco install -y graphviz python -m pip install --upgrade pip pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects -The logic to follow will then be similar to :ref:`Linux ` (note that for Visual Studio, commands such as ``make install`` need to be replaced with something similar to: +The logic to follow will then be similar to :ref:`Linux `. You might want to right-click in your desired folder and choose ``Git Bash Here`` to run the commands related to Git and compilation. Note that if using Visual Studio build tools, commands such as ``make`` and ``make install`` need to be replaced with something similar to: .. code-block:: bash + cmake --build . --config Release cmake --build . --config Release --target install +or + +.. code-block:: bash + + cmake --build . -j 4 --config Release + cmake --build . -j 4 --config Release --target install + +to enable parallel compilation on 4 cores. + +.. warning:: + + | Dependencies of Codac need to built with the same compiler as Codac itself. First, you will need to recompile IBEX (from https://github.com/lebarsfa/ibex-lib) and its dependencies GAOL (https://github.com/lebarsfa/GAOL) and mathlib (https://github.com/lebarsfa/mathlib), which need to be installed manually via CMake with the options ``-D GAOL_ENABLE_PRESERVE_ROUNDING=OFF -D GAOL_ENABLE_OPTIMIZE=ON -D GAOL_ENABLE_VERBOSE_MODE=OFF``. During the compilation of IBEX, specify where they are installed if necessary using the CMake options, e.g., ``-D INTERVAL_LIB=gaol -D MATHLIB_DIR=../mathlib -D GAOL_DIR=../gaol``). + .. warning:: | You might need to replace all occurences of :literal:`PATH_SUFFIXES \ ` with something similar to :literal:`PATHS ${CMAKE_CURRENT_LIST_FILE}/../../../../ PATH_SUFFIXES \ ` in all ``.cmake`` in ``codac/share/codac/cmake/`` (where Codac was installed) if a CMake project that tries to use Codac appears to find its installation location but fails to configure the project properly. +.. warning:: + + | If using the MinGW version installed using ``choco install -y mingw --version=11.2.0.07112021``, you might need to install the following patch for debugging to work correctly: + + .. code-block:: bat + + wget.exe https://packages.ensta-bretagne.fr/choco/mingw-patch.11.2.0.20230603.nupkg --no-check-certificate -nv + choco install -y -s . mingw-patch --version=11.2.0.20230603 + +.. note:: + + | If using CLion IDE, it might be difficult to set CMake options such as ``-DBUILD_TESTS=ON`` from inside the IDE (it seems related to Ninja support). As a workaround, try to set these options, assuming the MinGW version suggested above was installed: + + .. image:: img/clion_1.png + :width: 800px + + | + + .. image:: img/clion_2.png + :width: 800px + + | + + .. image:: img/clion_3.png + :width: 800px + +.. tip:: + + | If using Visual Studio IDE or build tools, you might want to add the ``/MP`` compiler flag to enable more parallelization possibilities, in *e.g.* + + .. code-block:: bash + + cmake -G "Visual Studio 17 2022" -A x64 -D CMAKE_PREFIX_PATH="../ibex" -D CMAKE_INSTALL_PREFIX="../codac" -D CMAKE_C_FLAGS="/MP4" -D CMAKE_CXX_FLAGS="/MP4" .. + + Then, opening the generated ``.sln`` file and building the ``INSTALL`` project from inside Visual Studio or from the command-line (*e.g.* ``cmake --build . -j 4 --config Debug --target install``) should be faster (change ``4`` in ``-j 4`` and ``/MP4`` to another number of cores if needed). + +.. tip:: + + | To run the tests, the generic command is ``ctest -C Debug -V 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zFL9E7eYQ9(Z0!dMT<8C&v_-_=u`VNKta>avvcyV3cihY1wdL+ALCOCwMnF9ec%gG9 z5B(jQrQhFOmJ+Rn08-D;HcQupC%67Ekhk#nb5s zo*rjRL;(~M@V-Zl7Z>BPnb<$Dm%SOX4b@1U#k6!-F|3_>c7BFB}gJp~vl?gx( zWHMU@c2GB5Bch`lM>ZnBmsBCOJ({z=#Xnbh)7i-ke;#5=<^L}B+RPCN7zQ}=KK|zW$en~|jP5dnxv=16>|J(D zZ#t|5nDV(s$+l-~C^zSJ6ymeFkIa8nDT2dIa<)%J-t TdL~s-et(|uJYIb) Date: Tue, 28 Jan 2025 20:56:18 +0100 Subject: [PATCH 256/256] [doc] updates for latest v1 release --- doc/doc/conf.py.in | 2 +- doc/doc/index.rst | 19 +++++++++++++------ .../install/01-installation-full-linux.rst | 2 +- .../install/01-installation-full-macos.rst | 2 +- .../install/01-installation-full-windows.rst | 2 +- doc/doc/install/01-installation-python.rst | 4 ++-- 6 files changed, 19 insertions(+), 12 deletions(-) diff --git a/doc/doc/conf.py.in b/doc/doc/conf.py.in index ef8ca2071..bf6f3427a 100644 --- a/doc/doc/conf.py.in +++ b/doc/doc/conf.py.in @@ -65,7 +65,7 @@ rst_prolog = """ :class: right-aligned-note .. seealso:: - This manual refers to Codac v1, but a new v2 implementation is currently in progress... an update of this manual will be available soon. `See more `_. + This manual refers to Codac v1, but a new v2 implementation is currently in progress... an update of this manual will be available soon. `See more `_. """ # GitHub repo diff --git a/doc/doc/index.rst b/doc/doc/index.rst index 6486a01fb..8ecd62592 100644 --- a/doc/doc/index.rst +++ b/doc/doc/index.rst @@ -463,9 +463,16 @@ We suggest the following BibTeX template to cite Codac in scientific discourse: .. code-block:: none - @misc{codac, - author = {Rohou, Simon and Desrochers, Benoit and others}, - year = {2022}, - note = {http://codac.io}, - title = {The {Codac} library -- {C}onstraint-programming for robotics} - } \ No newline at end of file + @article{codac_lib, + title={The {C}odac Library}, + url={https://cyber.bibl.u-szeged.hu/index.php/actcybern/article/view/4388}, + DOI={10.14232/actacyb.302772}, + journal={Acta Cybernetica}, + volume={26}, + number={4}, + series = {Special Issue of {SWIM} 2022}, + author={Rohou, Simon and Desrochers, Benoit and {Le Bars}, Fabrice}, + year={2024}, + month={Mar.}, + pages={871-887} + } \ No newline at end of file diff --git a/doc/doc/install/01-installation-full-linux.rst b/doc/doc/install/01-installation-full-linux.rst index 7f3c19ed6..a25189013 100644 --- a/doc/doc/install/01-installation-full-linux.rst +++ b/doc/doc/install/01-installation-full-linux.rst @@ -10,7 +10,7 @@ Installing Codac v1 on Linux for C++ use Install from package (latest release, for Ubuntu (amd64, arm64), Debian (arm64, armhf) and possibly others) ----------------------------------------------------------------------------------------------------------- -A Debian package is available for the last release 1.5.6 of the library: +A Debian package is available for the last release 1.6 of the library: .. code-block:: bash diff --git a/doc/doc/install/01-installation-full-macos.rst b/doc/doc/install/01-installation-full-macos.rst index b8790c9f9..c052a4bd8 100644 --- a/doc/doc/install/01-installation-full-macos.rst +++ b/doc/doc/install/01-installation-full-macos.rst @@ -18,7 +18,7 @@ Install `Homebrew package manager `_ and build tools: brew install wget autoconf automake libtool brew install --cask cmake -Download and extract *e.g.* ``codac_standalone_arm64_monterey.zip`` (for macOS 12 Monterey on a Mac with Apple silicon (arm64 processor), use ``codac_standalone_x86_64_monterey.zip`` for a Mac with an Intel processor (x86_64 processor), see https://support.apple.com/en-us/116943) from ``_, then in ``example`` folder run: +Download and extract *e.g.* ``codac_standalone_arm64_monterey.zip`` (for macOS 12 Monterey on a Mac with Apple silicon (arm64 processor), use ``codac_standalone_x86_64_monterey.zip`` for a Mac with an Intel processor (x86_64 processor), see https://support.apple.com/en-us/116943) from ``_, then in ``example`` folder run: .. code-block:: bash diff --git a/doc/doc/install/01-installation-full-windows.rst b/doc/doc/install/01-installation-full-windows.rst index f4f3252e9..d2ac53b1b 100644 --- a/doc/doc/install/01-installation-full-windows.rst +++ b/doc/doc/install/01-installation-full-windows.rst @@ -17,7 +17,7 @@ Check https://community.chocolatey.org/packages/codac. .. rubric:: Using Visual Studio -Download and extract *e.g.* ``codac_standalone_x64_vc17.zip`` (for Visual Studio 2022) from ``_, open ``example\CMakelists.txt``, choose ``x64-Release`` configuration in Visual Studio (instead of ``x64-Debug``), double-click on ``main.cpp`` in the Solution Explorer and then click on the green Start button, finally check that "My first tube:Tube [0, 10]" appears. +Download and extract *e.g.* ``codac_standalone_x64_vc17.zip`` (for Visual Studio 2022) from ``_, open ``example\CMakelists.txt``, choose ``x64-Release`` configuration in Visual Studio (instead of ``x64-Debug``), double-click on ``main.cpp`` in the Solution Explorer and then click on the green Start button, finally check that "My first tube:Tube [0, 10]" appears. Optionally, download and run ``_ before running the project, and check that a tube appears in :ref:`VIBes viewer `. diff --git a/doc/doc/install/01-installation-python.rst b/doc/doc/install/01-installation-python.rst index 36de03e19..19d34ab40 100644 --- a/doc/doc/install/01-installation-python.rst +++ b/doc/doc/install/01-installation-python.rst @@ -19,8 +19,8 @@ In case you want to use Codac only with Python, then the installation procedure # You may have to upgrade pip (19.0.0 required at least) pip3 install --upgrade pip - pip3 install codac==1.5.6 - # latest release of Codac v1 is 1.5.6 + pip3 install codac==1.6 + # latest release of Codac v1 is 1.6 .. role:: gbg

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