[ellips] minor update (merging branches)

Author: SimonRohou

CMakeLists.txt

@@ -56,7 +56,7 @@
   endif()
 
   if(MSVC)
-    #add_compile_options(/W4 /WX) # temporarily removed because of multiple "the following warning is treated as an error" with WS
+    add_compile_options(/W4)
   else()
     add_compile_options(-Wall -Wextra -Wpedantic)
   endif()

doc/CMakeLists.txt

@@ -52,4 +52,53 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/mathjax_stmaryrd.js
 
     endif()
 
+  endif()
+
+# User manual (Sphinx)
+
+  find_package(Sphinx)
+
+  if(NOT SPHINX_FOUND)
+
+    message(STATUS "Sphinx not found, will not be able to generate the manual.")
+
+  else()
+
+    # Includes CMake commands in config file:
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/manual/conf.py.in ${CMAKE_CURRENT_BINARY_DIR}/manual/conf.py)
+
+    set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/manual)
+    set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/manual)
+
+    # Copying _static files of Sphinx to build directories
+    foreach(static_file ${CMAKE_CURRENT_SOURCE_DIR}/manual/_static/)
+      file(COPY ${static_file} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/manual/_static/)
+    endforeach()
+
+    # Copying tmp files
+    foreach(static_file ${CMAKE_CURRENT_SOURCE_DIR}/manual/tmp/)
+      file(COPY ${static_file} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/manual/tmp/)
+    endforeach()
+
+    # todo: the SPHINX_EXECUTABLE is already set by FindSphinx.cmake:
+    # check that it works without the following overload for Win and Linux:
+    if(WIN32)
+      set(SPHINX_EXECUTABLE "sphinx-build")
+    else()
+      set(SPHINX_EXECUTABLE "python3" "-msphinx")
+    endif()
+
+    add_custom_target(manual
+                      COMMAND
+                      ${SPHINX_EXECUTABLE} -b html
+                      # Specifying path to conf.py generated by CMake:
+                      -c ${CMAKE_CURRENT_BINARY_DIR}/manual/
+                      ${SPHINX_SOURCE} ${SPHINX_BUILD}
+                      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+                      COMMENT "Generating the manual website using Sphinx")
+
+    install(DIRECTORY ${SPHINX_BUILD}/
+            DESTINATION share/manual/${CMAKE_PROJECT_NAME}
+            OPTIONAL)
+
   endif()

doc/manual/_static/css/custom.css

@@ -0,0 +1,10 @@
+div.rst-content a:visited
+{
+  color: #2980b9;
+  text-decoration: none;
+}
+
+div.rst-content li.toctree-l1 > a
+{
+  font-weight: bold;
+}

doc/manual/_static/empty.txt

@@ -0,0 +1,40 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = 'Codac'
+copyright = 'Codac Team'
+author = 'Codac Team'
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    'sphinx_rtd_theme',
+]
+
+templates_path = ['_templates']
+exclude_patterns = []
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_static_path = ['_static']
+html_theme = "sphinx_rtd_theme"
+html_logo = "_static/logos/logo_codac.svg"
+
+# These paths are either relative to html_static_path
+# or fully qualified paths (eg. https://...)
+html_css_files = [
+    'css/custom.css',
+]
+
+html_theme_options = {
+    'logo_only': True,
+    'display_version': True,
+}

doc/manual/_templates/empty.txt

@@ -0,0 +1,51 @@
+Codac manual
+============
+
+
+.. toctree::
+   :caption: Overview of Codac
+   :maxdepth: 3
+
+   Constraint programming and IA <http://codac.io>
+   The Codac framework <http://codac.io>
+   Target audience <http://codac.io>
+
+
+.. toctree::
+   :caption: User manual
+   :maxdepth: 3
+
+   installation/index.rst
+   intervals/index.rst
+   linear/index.rst
+   functions/index.rst
+   tubes/index.rst
+   contractors/index.rst
+   separators/index.rst
+   pavers/index.rst
+   cn/index.rst
+   geometry/index.rst
+   ellipsoids/index.rst
+   topology/index.rst
+   visualization/index.rst
+   extensions/index.rst
+   seealso/index.rst
+   references/index.rst
+
+
+.. toctree::
+   :caption: How-to guides
+   :maxdepth: 3
+
+   howto/robotics/index.rst
+   howto/geometry/index.rst
+   howto/dynamical/index.rst
+
+
+.. toctree::
+   :caption: Development
+   :maxdepth: 3
+
+   Changelog <http://codac.io>
+   C++ API <http://codac.io>
+   Information for developers <http://codac.io>

doc/manual/conf.py.in

@@ -23,7 +23,7 @@
 fig1.set_window_properties([50,50],[500,500]) # position, window size
 fig1.set_axes(axis(0,[-10,10]), axis(1,[-10,10])) # (axis_id,[range_of_values_on_this_axis])
 fig1.draw_box([[-1,1],[-1,1]],[Color.green(),Color.red(0.2)]) # drawing a green box with red opacity values inside
-fig1.draw_circle([1,1],0.5,Color(255,155,5)) # drawing a circle at (1,1) of radius 0.5 with a custom RGB color
+fig1.draw_circle([1,1],0.5,Color([255,155,5])) # drawing a circle at (1,1) of radius 0.5 with a custom RGB color
 fig1.draw_ring([1,1],[4,6],Color.red()) # drawing a ring at (1,1) of radius [4,6] with a predefined red color
 
 fig2 = Figure2D("My figure 2", GraphicOutput.VIBES | GraphicOutput.IPE)
@@ -44,5 +44,31 @@
 fig2.draw_polygone([[2,4.5],[4,4.5],[4.2,3.5],[3.5,3]], [Color.none(),Color.green(0.5)])
 fig2.draw_polyline([[-0.8,0],[0,1.5]], 0.2, [Color.red(),Color.black(0.3)])
 fig2.draw_ellipse([1,1],[0.5,2], 0.2, [Color.blue(),Color.blue(0.3)])
+
+# Colors
+# predefined colors without and with opacity
 fig2.draw_point([2,2], [Color.red(),Color.yellow(0.5)])
-fig2.draw_box([[2.4,2.9],[2.4,2.9]],[Color("#da3907"),Color("#da390755")])
+# HTML color without and with opacity
+fig2.draw_box([[2.4,2.9],[2.4,2.9]],[Color("#da3907"),Color("#da390755")])
+# HSV color without and with opacity
+fig2.draw_box([[2.6,3.1],[2.6,3.1]],[Color([108,90,78],Model.HSV),Color([108,90,78,20],Model.HSV)])
+# RGB color auto cast from list without and with opacity
+fig2.draw_box([[2.,2.3],[2.6,2.9]],[[255,0,255],[255,0,255,100]])
+
+fig3 = Figure2D("ColorMap figure", GraphicOutput.VIBES | GraphicOutput.IPE)
+fig3.set_axes(axis(0,[-1,21]), axis(1,[-5.5,0.5]))
+fig3.set_window_properties([800,250],[500,500])
+
+cmap_haxby=ColorMap.haxby()
+cmap_default=ColorMap.basic()
+cmap_blue_tube=ColorMap.blue_tube()
+cmap_red_tube=ColorMap.red_tube()
+cmap_rainbow=ColorMap.rainbow()
+
+for i in range (20):
+    ratio=i/20
+    fig3.draw_box([[i,i+1],[-1,0]],[Color.black(),cmap_haxby.color(ratio)])
+    fig3.draw_box([[i,i+1],[-2,-1]],[Color.black(),cmap_default.color(ratio)])
+    fig3.draw_box([[i,i+1],[-3,-2]],[Color.black(),cmap_blue_tube.color(ratio)])
+    fig3.draw_box([[i,i+1],[-4,-3]],[Color.black(),cmap_red_tube.color(ratio)])
+    fig3.draw_box([[i,i+1],[-5,-4]],[Color.black(),cmap_rainbow.color(ratio)])

doc/manual/index.rst

@@ -63,8 +63,8 @@ int main() {
     // ----------------------------------------------------------
 
     // step 1 identify the direction of non inclusion
-    Eigen::MatrixXd X = e4.G._e;
-    Eigen::MatrixXd Y = e6.G._e;
+    Eigen::MatrixXd X = e4.G;
+    Eigen::MatrixXd Y = e6.G;
     Eigen::MatrixXd Y_inv = Y.inverse();
     Eigen::MatrixXd D = Eigen::MatrixXd::Identity(3,3)- X.transpose()*Y_inv.transpose()*Y_inv*X;
     cout << "D = " << D << endl;
@@ -84,7 +84,7 @@ int main() {
     cout << " the vector associated to the min eigenvalue is " << v << endl;
 
     // select the less included point and draw it on the figures
-    Eigen::VectorXd x = e4.mu._e+e4.G._e*v;
+    Eigen::VectorXd x = e4.mu+e4.G*v;
     cout << "the point " << x << " is the less included point" << endl;
     fig2.draw_point(x, {Color::black()});
     fig3.draw_point(x, {Color::black()});