Merge branch 'cn' into dev

codac-team · Nov 4, 2021 · bd8008b · bd8008b
2 parents 0e87a9c + 4f89893
commit bd8008b
Showing 51 changed files with 1,670 additions and 241 deletions.
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -107,6 +107,7 @@ jobs:
         cd ../../build
 
         # Testing
+        ./tests/core/codac-tests-core 
         make test
         ./../examples/tuto/05_dyn_rangebearing/build/05_dyn_rangebearing
 
@@ -146,5 +147,7 @@ jobs:
         cd ../../build
 
         # Testing
+
+        ./tests/core/codac-tests-core 
         make test
         ./../examples/tuto/05_dyn_rangebearing/build/05_dyn_rangebearing
diff --git a/CHANGELOG b/CHANGELOG
@@ -9,31 +9,50 @@ Changelog
 Codac releases
 ==============
 
-Unreleased yet (in development)
-===============================
+.. Unreleased yet (in development)
+.. ===============================
+.. 
+.. This list corresponds to ongoing developments.
+.. 
+.. Features added
+.. --------------
+.. 
+.. Changes
+.. -------
+.. 
+.. Dependencies
+.. ------------
+.. 
+.. Bugs fixed
+.. ----------
+.. 
+.. Deprecated
+.. ----------
+.. 
+.. Documentation
+.. -------------
+.. 
+.. Python binding
+.. --------------
 
-This list corresponds to ongoing developments.
+
+-----------------------------------------------------------------
+
+Codac release 0.1.7 (released `Nov 4, 2021 <https://github.com/codac-team/codac/releases/tag/v0.1.7>`_)
+=======================================================================================================
+
+`Commits since previous release 0.1.6 <https://github.com/codac-team/codac/compare/v0.1.6...v0.1.7>`_
 
 Features added
 --------------
 
-Changes
--------
-
-Dependencies
-------------
+* :commit:`4f273d976005244344081d2feff81653095f5cfd`: towards generation of ``.deb`` and ``.nupkg packages``
 
 Bugs fixed
 ----------
 
-Deprecated
-----------
-
-Documentation
--------------
-
-Python binding
---------------
+* :commit:`5cf92232da71aa4bf8e329ac2ceb99bd46969dcf`: corrected recent bug in ``CtcChain``
+* :commit:`b4c5a2c35f43c30c9e63918b4b1e917bb955fad3`: corrected recent bug in ``CtcEval``
 
 
 -----------------------------------------------------------------

diff --git a/doc/doc/index.rst b/doc/doc/index.rst
@@ -182,7 +182,7 @@ The distance function :math:`g(\mathbf{x},\mathbf{b})` between the robot and a l
 
     for i in range (0,len(y)): # we add the observ. constraint for each range-only measurement
 
-      p = cn.create_dom(IntervalVector(4)) # intermed. variable (state at t_i)
+      p = cn.create_interm_var(IntervalVector(4)) # intermed. variable (state at t_i)
 
       # Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc.dist, [cn.subvector(p,0,1), b[i], y[i]])
@@ -197,7 +197,7 @@ The distance function :math:`g(\mathbf{x},\mathbf{b})` between the robot and a l
 
     for(int i = 0 ; i < 3 ; i++) // we add the observ. constraint for each range-only measurement
     {
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // intermed. variable (state at t_i)
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // intermed. variable (state at t_i)
 
       // Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc::dist, {cn.subvector(p,0,1), b[i], y[i]});

diff --git a/doc/doc/tutorial/04-own-contractor/index.rst b/doc/doc/tutorial/04-own-contractor/index.rst
@@ -548,7 +548,7 @@ Appendix
     
     cn.contract(); // segmentation fault here
 
-  Instead, we must create the domains inside the CN object in order to keep it alive outside the block. This can be done with the method ``.create_dom()``:
+  Instead, we must create the domains inside the CN object in order to keep it alive outside the block. This can be done with the method ``.create_interm_var()``:
 
   .. code:: cpp
 
@@ -558,7 +558,7 @@ Appendix
     
     if(/* some condition */)
     {
-      Interval& a = cn.create_dom(Interval(1,20));
+      Interval& a = cn.create_interm_var(Interval(1,20));
       cn.add(ctc_plus, {x, y, a});
     } // 'a' is not lost
     
@@ -568,8 +568,8 @@ Appendix
 
   .. code:: cpp
 
-    IntervalVector& d = cn.create_dom(IntervalVector(2));
+    IntervalVector& d = cn.create_interm_var(IntervalVector(2));
 
   creates for instance an intermediate 2d variable with a 2d box domain: :math:`[\mathbf{d}]=[-\infty,\infty]^2`. Its argument defines the type of domain to be created (``Interval``, ``IntervalVector``, *etc.*). 
 
-  Technically, ``create_dom()`` returns a C++ *reference* (in the above example, of type ``IntervalVector&``). The reference is an alias on the intermediate variable, that is now inside the Contractor Network. It can be used in the same way as other variables involved in the CN.
+  Technically, ``create_interm_var()`` returns a C++ *reference* (in the above example, of type ``IntervalVector&``). The reference is an alias on the intermediate variable, that is now inside the Contractor Network. It can be used in the same way as other variables involved in the CN.
diff --git a/doc/doc/tutorial/07-data-association/solution.py b/doc/doc/tutorial/07-data-association/solution.py
@@ -103,9 +103,9 @@ def contract(self, x):
   y2 = Interval(v_obs[i][2]) # bearing
 
   # Intermediate variables:
-  a = cn.create_dom(Interval())
-  d = cn.create_dom(IntervalVector(2))
-  p = cn.create_dom(IntervalVector(4))
+  a = cn.create_interm_var(Interval())
+  d = cn.create_interm_var(IntervalVector(2))
+  p = cn.create_interm_var(IntervalVector(4))
 
   cn.add(ctc_constell, [m[i]])
   cn.add(ctc_minus, [d, m[i], cn.subvector(p,0,1)])

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -89,6 +89,8 @@ if(BUILD_TESTS AND TEST_EXAMPLES)
   endif()
   add_test(NAME basics_08
            COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/basics/08_tube_paving/build/codac_basics_08 0)
+  add_test(NAME basics_09
+           COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/basics/09_cn_paving/build/codac_basics_09 0)
 
   # Robotics
   add_test(NAME rob_01

diff --git a/examples/basics/09_cn_paving/CMakeLists.txt b/examples/basics/09_cn_paving/CMakeLists.txt
@@ -0,0 +1,42 @@
+# ==================================================================
+#  codac / basics example - cmake configuration file
+# ==================================================================
+
+  cmake_minimum_required(VERSION 3.0.2)
+  project(codac_basics_09 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 ${CODAC_VERSION}")
+
+# Compilation
+
+  set(CMAKE_BUILD_TYPE Debug)
+  add_executable(${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})
diff --git a/examples/basics/09_cn_paving/build.sh b/examples/basics/09_cn_paving/build.sh
@@ -0,0 +1,11 @@
+# ==================================================================
+#  tubex-lib - build script
+# ==================================================================
+
+#!/bin/bash
+
+mkdir build -p
+cd build
+cmake ..
+make
+cd ..
diff --git a/examples/basics/09_cn_paving/main.cpp b/examples/basics/09_cn_paving/main.cpp
@@ -0,0 +1,86 @@
+/** 
+ *  Codac - Examples
+ *  Using CN for paving
+ * ----------------------------------------------------------------------------
+ *
+ *  \brief      Using CN for paving
+
+ *  \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 <codac.h>
+
+using namespace std;
+using namespace codac;
+
+class FunctionPaving : public Paving
+{
+  public:
+
+    FunctionPaving(const IntervalVector& init_box) : Paving(init_box, SetValue::UNKNOWN)
+    {
+
+    }
+
+    void compute(ContractorNetwork& cn, IntervalVectorVar& var_x, IntervalVar& var_y, float precision)
+    {
+      assert(precision > 0.);
+
+      Interval y;
+      // Abstract variables replaced by actual domains
+      // related to the current paving box 
+      cn.contract({
+        {var_x, box()},
+        {var_y, y}
+      });
+
+      Interval zero(-0.5,0.5);
+
+      if(y.is_subset(zero))
+        set_value(SetValue::IN);
+
+      else if(!y.intersects(zero))
+        set_value(SetValue::OUT);
+
+      else if(box().max_diam() < precision)
+        set_value(SetValue::UNKNOWN);
+
+      else
+      {
+        bisect();
+        ((FunctionPaving*)m_first_subpaving)->compute(cn, var_x, var_y, precision);
+        ((FunctionPaving*)m_second_subpaving)->compute(cn, var_x, var_y, precision);
+      }
+    }   
+};
+
+int main()
+{
+  CtcFunction ctc_f(Function("x[2]", "y", "x[0]*cos(x[0]-x[1])*sin(x[0])+x[1]-y"));
+
+  ContractorNetwork cn;
+
+  // Abstract variables are created,
+  // they will be replaced afterwards by the values
+  // corresponding to each box of the paving
+  IntervalVar y;
+  IntervalVectorVar x(2);
+
+  // The CN is built only once, outside the Paving class
+  cn.add(ctc_f, {x, y});
+
+  FunctionPaving paving(IntervalVector({{-3,3},{-3,3}}));
+  paving.compute(cn, x, y, 0.05);
+
+  vibes::beginDrawing();
+  VIBesFigPaving fig_paving("Paving", &paving);
+  fig_paving.set_properties(100, 100, 400, 400);
+  fig_paving.show();
+  vibes::endDrawing();
+
+  return EXIT_SUCCESS;
+}
diff --git a/examples/brunovsky/main.cpp b/examples/brunovsky/main.cpp
@@ -109,10 +109,10 @@ int main()
     {
       // New domains and intermediate variables:
       Vector& landmark((i%2 == 0) ? m_a : m_b); // selecting landmark
-      IntervalVector& b = cn.create_dom(IntervalVector(landmark));
-      Interval& t = cn.create_dom((i+1)*tdomain.diam()/nb_obs+tdomain.lb());
-      Interval& d = cn.create_dom(sqrt(sqr(b[0]-x_truth(t)[0])+sqr(b[1]-x_truth(t)[1])));
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // state at time t
+      IntervalVector& b = cn.create_interm_var(IntervalVector(landmark));
+      Interval& t = cn.create_interm_var((i+1)*tdomain.diam()/nb_obs+tdomain.lb());
+      Interval& d = cn.create_interm_var(sqrt(sqr(b[0]-x_truth(t)[0])+sqr(b[1]-x_truth(t)[1])));
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // state at time t
 
       d.inflate(0.025); // bounded measurement
       cout << i << "\t" << ((i%2 == 0) ? "m_a" : "m_b") << "\t" << t.mid() << "\t" << d << endl;

diff --git a/examples/robotics/10_datasso/datasso.py b/examples/robotics/10_datasso/datasso.py
@@ -98,9 +98,9 @@ def contract(self, x):
   y2 = Interval(v_obs[i][2]) # bearing
 
   # Intermediate variables:
-  a = cn.create_dom(Interval())
-  d = cn.create_dom(IntervalVector(2))
-  p = cn.create_dom(IntervalVector(3))
+  a = cn.create_interm_var(Interval())
+  d = cn.create_interm_var(IntervalVector(2))
+  p = cn.create_interm_var(IntervalVector(3))
 
   cn.add(ctc_constell, [m[i]])
   cn.add(ctc_minus, [d, m[i], cn.subvector(p,0,1)])

diff --git a/examples/robotics/10_datasso/main.cpp b/examples/robotics/10_datasso/main.cpp
@@ -96,9 +96,9 @@ int main()
       Interval &y2 = v_obs[i][2]; // bearing
 
       // Intermediate variables:
-      Interval& a = cn.create_dom(Interval());
-      IntervalVector& d = cn.create_dom(IntervalVector(2));
-      IntervalVector& p = cn.create_dom(IntervalVector(3));
+      Interval& a = cn.create_interm_var(Interval());
+      IntervalVector& d = cn.create_interm_var(IntervalVector(2));
+      IntervalVector& p = cn.create_interm_var(IntervalVector(3));
 
       cn.add(ctc_constell, {m[i]});
       cn.add(ctc_minus, {d, m[i], cn.subvector(p,0,1)});

diff --git a/examples/tuto/01_getting_started/01_getting_started.cpp b/examples/tuto/01_getting_started/01_getting_started.cpp
@@ -65,7 +65,7 @@ int main()
 
     for(int i = 0 ; i < 3 ; i++) // we add the observ. constraint for each range-only measurement
     {
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // intermed. variable (state at t_i)
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // intermed. variable (state at t_i)
 
       // Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc::dist, {cn.subvector(p,0,1), b[i], y[i]});

diff --git a/examples/tuto/01_getting_started/01_getting_started.py b/examples/tuto/01_getting_started/01_getting_started.py
@@ -56,7 +56,7 @@
 
 for i in range (0,len(y)): # we add the observ. constraint for each range-only measurement
 
-  p = cn.create_dom(IntervalVector(4)) # intermed. variable (state at t_i)
+  p = cn.create_interm_var(IntervalVector(4)) # intermed. variable (state at t_i)
 
   # Distance constraint: relation between the state at t_i and the ith beacon position
   cn.add(ctc.dist, [cn.subvector(p,0,1), b[i], y[i]])

diff --git a/examples/tuto/03_static_rangebearing/03_static_rangebearing.cpp b/examples/tuto/03_static_rangebearing/03_static_rangebearing.cpp
@@ -60,8 +60,8 @@ int main()
     for(int i = 0 ; i < v_obs.size() ; i++)
     {
       // Intermediate variables
-      Interval& alpha = cn.create_dom(Interval());
-      IntervalVector& d = cn.create_dom(IntervalVector(2));
+      Interval& alpha = cn.create_interm_var(Interval());
+      IntervalVector& d = cn.create_interm_var(IntervalVector(2));
 
       cn.add(ctc_plus, {v_obs[i][1], heading, alpha});
       cn.add(ctc_minus, {v_map[i], x, d});

diff --git a/examples/tuto/03_static_rangebearing/03_static_rangebearing.py b/examples/tuto/03_static_rangebearing/03_static_rangebearing.py
@@ -46,8 +46,8 @@
 for i in range(0,len(v_obs)):
 
   # Intermediate variables
-  alpha = cn.create_dom(Interval())
-  d = cn.create_dom(IntervalVector(2))
+  alpha = cn.create_interm_var(Interval())
+  d = cn.create_interm_var(IntervalVector(2))
 
   cn.add(ctc_plus, [v_obs[i][1], heading, alpha])
   cn.add(ctc_minus, [v_map[i], x, d])

diff --git a/examples/tuto/04_dyn_rangeonly/04_dyn_rangeonly.cpp b/examples/tuto/04_dyn_rangeonly/04_dyn_rangeonly.cpp
@@ -64,7 +64,7 @@ int main()
 
     for(int i = 0 ; i < 3 ; i++) // we add the observ. constraint for each range-only measurement
     {
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // intermed. variable (state at t_i)
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // intermed. variable (state at t_i)
 
       // Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc::dist, {cn.subvector(p,0,1), b[i], y[i]});

diff --git a/examples/tuto/04_dyn_rangeonly/04_dyn_rangeonly.py b/examples/tuto/04_dyn_rangeonly/04_dyn_rangeonly.py
@@ -56,7 +56,7 @@
 
 for i in range (0,len(y)): # we add the observ. constraint for each range-only measurement
 
-  p = cn.create_dom(IntervalVector(4)) # intermed. variable (state at t_i)
+  p = cn.create_interm_var(IntervalVector(4)) # intermed. variable (state at t_i)
 
   # Distance constraint: relation between the state at t_i and the ith beacon position
   cn.add(ctc.dist, [cn.subvector(p,0,1), b[i], y[i]])