[doc] minor updates

doc/doc/manual/04-static-contractors/03-ctc-polar.rst

@@ -23,7 +23,7 @@ Definition
 
   .. math::
 
-    \left.\begin{array}{r}x=\rho\cos\theta\\y=\rho\sin\theta\end{array}\right\} \longrightarrow \mathcal{C}_{\textrm{polar}}\big([x],[y],[\rho],[\theta]\big)
+    \left.\begin{array}{r}x=\rho\cos\theta\\y=\rho\sin\theta\end{array}\right\} \longrightarrow \mathcal{C}_{\textrm{polar}}\big([x],[y],[\rho],[\theta]\big) \textrm{,   with: } [\rho]\subseteq[0,\infty]
 
   .. tabs::
 

doc/doc/manual/07-graphics/02-figtube.rst

@@ -27,7 +27,7 @@ To create and show a :math:`600\times300` figure located at :math:`100,100`:
 
     # add graphical items here ...
 
-    show()
+    fig.show()
 
   .. code-tab:: c++
 
@@ -36,7 +36,7 @@ To create and show a :math:`600\times300` figure located at :math:`100,100`:
 
     // add graphical items here ...
 
-    show();
+    fig.show();
 
 To add temporal objects (before the method ``.show()``), use the methods ``.add_tube()`` or ``.add_trajectory()`` with three arguments:
 

examples/robotics/11_explored_area/main.cpp

@@ -238,7 +238,8 @@ int main()
     ExploredArea area(z);
 
     clock_t t_start = clock();
-    x.enable_synthesis(true);
+    x.enable_synthesis(SynthesisMode::BINARY_TREE);
+    cout << "Computing the explored area... (may take some time)" << endl;
     area.compute(0.1, x);
     printf("Paving computation time: %.2fs\n", (double)(clock() - t_start)/CLOCKS_PER_SEC);
 

src/robotics/graphics/codac_VIBesFigMap.cpp

@@ -111,7 +111,7 @@ namespace codac
   {
     assert(tube);
     if(m_map_tubes.find(tube) == m_map_tubes.end())
-      throw Exception(__func__, "unknown tube, must be added beforehand");
+      throw Exception(__func__, "unknown tube, must be added to the figure, beforehand");
 
     m_map_tubes[tube].name = name;
   }
@@ -121,7 +121,7 @@ namespace codac
     assert(tube);
     assert(color != "");
     if(m_map_tubes.find(tube) == m_map_tubes.end())
-      throw Exception(__func__, "unknown tube, must be added beforehand");
+      throw Exception(__func__, "unknown tube, must be added to the figure, beforehand");
 
     m_map_tubes[tube].color = color;
   }
@@ -130,7 +130,7 @@ namespace codac
   {
     assert(tube);
     if(m_map_tubes.find(tube) == m_map_tubes.end())
-      throw Exception(__func__, "unknown tube, must be added beforehand");
+      throw Exception(__func__, "unknown tube, must be added to the figure, beforehand");
 
     m_map_tubes[tube].color = ""; // removing constant color
     m_map_tubes[tube].color_map = make_pair(colormap, traj_colormap);
@@ -187,7 +187,7 @@ namespace codac
   {
     assert(traj);
     if(m_map_trajs.find(traj) == m_map_trajs.end())
-      throw Exception(__func__, "unknown trajectory, must be added beforehand");
+      throw Exception(__func__, "unknown trajectory, must be added to the figure, beforehand");
 
     m_map_trajs[traj].name = name;
   }
@@ -322,7 +322,7 @@ namespace codac
   {
     assert(traj);
     if(m_map_trajs.find(traj) == m_map_trajs.end())
-      throw Exception(__func__, "unknown trajectory, must be added beforehand");
+      throw Exception(__func__, "unknown trajectory, must be added to the figure, beforehand");
 
     // Simply directly drawn
     draw_observation(obs, traj, color, vibesParams("figure", name(), "group", "obs"));
@@ -332,7 +332,7 @@ namespace codac
   {
     assert(traj);
     if(m_map_trajs.find(traj) == m_map_trajs.end())
-      throw Exception(__func__, "unknown trajectory, must be added beforehand");
+      throw Exception(__func__, "unknown trajectory, must be added to the figure, beforehand");
 
     // Simply directly drawn
     for(size_t i = 0 ; i < v_obs.size() ; i++)
@@ -343,7 +343,7 @@ namespace codac
   {
     assert(tube);
     if(m_map_tubes.find(tube) == m_map_tubes.end())
-      throw Exception(__func__, "unknown tube, must be added beforehand");
+      throw Exception(__func__, "unknown tube, must be added to the figure, beforehand");
 
     IntervalVector viewbox(2, Interval::EMPTY_SET);
 
@@ -399,7 +399,7 @@ namespace codac
   {
     assert(traj);
     if(m_map_trajs.find(traj) == m_map_trajs.end())
-      throw Exception(__func__, "unknown trajectory, must be added beforehand");
+      throw Exception(__func__, "unknown trajectory, must be added to the figure, beforehand");
     assert(points_size >= 0.);
 
     ostringstream o;
@@ -544,7 +544,7 @@ namespace codac
   {
     assert(tube);
     if(m_map_tubes.find(tube) == m_map_tubes.end())
-      throw Exception(__func__, "unknown tube, must be added beforehand");
+      throw Exception(__func__, "unknown tube, must be added to the figure, beforehand");
 
     // Reduced number of slices:
     int step = std::max((int)((1. * tube->nb_slices()) / m_tube_max_nb_disp_slices), 1);
@@ -724,7 +724,7 @@ namespace codac
   {
     assert(traj);
     if(m_map_trajs.find(traj) == m_map_trajs.end())
-      throw Exception(__func__, "unknown trajectory, must be added beforehand");
+      throw Exception(__func__, "unknown trajectory, must be added to the figure, beforehand");
     assert(traj->tdomain().contains(t));
 
     Vector pose(3);
@@ -777,7 +777,7 @@ namespace codac
     assert(obs.size() >= 3);
     assert(traj);
     if(m_map_trajs.find(traj) == m_map_trajs.end())
-      throw Exception(__func__, "unknown trajectory, must be added beforehand");
+      throw Exception(__func__, "unknown trajectory, must be added to the figure, beforehand");
 
     if(obs.is_empty())
       return;