From ce509071341daa0b142c91fd067346ee0efff614 Mon Sep 17 00:00:00 2001 From: SimonRohou Date: Thu, 24 Mar 2022 11:41:36 +0100 Subject: [PATCH] [doc] minor updates --- .../04-static-contractors/03-ctc-polar.rst | 2 +- doc/doc/manual/07-graphics/02-figtube.rst | 4 ++-- examples/robotics/11_explored_area/main.cpp | 3 ++- src/robotics/graphics/codac_VIBesFigMap.cpp | 22 +++++++++---------- 4 files changed, 16 insertions(+), 15 deletions(-) diff --git a/doc/doc/manual/04-static-contractors/03-ctc-polar.rst b/doc/doc/manual/04-static-contractors/03-ctc-polar.rst index 7ef6cdbab..39f51073b 100644 --- a/doc/doc/manual/04-static-contractors/03-ctc-polar.rst +++ b/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:: diff --git a/doc/doc/manual/07-graphics/02-figtube.rst b/doc/doc/manual/07-graphics/02-figtube.rst index a4789efc9..e7757695b 100644 --- a/doc/doc/manual/07-graphics/02-figtube.rst +++ b/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: diff --git a/examples/robotics/11_explored_area/main.cpp b/examples/robotics/11_explored_area/main.cpp index 7c06a664d..639d5ad15 100644 --- a/examples/robotics/11_explored_area/main.cpp +++ b/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); diff --git a/src/robotics/graphics/codac_VIBesFigMap.cpp b/src/robotics/graphics/codac_VIBesFigMap.cpp index c4b686793..93418281e 100644 --- a/src/robotics/graphics/codac_VIBesFigMap.cpp +++ b/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;