Merge pull request #186 from SimonRohou/codac2_dev

Trajectories + proj

doc/manual/development/info_dev.rst

@@ -35,7 +35,12 @@ If you simply want to use the latest Codac release in Python, you can download t
 
 1. **Ensure the following prerequisites are met**:
 
-   - the prerequisites for the :ref:`C++ installation of Codac <sec-install-cpp-prerequisites>`.
+   - the prerequisites for the :ref:`C++ installation of Codac <sec-install-cpp-prerequisites>`. On Linux systems, you can simply:
+
+   .. code-block:: bash
+
+      sudo apt-get install -y g++ gcc cmake git flex bison
+
    - a supported version of Python (>=3.6).
    - a recent `Doxygen <https://www.doxygen.nl>`_ version (for instance, release 1.13.0 or newest). On Linux systems, latest releases are not available as Debian packages, so we advice to install Doxygen from the sources:
 
@@ -60,13 +65,14 @@ If you simply want to use the latest Codac release in Python, you can download t
 
    .. code-block:: bash
       
-      git clone -b master https://github.com/lebarsfa/ibex-lib.git $HOME/ibex-lib
+      git clone https://github.com/lebarsfa/ibex-lib.git $HOME/ibex-lib
+      cd $HOME/ibex-lib
 
    You will need to compile both IBEX and Codac using the ``-fPIC`` options. This can be done with the following CMake configuration:
 
    .. code-block:: bash
       
-      cd $HOME/ibex-lib/build
+      mkdir build ; cd build
       cmake -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" -DCMAKE_INSTALL_PREFIX=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Release ..
       make ; make install
 
@@ -77,16 +83,27 @@ If you simply want to use the latest Codac release in Python, you can download t
    .. code-block:: bash
       
       git clone https://github.com/codac-team/codac $HOME/codac
+      cd $HOME/codac
+
+   .. admonition:: Using Codac v2 simultaneously with Codac v1
+
+      In case you want to use the two versions of Codac in the same Python script, you will have to compile the binaries of Codac v2 under a different name in order to avoid ``import`` conflicts. Things are already prepared in the branch ``codac2_renamed``, you can therefore:
+
+      .. code-block:: bash
+         
+         git checkout codac2_renamed
+
+      Note that you will then have to ``import codac2`` instead of ``import codac`` in your Python scripts.
 
    In addition to the ``-fPIC`` options, you will have to configure ``WITH_PYTHON=ON``. Note that the ``git submodule`` commands will automatically get the `pybind11 <https://pybind11.readthedocs.io>`_ files required for the binding.
 
    .. code-block:: bash
       
-      cd $HOME/codac/build
       # Get automatically pybind11 and eigen submodules:
       git submodule init ; git submodule update
       # Configure CMake
-      cmake -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" -DWITH_PYTHON=ON -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH=$HOME/ibex-lib/build_install -DCMAKE_BUILD_TYPE=Release ..
+      mkdir build ; cd build
+      cmake -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" -DWITH_PYTHON=ON -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH="$HOME/ibex-lib/build_install;$HOME/doxygen/build_install" -DCMAKE_BUILD_TYPE=Release ..
       make ; make install
 
 4. **Configure your Python environment**:

doc/manual/manual/installation/cpp.rst

@@ -263,8 +263,8 @@ Troubleshooting
 ----------------
 If you encounter issues during the installation process, consider the following:
 
-- Ensure all prerequisites are installed and up to date.
-- Check `the GitHub issues <https://github.com/codac-team/codac/issues>`_ page for known problems.
+- ensure all prerequisites are installed and up to date.
+- check `the GitHub issues <https://github.com/codac-team/codac/issues>`_ page for known problems.
 
 If you need further assistance, reach out to the library maintainers via the GitHub repository's issue tracker or email support at `simon.rohou [at] ensta.fr`.
 

examples/00_graphics/graphic_examples.py

@@ -84,5 +84,5 @@
 t=ScalarVar()
 # Fermat's spiral
 f1=AnalyticFunction([t], [a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)])
-traj3=AnalyticTrajectory(f1, [0,100])
+traj3=AnalyticTraj(f1, [0,100])
 fig3.draw_trajectory(traj3, ColorMap.rainbow())

examples/04_explored_area/main.cpp

@@ -19,7 +19,7 @@ int main()
 
   Interval tdomain(0,5);
   auto sampled_f = AnalyticTraj(f,tdomain).sampled(0.8);
-  sampled_f[6] = {0,-1}; // appending the position (0,-1) at t=6
+  sampled_f.set(6., {0,-1}); // appending the position (0,-1) at t=6
 
   VectorVar w(3);
   auto g = sampled_f.as_function();

examples/04_explored_area/main.py

@@ -15,7 +15,7 @@
 
 tdomain = [0,5]
 sampled_f = AnalyticTraj(f,tdomain).sampled(0.8)
-sampled_f[6] = [0,-1] # appending the position (0,-1) at t=6
+sampled_f.set(6, [0,-1]) # appending the position (0,-1) at t=6
 
 w = VectorVar(3)
 g = sampled_f.as_function()

python/src/core/trajectory/codac2_py_AnalyticTraj.cpp

@@ -36,6 +36,20 @@ void _export_AnalyticTraj(py::module& m, const string& class_name)
       ANALYTICTRAJ_OS_ANALYTICTRAJ_CONST_ANALYTICFUNCTION_O_REF_CONST_INTERVAL_REF,
       "f"_a, "tdomain"_a)
 
+    .def("__call__", [](const AnalyticTraj<O>& x, double t)
+        {
+          return x(t);
+        },
+      VIRTUAL_S_ANALYTICTRAJ_OS_OPERATORCALL_DOUBLE_CONST,
+      "t"_a)
+
+    .def("__call__", [](const AnalyticTraj<O>& x, const Interval& t)
+        {
+          return x(t);
+        },
+      VIRTUAL_WRAPPER_S_DOMAIN_ANALYTICTRAJ_OS_OPERATORCALL_CONST_INTERVAL_REF_CONST,
+      "t"_a)
+
   ;
 }
 

python/src/core/trajectory/codac2_py_SampledTraj.cpp

@@ -50,6 +50,7 @@ py::class_<SampledTraj<T>> _export_SampledTraj(py::module& m, const string& clas
   else if constexpr(std::is_same_v<T,Vector>)
   {
     exported_class
+
       .def(py::init(
           [](const py::array_t<double>& l_t, const py::array_t<double>& l_x)
             {
@@ -85,6 +86,18 @@ py::class_<SampledTraj<T>> _export_SampledTraj(py::module& m, const string& clas
             }),
         SAMPLEDTRAJ_T_SAMPLEDTRAJ_CONST_LIST_DOUBLE_REF_CONST_LIST_T_REF,
         "l_t"_a, "l_x"_a)
+
+    .def("__getitem__", [](const SampledTraj<T>& x, Index_type i) -> SampledTraj<double>
+        {
+          matlab::test_integer(i);
+          return x[matlab::input_index(i)];
+        }, py::return_value_policy::reference_internal)
+
+    .def("subvector", [](const SampledTraj<T>& x, Index_type i, Index_type j) -> SampledTraj<Vector>
+        {
+          matlab::test_integer(i,j);
+          return x.subvector(matlab::input_index(i),matlab::input_index(j));
+        }, py::return_value_policy::reference_internal)
     ;
   }
 
@@ -104,17 +117,26 @@ py::class_<SampledTraj<T>> _export_SampledTraj(py::module& m, const string& clas
       SAMPLEDTRAJ_T_SAMPLEDTRAJ_T_SAMPLED_DOUBLE_BOOL_CONST,
       "dt"_a, "keep_original_values"_a)
 
-    .def("__getitem__", [](const SampledTraj<T>& x, Index_type index) -> const T&
+    .def("__call__", [](const SampledTraj<T>& x, double t) -> T
         {
-          matlab::test_integer(index);
-          return x.at(matlab::input_index(index));
-        }, py::return_value_policy::reference_internal)
+          return x(t);
+        },
+      VIRTUAL_T_SAMPLEDTRAJ_T_OPERATORCALL_DOUBLE_CONST,
+      "t"_a)
+
+    .def("__call__", [](const SampledTraj<T>& x, const Interval& t) -> typename Wrapper<T>::Domain
+        {
+          return x(t);
+        },
+      VIRTUAL_WRAPPER_T_DOMAIN_SAMPLEDTRAJ_T_OPERATORCALL_CONST_INTERVAL_REF_CONST,
+      "t"_a)
 
-    .def("__setitem__", [](SampledTraj<T>& x, Index_type index, const T& a)
+    .def("set", [](SampledTraj<T>& x, double ti, const T& xi)
         {
-          matlab::test_integer(index);
-          x[matlab::input_index(index)] = a;
-        })
+          return x.set(ti,xi);
+        },
+      VOID_SAMPLEDTRAJ_T_SET_DOUBLE_CONST_T_REF,
+      "ti"_a, "xi"_a)
 
     .def("__repr__", [](const SampledTraj<T>& x) {
           std::ostringstream stream;

python/src/core/trajectory/codac2_py_TrajBase.h

@@ -57,20 +57,6 @@ void export_TrajBase(py::class_<S>& pyclass)
         },
       VIRTUAL_WRAPPER_T_DOMAIN_TRAJBASE_T_CODOMAIN_CONST)
 
-    .def("__call__", [](const S& x, double t)
-        {
-          return x(t);
-        },
-      VIRTUAL_T_TRAJBASE_T_OPERATORCALL_DOUBLE_CONST,
-      "t"_a)
-
-    .def("__call__", [](const S& x, const Interval& t)
-        {
-          return x(t);
-        },
-      VIRTUAL_WRAPPER_T_DOMAIN_TRAJBASE_T_OPERATORCALL_CONST_INTERVAL_REF_CONST,
-      "t"_a)
-
     .def("nan_value", [](const S& x)
         {
           return x.nan_value();

src/core/contractors/codac2_CtcProj.h

@@ -35,7 +35,6 @@ namespace codac2
         assert_release(*min_element(_xi.begin(),_xi.end()) >= 0);
         assert_release(*max_element(_xi.begin(),_xi.end()) < size_of(c));
         assert_release(size_of(c) >= (Index)_xi.size() && "cannot compute a projection of a set into a superset");
-        assert_release(y.is_bisectable());
         assert_release(default_eps > 0.);
       }
 

src/core/domains/ellipsoid/codac2_Ellipsoid.cpp

@@ -167,12 +167,10 @@ namespace codac2 {
         return e_res + elli_error;
     }
 
-    Matrix nonlinear_mapping_base(const Matrix &G, const Matrix &J, const IntervalMatrix &J_box, const Vector& trig, const Vector& q) {
-
-        Index n = G.cols();
-
+    Matrix nonlinear_mapping_base(const Matrix &G, const Matrix &J, const IntervalMatrix &J_box, const Vector& trig, const Vector& q) 
+    {
         assert(G.is_squared() && J.is_squared() && J_box.is_squared());
-        assert(n == J.cols() && n == J_box.cols() && n == q.size());
+        assert(G.cols() == J.cols() && G.cols() == J_box.cols() && G.cols() == q.size());
 
         auto JG = J * G; // note: reliability may be lost here!
         auto G_ = G.template cast<Interval>();

src/core/trajectory/codac2_SampledTraj.h

@@ -12,6 +12,7 @@
 #include <map>
 #include "codac2_TrajBase.h"
 #include "codac2_analytic_variables.h"
+#include "codac2_template_tools.h"
 
 namespace codac2
 {
@@ -31,7 +32,7 @@ namespace codac2
         auto it_t = l_t.begin(); auto it_x = l_x.begin();
         while(it_t != l_t.end())
         {
-          (*this)[*(it_t)] = *(it_x);
+          this->set(*it_t,*it_x);
           it_t++; it_x++;
         }
       }
@@ -90,8 +91,8 @@ namespace codac2
             ++it;
         }
 
-        (*this)[new_tdomain.lb()] = y_lb; // clean truncation
-        (*this)[new_tdomain.ub()] = y_ub;
+        this->set(new_tdomain.lb(), y_lb); // clean truncation
+        this->set(new_tdomain.ub(), y_ub);
       }
 
       virtual typename Wrapper<T>::Domain codomain() const
@@ -138,6 +139,12 @@ namespace codac2
         }
       }
 
+      void set(double t, const T& x)
+      {
+        assert(this->empty() || size_of(x) == this->size());
+        std::map<double,T>::operator[](t) = x;
+      }
+
       virtual SampledTraj<T> sampled(double dt) const
       {
         return sampled(dt, true);
@@ -154,11 +161,41 @@ namespace codac2
         {
           // Appending values from the initial map:
           for(const auto& [ti,xi] : *this)
-            straj[ti] = xi;
+            straj.set(ti, xi);
         }
 
         return straj;
       }
+
+      template<typename T_=T>
+        requires std::is_same_v<T_,Vector>
+      SampledTraj<double> operator[](Index i) const
+      {
+        assert_release(i >= 0 && i < size());
+        std::map<double,double> m;
+        for(const auto& [t,y] : *this)
+        {
+          assert(i < y.size());
+          m[t] = y[i];
+        }
+
+        return { m };
+      }
+
+      template<typename T_=T>
+        requires std::is_same_v<T_,Vector>
+      SampledTraj<Vector> subvector(Index i, Index j) const
+      {
+        assert_release(i >= 0 && i <= j && j < size());
+        std::map<double,Vector> m;
+        for(const auto& [t,y] : *this)
+        {
+          assert(j < y.size());
+          m[t] = y.subvector(i,j);
+        }
+
+        return { m };
+      }
   };
 
   template<typename T>

src/core/trajectory/codac2_TrajBase.h

@@ -55,8 +55,8 @@ namespace codac2
         auto tdom = tdomain();
         SampledTraj<T> straj;
         for(double t = tdom.lb() ; t < tdom.ub() ; t+=dt)
-          straj[t] = (*this)(t);
-        straj[tdom.ub()] = (*this)(tdom.ub());
+          straj.set(t, (*this)(t));
+        straj.set(tdom.ub(), (*this)(tdom.ub()));
         return straj;
       }
 
@@ -67,20 +67,20 @@ namespace codac2
 
         SampledTraj<T> p;
         double t = tdomain().lb(), last_t = t;
-        p[t] = y0; t += dt;
+        p.set(t, y0); t += dt;
         T y = y0;
 
         while(t < tdomain().ub())
         {
           y += ((*this)(last_t)+(*this)(t))*dt/2.;
-          p[t] = y;
+          p.set(t, y);
           last_t = t;
           t += dt;
         }
 
         t = tdomain().ub();
         y += ((*this)(last_t)+(*this)(t))*(t-last_t)/2.;
-        p[t] = y;
+        p.set(t, y);
 
         return p;
       }