Merge branch 'codac2_dev' of github.com:codac-team/codac into multithread_pave

Author: godardma

doc/manual/development/changelog.rst

@@ -3,6 +3,14 @@
 Changelog
 =========
 
+Upcoming version 
+****************
+
+Pull Request #379 from godardma (27/04)
+---------------------------------------
+
+``Zonotope`` and ``Parallelepiped`` center is now ``c`` instead of ``z`` to avoid ambiguity.
+
 Version 2.0.2
 *************
 

doc/manual/index.rst

@@ -255,7 +255,7 @@ User manual
       * CtcCross / CtcNoCross
    * Shape contractors
       * CtcCtcBoundary
-      * CtcWrapper
+      * :ref:`sec-ctc-shape-ctcwrapper`
       * CtcImage
       * CtcDiscreteSet
    * Temporal contractors
@@ -317,8 +317,8 @@ User manual
    * :ref:`sec-zonotope`
    * Polyhedron
 
-* :ref:`sec-actions`
-   * :ref:`sec-actions-octasym`
+* :ref:`sec-tools`
+   * :ref:`sec-tools-octasym`
 
 * :ref:`sec-ellipsoids`
    * :ref:`sec-ellipsoids-intro`

doc/manual/manual/contractors/index.rst

@@ -10,6 +10,7 @@ Contractors, separators
   CtcDist <geometric/ctcdist>
   CtcPolar <geometric/ctcpolar>
   CtcVisible <geometric/ctcvisible>
+  CtcWrapper <shape/ctcwrapper>
 
 ..   What are contractors? <http://codac.io>
 ..   The Ctc class <http://codac.io>
@@ -109,7 +110,7 @@ Overview of contractors and separators
    * - ``CtcCtcBoundary``
      - ``SepCtcBoundary``
 
-   * - ``CtcWrapper``
+   * - :ref:`CtcWrapper <sec-ctc-shape-ctcwrapper>`
      - ``SepWrapper``
 
    * - ``CtcImage``

doc/manual/manual/contractors/shape/ctcwrapper.rst

@@ -0,0 +1,40 @@
+.. _sec-ctc-shape-ctcwrapper:
+
+CtcWrapper
+===============================
+
+  Main author: `Maël Godard <https://godardma.github.io/>`_
+
+The CtcWrapper is a contractor to contract a box with respect to a set represented by a Codac object.
+Currently supported objects are:
+
+- :ref:`IntervalVector <sec-intervals-intervalvector-class>`
+- :ref:`Parallelepiped <subsec-zonotope-parallelepiped>`
+- PavingOut
+
+Methods
+-------
+
+Below is an example of the use of the CtcWrapper with a Parallelepiped.
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: src.py
+      :language: py
+      :start-after: [ctcparallelepiped-1-beg]
+      :end-before: [ctcparallelepiped-1-end]
+      :dedent: 4
+
+  .. group-tab:: C++
+
+    .. literalinclude:: src.cpp
+      :language: c++
+      :start-after: [ctcparallelepiped-1-beg]
+      :end-before: [ctcparallelepiped-1-end]
+      :dedent: 4
+
+.. admonition:: Technical documentation
+
+  See the `C++ API documentation of this class <../../api/html/classcodac2_1_1_ctc_wrapper.html>`_.

doc/manual/manual/contractors/shape/index.rst

@@ -0,0 +1,9 @@
+Geometric contractors
+=====================
+
+.. toctree::
+
+   CtcCtcBoundary <http://codac.io>
+   ctcwrapper.rst
+   CtcImage <http://codac.io>
+   CtcDiscreteSet <http://codac.io>

doc/manual/manual/contractors/shape/src.cpp

@@ -0,0 +1,32 @@
+/** 
+ *  Codac tests
+ * ----------------------------------------------------------------------------
+ *  \date       2026
+ *  \author     Maël Godard
+ *  \copyright  Copyright 2024 Codac Team
+ *  \license    GNU Lesser General Public License (LGPL)
+ */
+
+#include <catch2/catch_test_macros.hpp>
+#include <codac2_CtcWrapper.h>
+#include <codac2_Approx.h>
+
+#include <codac2_Figure2D.h>
+
+using namespace std;
+using namespace codac2;
+
+TEST_CASE("CtcWrapper - Parallelepiped - manual")
+{
+  {
+    // [ctcparallelepiped-1-beg]
+    IntervalVector x ({{0,5}, {0,5}});
+    Parallelepiped p (Vector({1.5,2.8}), Matrix({{0.5,0.4},{0,0.2}}));
+    CtcWrapper c(p);
+    c.contract(x);
+    // x = [ [0.599999, 2.40001] ; [2.59999, 3] ]
+    // [ctcparallelepiped-1-end]
+
+    CHECK(Approx(x) == IntervalVector({{0.6, 2.4}, {2.6, 3}}));
+  }
+}

doc/manual/manual/contractors/shape/src.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+
+#  Codac tests
+# ----------------------------------------------------------------------------
+#  \date       2026
+#  \author     Maël Godard
+#  \copyright  Copyright 2024 Codac Team
+#  \license    GNU Lesser General Public License (LGPL)
+
+import sys, os
+import unittest
+import math
+from codac import *
+
+class TestCtcShapeManual(unittest.TestCase):
+
+  def tests_CtcWrapper_Parallelepiped_manual(test):
+
+    # [ctcparallelepiped-1-beg]
+    x = IntervalVector([[0,5], [0,5]])
+    p = Parallelepiped(Vector([1.5,2.8]), Matrix([[0.5,0.4],[0,0.2]]))
+    c = CtcWrapper_Parallelepiped(p)
+    x = c.contract(x)
+    # x = [ [0.599999, 2.40001] ; [2.59999, 3] ]
+    # [ctcparallelepiped-1-end]
+
+    test.assertTrue(Approx(x) == IntervalVector([[0.6, 2.4], [2.6, 3]]))
+
+if __name__ ==  '__main__':
+  unittest.main()

doc/manual/manual/geometry/zonotope.png

@@ -16,13 +16,13 @@ A zonotope is a convex and symmetric polytope.
 It can be represented as the Minkowski sum of a finite number of line segments, which are called its generators.
 
 In Codac, zonotopes are represented by the class :class:`Zonotope`. A zonotope is defined by its center and its generators.
-The center is a :class:`Vector`, noted :math:`z`, and the generators are stored in a :class:`Matrix`, noted :math:`A`. 
+The center is a :class:`Vector`, noted :math:`\mathbf{c}`, and the generators are stored in a :class:`Matrix`, noted :math:`\mathbf{A}`. 
 Each column of the matrix corresponds to a generator.
 
 The resulting zonotope is:
 
 .. math::
-  Z = z + A \cdot [-1,1]^m
+  Z = \mathbf{c} + \mathbf{A} \cdot [-1,1]^m
 
 Where :math:`m` is the number of generators (i.e., the number of columns of the matrix :math:`A`).
 
@@ -37,24 +37,24 @@ It can be constructed in Codac as follows:
 
   .. code-tab:: py
 
-    z = Vector([1,2])
+    c = Vector([1,2])
     A = Matrix([[1,0,2],[0,1,1]])
 
-    Z = Zonotope(z, A)
+    Z = Zonotope(c, A)
 
   .. code-tab:: c++
 
-    Vector z({1,2});
+    Vector c({1,2});
     Matrix A({{1,0,2},{0,1,1}});
 
-    Zonotope Z(z, A);
+    Zonotope Z(c, A);
 
   .. code-tab:: matlab
 
-    z = Vector({1,2});
+    c = Vector({1,2});
     A = Matrix({{1,0,2},{0,1,1}});
 
-    Z = Zonotope(z,A);
+    Z = Zonotope(c,A);
 
 The resulting zonotope is represented in the figure below:
 

doc/manual/manual/geometry/zonotope.rst

@@ -38,7 +38,9 @@ int main()
 
 
   Figure3D fig_examples("3D examples");
-  fig_examples.draw_axes(1.0);
+  fig_examples.draw_axes();
+  fig_examples.draw_axes(0.5);
+  fig_examples.draw_axes(2.0,{0.5,0.5,0.5});
   fig_examples.draw_triangle({1,0,0},{0,1,0},{0,0,1},{ Color::dark_green(0.5), "triangle1" });
   fig_examples.draw_triangle({2,0,0},{{-1,0,0},{0,1,1},{0,0,-1}},
 		{1,0,0},{0,1,0},{0,0,1},Color::purple(0.5));