Merge pull request #270 from SimonRohou/codac2_dev

Updated manual + Ctc py binding

Author: SimonRohou

doc/manual/_static/css/custom.css

@@ -146,4 +146,8 @@ dl.cpp:not(dl.cpp dl.cpp) { /* for displaying a border on doxygen blocks */
 
 #how-to-cite-codac pre {
   font-size: 60%;
+}
+
+a .download:before {
+  content: "⬇️ ";
 }

doc/manual/conf.py.in

@@ -20,6 +20,7 @@ extensions = [
     'sphinx.ext.mathjax',
     'sphinx_tabs.tabs',
     'breathe',
+    'sphinx_togglebutton',
 ]
 
 templates_path = ['_templates']
@@ -60,6 +61,7 @@ html_theme_options = {
         "color-link--visited": "var(--color-link)",
 
         "header-height": "2rem",
+        "admonition-font-size": "100%",
     },
 
     "dark_css_variables": {
@@ -79,6 +81,7 @@ html_theme_options = {
         "color-link--hover": "#77C8F6",
 
         "header-height": "2rem",
+        "admonition-font-size": "100%",
     },
 
     "announcement": "You are currently reading the new Codac documentation, which is currently in preparation. <a href=\"http://codac.io\">See the v1 website</a>.",
@@ -94,4 +97,7 @@ mathjax3_config = {
 
 breathe_projects = {
   "codac": "../api/xml"
-}
+}
+
+togglebutton_hint = "<strong style=\"color: #009945;\">Reveal the solution.</strong>"
+togglebutton_hint_hide = "Hide the solution"

doc/manual/development/info_dev.rst

@@ -12,7 +12,7 @@ To build this manual using Sphinx, follow these steps:
 
    .. code-block:: bash
 
-      pip install sphinx sphinx_rtd_theme furo sphinx-math-dollar sphinx_tabs breathe
+      pip install sphinx sphinx_rtd_theme furo sphinx-math-dollar sphinx_tabs breathe sphinx_togglebutton
 
 2. **Building the manual**: After configuring the CMake project, the manual can be build with:
 

doc/manual/index.rst

@@ -242,7 +242,7 @@ User manual
       * CtcInverseNotIn
    * Geometric contractors
       * :ref:`sec-ctc-geom-ctcdist`
-      * CtcPolar
+      * :ref:`sec-ctc-geom-ctcpolar`
       * CtcSegment
       * CtcPolygon
       * CtcPointCloud
@@ -435,6 +435,14 @@ Development
 ..    howto/dynamical/index.rst
 
 
+.. toctree::
+   :hidden:
+   :caption: Tutorial
+   :maxdepth: 3
+
+   tuto/cp_robotics/index.rst
+
+
 .. toctree::
    :hidden:
    :caption: Development

doc/manual/manual/contractors/geometric/CtcPolar.png

@@ -0,0 +1,83 @@
+.. _sec-ctc-geom-ctcpolar:
+
+The CtcPolar contractor
+=======================
+
+  Main authors: Benoît Desrochers, `Simon Rohou <https://www.simon-rohou.fr/research/>`_
+
+.. image:: ctcpolar_scheme.png
+   :alt: Illustration of the polar constraint
+   :align: right
+   :width: 290px
+
+.. doxygenclass:: codac2::CtcPolar
+  :project: codac
+
+Methods
+-------
+
+.. doxygenfunction:: codac2::CtcPolar::contract(IntervalVector&) const
+  :project: codac
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: src.py
+      :language: py
+      :start-after: [ctcpolar-1-beg]
+      :end-before: [ctcpolar-1-end]
+      :dedent: 4
+
+  .. group-tab:: C++
+
+    .. literalinclude:: src.cpp
+      :language: c++
+      :start-after: [ctcpolar-1-beg]
+      :end-before: [ctcpolar-1-end]
+      :dedent: 4
+
+.. doxygenfunction:: codac2::CtcPolar::contract(Interval&,Interval&,Interval&,Interval&) const
+  :project: codac
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: src.py
+      :language: py
+      :start-after: [ctcpolar-2-beg]
+      :end-before: [ctcpolar-2-end]
+      :dedent: 4
+
+  .. group-tab:: C++
+
+    .. literalinclude:: src.cpp
+      :language: c++
+      :start-after: [ctcpolar-2-beg]
+      :end-before: [ctcpolar-2-end]
+      :dedent: 4
+
+
+.. figure:: ./CtcPolar.png
+
+  Illustration of several contracted boxes and pies with the ``CtcPolar`` contractor. The blue boxes :math:`[x^i]\times[y^i]` have been contracted as well as the pies :math:`[\rho^i]\times[\theta^i]`. The above script examples are displayed in this figure.
+
+
+Related content
+---------------
+
+.. |polar-pdf| replace:: **Download the paper**
+.. _polar-pdf: https://www.ensta-bretagne.fr/jaulin/paper_polar.pdf
+
+.. admonition:: Related publication
+  
+  | **A Minimal contractor for the Polar equation: application to robot localization**
+  | B. Desrochers, L. Jaulin
+  | *Engineering Applications of Artificial Intelligence*, 55(Supplement C):83–92, Oct. 2016.
+  | |polar-pdf|_
+
+
+.. admonition:: Technical documentation
+
+  See the `C++ API documentation of this class <../../../api/html/classcodac2_1_1_ctc_polar.html>`_.

doc/manual/manual/contractors/geometric/CtcPolar_nonoptimal.png

@@ -4,7 +4,7 @@ Geometric contractors
 .. toctree::
 
    ctcdist.rst
-   CtcPolar <http://codac.io>
+   ctcpolar.rst
    CtcSegment <http://codac.io>
    CtcPolygon <http://codac.io>
    CtcEllipse <http://codac.io>