Minor various updates

doc/manual/conf.py.in

@@ -32,8 +32,8 @@ exclude_patterns = []
 
 html_static_path = ['_static']
 html_theme = "furo"
-#html_logo = "_static/logos/logo_codac.svg"
-html_logo = "_static/logos/logo_codac_christmas.png"
+html_logo = "_static/logos/logo_codac.svg"
+#html_logo = "_static/logos/logo_codac_christmas.png"
 html_favicon = "_static/logos/logo_codac.ico"
 
 # These paths are either relative to html_static_path

python/src/core/domains/interval/codac2_py_Interval.cpp

@@ -15,6 +15,7 @@
 #include <codac2_Interval.h>
 #include "codac2_py_Interval_docs.h" // Generated file from Doxygen XML (doxygen2docstring.py):
 #include "codac2_py_Interval_impl_docs.h" // Generated file from Doxygen XML (doxygen2docstring.py):
+#include "codac2_py_matlab.h"
 
 using namespace std;
 using namespace codac2;
@@ -197,19 +198,27 @@ py::class_<Interval> export_Interval(py::module& m)
       INTERVAL_REF_INTERVAL_OPERATORUNIONEQ_CONST_INTERVAL_REF,
       "x"_a)
 
-    // For MATLAB compatibility
-    .def("self_union", &Interval::operator|=,
-      INTERVAL_REF_INTERVAL_OPERATORUNIONEQ_CONST_INTERVAL_REF,
-      "x"_a)
-
     .def(py::self &= py::self,
       INTERVAL_REF_INTERVAL_OPERATORINTEREQ_CONST_INTERVAL_REF,
       "x"_a)
+  ;
 
+  if constexpr(FOR_MATLAB)
+  {
     // For MATLAB compatibility
-    .def("self_inter", &Interval::operator&=,
-      INTERVAL_REF_INTERVAL_OPERATORINTEREQ_CONST_INTERVAL_REF,
-      "x"_a)
+    exported_interval_class
+
+      .def("self_union", &Interval::operator|=,
+        INTERVAL_REF_INTERVAL_OPERATORUNIONEQ_CONST_INTERVAL_REF,
+        "x"_a)
+
+      .def("self_inter", &Interval::operator&=,
+        INTERVAL_REF_INTERVAL_OPERATORINTEREQ_CONST_INTERVAL_REF,
+        "x"_a)
+    ;
+  }
+
+  exported_interval_class
 
     .def(py::self += double(),
       INTERVAL_REF_INTERVAL_OPERATORPLUSEQ_DOUBLE,

python/src/core/domains/interval/codac2_py_Interval_operations.cpp

@@ -33,19 +33,28 @@ void export_Interval_operations(py::module& m, py::class_<Interval>& py_Interval
     INTERVAL_OPERATORINTER_CONST_INTERVAL_REF_CONST_INTERVAL_REF,
     "x"_a)
 
-  // For MATLAB compatibility
-  .def("inter", (Interval(*)(const Interval&,const Interval&)) &codac2::operator&,
-    INTERVAL_OPERATORINTER_CONST_INTERVAL_REF_CONST_INTERVAL_REF,
-    "x"_a)
-
   .def(py::self | py::self,
     INTERVAL_OPERATORUNION_CONST_INTERVAL_REF_CONST_INTERVAL_REF,
     "x"_a)
-
-  // For MATLAB compatibility
-  .def("union", (Interval(*)(const Interval&,const Interval&)) &codac2::operator|,
-    INTERVAL_OPERATORUNION_CONST_INTERVAL_REF_CONST_INTERVAL_REF,
-    "x"_a)
+
+  ;
+
+  if constexpr(FOR_MATLAB)
+  {
+    // For MATLAB compatibility
+    py_Interval
+
+      .def("inter", (Interval(*)(const Interval&,const Interval&)) &codac2::operator&,
+        INTERVAL_OPERATORINTER_CONST_INTERVAL_REF_CONST_INTERVAL_REF,
+        "x"_a)
+
+      .def("union", (Interval(*)(const Interval&,const Interval&)) &codac2::operator|,
+        INTERVAL_OPERATORUNION_CONST_INTERVAL_REF_CONST_INTERVAL_REF,
+        "x"_a)
+    ;
+  }
+
+  py_Interval
 
   .def(+ py::self,
     CONST_INTERVAL_REF_OPERATORPLUS_CONST_INTERVAL_REF)

src/core/tools/codac2_RobotSimulator.cpp

@@ -51,15 +51,15 @@ namespace codac2
     assert_release(x0.size() == 4);
 
     double t = 0., dtheta = 0.;
-    Vector xi = x0;
+    Vector xi = x0, ui(2);
     SampledTraj<Vector> x;
     x.set(xi,t);
 
     bool away_from_wpt = false;
     while(!wpts.empty())
     {
       const auto& wpt = wpts.front();
-      auto ui = controller(xi, wpt);
+      ui = controller(xi, wpt);
 
       xi[3] += ui[1]*dt;
       xi[3] = std::clamp(xi[3], v_min, v_max);
@@ -71,9 +71,9 @@ namespace codac2
       dtheta += r;
       xi[2] += r;
 
+      u.set(ui,t);
       t += dt;
       x.set(xi,t);
-      u.set(ui,t);
 
       double dist_to_goal = std::sqrt(std::pow(wpt[0]-xi[0],2)+std::pow(wpt[1]-xi[1],2));
       // If the new waypoint is already below the attainment threshold,
@@ -87,7 +87,8 @@ namespace codac2
         wpts.pop_front();
       }
     }
-
+
+    u.set(ui,t);
     return x;
   }
 }

src/graphics/figures/codac2_Figure2D.cpp

@@ -155,7 +155,7 @@ void Figure2D::draw_box(const IntervalVector& x, const StyleProperties& style)
       if(x.max_diam() == 0.)
         output_fig->draw_point({x[0].lb(),x[1].lb()}, style);
       else
-        output_fig->draw_box(x,style);
+        output_fig->draw_box(x & IntervalVector::constant(x.size(),{-9e10,9e10}),style);
     }
 }