[doc] adding inter and union for IntervalVector and IntervalMatrix, lessonB and C in Matlab

.gitignore

@@ -69,4 +69,7 @@ wheelhouse/
 
 # Graphics files
 examples/**/*.xml
-*.ipe
+*.ipe
+
+# Matlab files
+*.asv

doc/manual/manual/contractors/analytic/ctcinverse.rst

@@ -84,6 +84,14 @@ To represent the vectors :math:`\mathbf{x}\in\mathbb{R}^n` consistent with the c
       :end-before: [ctcinv-1-end]
       :dedent: 4
 
+  .. group-tab:: Matlab
+
+    .. literalinclude:: src.m
+      :language: matlab
+      :start-after: [ctcinv-1-beg]
+      :end-before: [ctcinv-1-end]
+      :dedent: 0
+
 The contractor can be used as an operator to contract a 2d box :math:`[\mathbf{x}]`. It can also be involved in a paver in order to reveal the constraint:
 
 .. tabs::
@@ -104,6 +112,14 @@ The contractor can be used as an operator to contract a 2d box :math:`[\mathbf{x
       :end-before: [ctcinv-2-end]
       :dedent: 4
 
+  .. group-tab:: Matlab
+
+    .. literalinclude:: src.m
+      :language: matlab
+      :start-after: [ctcinv-2-beg]
+      :end-before: [ctcinv-2-end]
+      :dedent: 0
+
 Which produces the following output:
 
 .. figure:: ./himmelblau_50.png
@@ -131,6 +147,15 @@ We recall that for thick solution sets, one should prefer the use of the ``SepIn
       :end-before: [ctcinv-3-end]
       :dedent: 4
 
+  .. group-tab:: Matlab
+
+    .. literalinclude:: src.m
+      :language: matlab
+      :start-after: [ctcinv-3-beg]
+      :end-before: [ctcinv-3-end]
+      :dedent: 0
+
+
 .. figure:: ./himmelblau_50_inner.png
   :width: 400px
 
@@ -163,6 +188,14 @@ can be easily approximated by the following union of contractors:
       :end-before: [ctcinv-4-end]
       :dedent: 4
 
+  .. group-tab:: Matlab
+
+    .. literalinclude:: src.m
+      :language: matlab
+      :start-after: [ctcinv-4-beg]
+      :end-before: [ctcinv-4-end]
+      :dedent: 0
+
 .. figure:: ./himmelblau_50_150_250.png
   :width: 400px
 
@@ -302,14 +335,22 @@ When the constraint is a complement constraint :math:`\mathbf{f}(\mathbf{x})\not
       :end-before: [ctcinv-5-end]
       :dedent: 4
 
+  .. group-tab:: Matlab
+
+    .. literalinclude:: src.m
+      :language: matlab
+      :start-after: [ctcinv-5-beg]
+      :end-before: [ctcinv-5-end]
+      :dedent: 0
+
 
 Miscellaneous
 -------------
 
 Access to the underlying function
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-The underlying analytic function can be accessed through ``.function()`` (useful for dimension checks or meta-programming).
+The underlying analytic function can be accessed through ``.f()`` (useful for dimension checks or meta-programming).
 
 .. tabs::
 
@@ -329,6 +370,14 @@ The underlying analytic function can be accessed through ``.function()`` (useful
       :end-before: [ctcinv-6-end]
       :dedent: 4
 
+  .. group-tab:: Matlab
+
+    .. literalinclude:: src.m
+      :language: matlab
+      :start-after: [ctcinv-6-beg]
+      :end-before: [ctcinv-6-end]
+      :dedent: 0
+
 Centered form option
 ^^^^^^^^^^^^^^^^^^^^
 

doc/manual/manual/contractors/analytic/src.cpp

@@ -64,11 +64,11 @@ TEST_CASE("CtcInverse - manual")
     VectorVar x(2);
     AnalyticFunction f({x}, x[0]-x[1]);
     CtcInverse c(f, 0);
-    // c.function().input_size() == 2
-    // c.function().output_size() == 1
+    // c.f().input_size() == 2
+    // c.f().output_size() == 1
     // [ctcinv-6-end]
 
-    CHECK(c.function().input_size() == 2);
-    CHECK(c.function().output_size() == 1);
+    CHECK(c.f().input_size() == 2);
+    CHECK(c.f().output_size() == 1);
   }
 }

doc/manual/manual/contractors/analytic/src.m

@@ -0,0 +1,53 @@
+%  Codac tests
+% ----------------------------------------------------------------------------
+%  \date       2026
+%  \author     Simon Rohou
+%  \copyright  Copyright 2026 Codac Team
+%  \license    GNU Lesser General Public License (LGPL)
+
+import py.codac4matlab.*
+
+% [ctcinv-1-beg]
+% Example of Himmelblau's function
+a = 11.0; 
+b = 7.0;
+x = VectorVar(2);
+f = AnalyticFunction({x}, sqr(sqr(x(1))+x(2)-a)+sqr(x(1)+sqr(x(2))-b));
+c = CtcInverse(f,50.0);
+% [ctcinv-1-end]
+
+% [ctcinv-2-beg]
+DefaultFigure().pave(IntervalVector({{-6,6},{-6,6}}), c, 1e-2);
+% [ctcinv-2-end]
+
+% [ctcinv-3-beg]
+s = SepInverse(f, Interval(0,50));
+DefaultFigure().pave(IntervalVector({{-6,6},{-6,6}}), s, 1e-2);
+% [ctcinv-3-end]
+
+% [ctcinv-4-beg]
+cu = CtcUnion(CtcUnion(CtcInverse(f,50), CtcInverse(f,150)), CtcInverse(f,250));
+DefaultFigure().pave(IntervalVector({{-6,6},{-6,6}}), cu, 1e-2)
+% [ctcinv-4-end]
+
+% [ctcinv-5-beg]
+x = VectorVar(2);
+f = AnalyticFunction({x}, x(1));
+
+% Enforce the first component not in [0,1]
+c = CtcInverseNotIn(f, Interval(0,1));
+
+y = IntervalVector({{0.5,3},{-1,1}});
+c.contract(y); % [[1,3],[-1,1]]
+% Only the first component is constrained by the not-in condition
+% [ctcinv-5-end]
+
+assert(y==IntervalVector({{1,3},{-1,1}}));
+
+% [ctcinv-6-beg]
+x = VectorVar(2);
+f = AnalyticFunction({x}, x(1)-x(2));
+c = CtcInverse(f, 0);
+assert(c.f().input_size()==2);
+assert(c.f().output_size()==1);
+% [ctcinv-6-end]

doc/manual/manual/contractors/analytic/src.py

@@ -56,8 +56,8 @@ def tests_CtcInverse_manual(test):
     x = VectorVar(2)
     f = AnalyticFunction([x], x[0]-x[1])
     c = CtcInverse(f, 0)
-    assert c.function().input_size() == 2
-    assert c.function().output_size() == 1
+    assert c.f().input_size() == 2
+    assert c.f().output_size() == 1
     # [ctcinv-6-end]
 
 if __name__ ==  '__main__':

doc/manual/tuto/cp_robotics/lesson_a_static_range_and_bearing.rst

@@ -128,6 +128,31 @@ where :math:`a,b,\dots,e` are intermediate variables used for the decomposition.
     Interval d(4.5,5); // interval for y
     ctc_g.contract(a,d,b);
 
+  .. code-tab:: matlab
+
+    import py.codac4matlab.*
+
+    % Symbolic variables:
+    y = ScalarVar();
+    [x,m] = deal(VectorVar(2),VectorVar(2));
+
+    % Analytic scalar function g(x,m,y) involved in the constraint:
+    g = AnalyticFunction({x,y,m}, sqrt(((x(1)-m(1))^2)+((x(2)-m(2))^2))-y);
+
+    % Contractor associated with the constraint g(x,m,y)\in[u], with [u]=[0,0]
+    ctc_g = CtcInverse(g, 0);
+
+    % Now ctc_g can be called with the .contract(..) method to contract all domains:
+    % Example:
+    a = IntervalVector(2); % box for x
+    b = IntervalVector({{2,3},{5,6.2}}); % box for m
+    d = Interval(4.5,5); % interval for y
+
+    res = ctc_g.contract(cart_prod(a,d,b));
+    a = res.subvector(1,2);
+    b = res.subvector(3,4);
+    c = res(5);
+
 
 Optimality of contractors
 -------------------------
@@ -176,6 +201,17 @@ could be implemented by
     // Contractor associated with the constraint g(x,m,y)\in[u] with [u]=[[0,0],[0,0]]
     CtcInverse ctc_g(g, {0,0}) // {0,0} is equivalent to Vector::zero(2)
 
+  .. code-tab:: matlab
+
+    % Symbolic variables:
+    [x,m,y] = deal(VectorVar(3),VectorVar(2),VectorVar(2));
+
+    % Analytic vectorial function g(x,y,m) involved in the constraint:
+    g = AnalyticFunction({x,y,m}, vec(x(1)+y(1)*cos(x(3)+y(2))-m(1), x(2)+y(1)*sin(x(3)+y(2))-m(2)));
+
+    % Contractor associated with the constraint g(x,m,y)\in[u] with [u]=[[0,0],[0,0]]
+    ctc_g = CtcInverse(g, Vector([0,0])); % [0,0] is equivalent to Vector.zero(2)
+
 However, this involves a multi-occurrence of variables which leads to pessimism. For instance, the sum :math:`(x_3+y_2)` appears twice in functions :math:`\cos` and :math:`\sin`, which is hardly handled by a classical decomposition.
 
 
@@ -266,6 +302,13 @@ A robot depicted by the state :math:`\mathbf{x}=\left(2,1,\pi/6\right)^\intercal
 
       Vector x_truth = {2,1,PI/6}; // actual state vector (pose = position + bearing)
 
+    .. code-tab:: matlab
+
+      % We recall that you can use the Vector class for
+      % representing mathematical vectors. For instance:
+
+      x_truth = Vector([2,1,PI/6]); % actual state vector (pose = position + bearing)
+
   .. container:: toggle, toggle-hidden
 
     .. tabs::
@@ -309,6 +352,10 @@ A robot depicted by the state :math:`\mathbf{x}=\left(2,1,\pi/6\right)^\intercal
 
       x[2] &= x_truth[2]; // the heading is assumed to be known
 
+    .. code-tab:: matlab
+
+      x(3).self_inter(x_truth(3)); % the heading is assumed to be known
+
   .. container:: toggle, toggle-hidden
 
     .. tabs::
@@ -351,6 +398,11 @@ A robot depicted by the state :math:`\mathbf{x}=\left(2,1,\pi/6\right)^\intercal
       DefaultFigure::draw_tank(x_truth, 1, {Color::black(),Color::yellow()}); // robot's size is 1
       DefaultFigure::draw_box(m, Color::red());
 
+    .. code-tab:: matlab
+
+      DefaultFigure().draw_tank(x_truth, 1, StyleProperties({Color().black(),Color().yellow()}));
+      DefaultFigure().draw_box(m,Color().red());
+
   **A.5.** Display the range-and-bearing measurement with its uncertainties. For this, we will use the function ``.draw_pie(<c>, <[rho]>, <[theta]>)`` to display a portion of a ring :math:`[\rho]\times[\theta]` centered on :math:`(x,y)^\intercal`. Here, we must add in :math:`[\theta]` the robot heading :math:`x_3` and the bounded bearing :math:`[y_2]`.
 
   You should obtain this figure:
@@ -370,6 +422,10 @@ A robot depicted by the state :math:`\mathbf{x}=\left(2,1,\pi/6\right)^\intercal
 
       DefaultFigure::draw_pie({<x>, <y>}, <[rho]> | 0, <[theta]>, Color::light_gray()); // with: <[rho]> | 0
 
+    .. code-tab:: matlab
+
+      DefaultFigure().draw_pie(Vector([<x>, <y>]), <[rho]>.union(0), <[theta]>, Color().light_gray()); % with: <[rho]> | 0
+
   .. container:: toggle, toggle-hidden
 
     .. tabs::
@@ -499,6 +555,10 @@ The following code illustrates how to implement such fixpoint:
       etc.
     }, <domains related to c1,c2,..>);
 
+  .. code-tab:: matlab
+
+    % Not supported yet
+
 The ``fixpoint`` function will execute the content of the function ``contractors_list`` until there are no more contractions on the sets listed in ``<domains related to c1,c2,..>``.
 
 .. admonition:: Exercise