Merge branch 'master' of github.com:codac-team/codac

.github/workflows/dockerpi.yml

@@ -16,7 +16,7 @@ jobs:
         fetch-depth: 0
         clean: false
     - run: docker run --rm --privileged multiarch/qemu-user-static:register --reset
-    - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project"
+    - run: docker run -i -v "${PWD}/..:${PWD}/.." lebarsfa/pi:buster-for-codac /bin/bash -c "uname -a && cat /etc/os-release && cd ${PWD} && pwd && lsb_release -a && sudo apt-get -q update --allow-releaseinfo-change ; sudo apt-get -y install libeigen3-dev ; wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_armv6hf_buster.zip --no-check-certificate -nv ; unzip -q ibex_armv6hf_buster.zip && rm -Rf ibex_armv6hf_buster.zip && sudo cp -Rf ibex/* /usr/local/ && mkdir build ; cd build && cmake -E env CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake -D CMAKE_INSTALL_PREFIX=../codac .. && cmake --build . --target install && cd .. && mkdir -p codac_standalone/example ; cd codac_standalone ; wget https://community.chocolatey.org/api/v2/package/eigen/3.4.0 --no-check-certificate -nv ; unzip -q 3.4.0 -d eigen ; rm -Rf 3.4.0 eigen/*.xml eigen/*.nuspec eigen/_* eigen/package eigen/tools ; mkdir -p ibex/include ; mkdir -p ibex/lib ; mkdir -p ibex/share ; mkdir -p ibex/bin ; cp -Rf /usr/local/include/ibex* ibex/include/ ; cp -Rf /usr/local/lib/*ibex* ibex/lib/ ; cp -Rf /usr/local/share/*ibex* ibex/share/ ; cp -Rf /usr/local/share/pkgconfig ibex/share/ ; cp -Rf /usr/local/bin/ibex* ibex/bin/ ; cp -Rf ../codac . ; cp -Rf ../tests/test_codac/* ./example/ ; cd .. ; zip -q -r codac_standalone_armv6hf_buster.zip codac_standalone ; cd codac_standalone/example && cmake . && cmake --build . && ./my_project"
     - uses: xresloader/upload-to-github-release@v1
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/macosmatrix.yml

@@ -19,12 +19,14 @@ jobs:
         fail-fast: false
         matrix:
             cfg:
+            - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Big Sur Python 3.12 arm64' }
             - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 arm64' }
             - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 arm64' }
             - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 arm64' }
             - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 8, desc: 'macOS Big Sur Python 3.8 arm64' }
             - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 7, desc: 'macOS Big Sur Python 3.7 arm64' }
             - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '11.0', cpcfg: '-macosx_11_0_arm64', py_v_maj: 3, py_v_min: 6, desc: 'macOS Big Sur Python 3.6 arm64' }
+            - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 12, desc: 'macOS Big Sur Python 3.12 x86_64' }
             - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 11, desc: 'macOS Big Sur Python 3.11 x86_64' }
             - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 10, desc: 'macOS Big Sur Python 3.10 x86_64' }
             - { os: macos-11, shell: bash, arch: x86_64, runtime: bigsur, cmake_flags: '-fPIC', trgt: '10.9', cpcfg: '-macosx_10_9_x86_64', py_v_maj: 3, py_v_min: 9, desc: 'macOS Big Sur Python 3.9 x86_64' }
@@ -55,7 +57,7 @@ jobs:
     - run: wget https://github.com/Homebrew/homebrew-core/raw/d2267b9f2ad247bc9c8273eb755b39566a474a70/Formula/doxygen.rb ; brew reinstall ./doxygen.rb ; brew pin doxygen ; brew install graphviz ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects
       if: runner.os=='macOS'
     - run: |
-        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv
+        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv
         unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip
         rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip
         cp -Rf ibex/* /usr/local/
@@ -67,8 +69,7 @@ jobs:
         cmake --build . --config Release --target pip_package ; cp `ls *.whl` ../`ls *.whl | sed "s/py3-none-any/cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}-cp${{ matrix.cfg.py_v_maj }}${{ matrix.cfg.py_v_min }}${{ matrix.cfg.cpcfg }}/"`
         cd ..
       shell: bash
-      # numpy v1.25.0 causes issues...
-    - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install "numpy<1.25" ; python -m unittest discover codac.tests
+    - run: pip install *.whl ; python -c "import sys; print(sys.version)" ; python examples/tuto/01_getting_started/01_getting_started.py ; pip install numpy ; python -m unittest discover codac.tests
       shell: bash
       if: (runner.os=='macOS')&&(matrix.cfg.arch=='x86_64')
     - uses: xresloader/upload-to-github-release@v1

.github/workflows/unixmatrix.yml

@@ -42,6 +42,8 @@ jobs:
             - { os: windows-2019, shell: cmd, arch: x86, runtime: mingw7, cmake_params: '-G "MinGW Makefiles"', cmake_flags: '-fPIC', choco_flags: '--x86', desc: 'Windows MinGW 7.3.0 x86' }
             - { os: ubuntu-22.04, shell: bash, arch: amd64, runtime: jammy, cmake_flags: '-fPIC', desc: 'Ubuntu 22.04' }
             - { os: ubuntu-20.04, shell: bash, arch: amd64, runtime: focal, cmake_flags: '-fPIC', desc: 'Ubuntu 20.04' }
+            - { os: macos-13, shell: bash, arch: arm64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Ventura arm64' }
+            - { os: macos-13, shell: bash, arch: x86_64, runtime: ventura, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Ventura x86_64' }
             - { os: macos-12, shell: bash, arch: arm64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Monterey arm64' }
             - { os: macos-12, shell: bash, arch: x86_64, runtime: monterey, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64', cmake_flags: '-fPIC', desc: 'macOS Monterey x86_64' }
             - { os: macos-11, shell: bash, arch: arm64, runtime: bigsur, cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', cmake_flags: '-fPIC', desc: 'macOS Big Sur arm64' }
@@ -83,23 +85,23 @@ jobs:
     - run: |
         choco install -y -r --no-progress checksum wget zip
         choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }}
-        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv
-        choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20230510 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'"
-        del /f /q ibex.2.8.9.20230510.nupkg
+        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv
+        choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'"
+        del /f /q ibex.2.8.9.20231007.nupkg
       if: runner.os=='Windows'
     - run: |
         # Replace these 2 lines by the next ones to test a specific binary package of IBEX.
         #sudo sh -c 'echo "deb [trusted=yes] https://packages.ensta-bretagne.fr/`lsb_release --id -s | tr [:upper:] [:lower:]`/`lsb_release -cs` ./" > /etc/apt/sources.list.d/ensta-bretagne.list'
         #sudo apt-get -q update ; sudo apt-get -y install libibex-dev libeigen3-dev dpkg-dev || true
         sudo apt-get -q update ; sudo apt-get -y install libeigen3-dev dpkg-dev || true
-        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv
-        sudo dpkg -i libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb
-        rm -Rf libibex-dev-2.8.9.20230510-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb
+        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb --no-check-certificate -nv
+        sudo dpkg -i libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb
+        rm -Rf libibex-dev-2.8.9.20231007-0${{ matrix.cfg.runtime }}0_${{ matrix.cfg.arch }}.deb
       shell: bash
       if: runner.os=='Linux'
     - run: |
         brew install eigen
-        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv
+        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv
         unzip -q ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip
         rm -Rf ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip
         sudo cp -Rf ibex/* /usr/local/

.github/workflows/vcmatrix.yml

@@ -16,10 +16,12 @@ jobs:
         fail-fast: false
         matrix:
             cfg:
+            - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 12, desc: 'Windows Visual Studio 2022 x86 Python 3.12' }
             - { os: windows-2022, shell: cmd, arch: x86, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x86 Python 3.11' }
             - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x86 Python 3.10' }
             - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x86 Python 3.9' }
             - { os: windows-2022, shell: cmd, arch: x86, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A Win32', choco_flags: '--x86', cpcfg: '-win32', py_v_maj: 3, py_v_min: 8, desc: 'Windows Visual Studio 2019 x86 Python 3.8' }
+            - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 12, desc: 'Windows Visual Studio 2022 x64 Python 3.12' }
             - { os: windows-2022, shell: cmd, arch: x64, runtime: vc17, cmake_params: '-G "Visual Studio 17" -T v143 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 11, desc: 'Windows Visual Studio 2022 x64 Python 3.11' }
             - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 10, desc: 'Windows Visual Studio 2019 x64 Python 3.10' }
             - { os: windows-2022, shell: cmd, arch: x64, runtime: vc16, cmake_params: '-G "Visual Studio 17" -T v142 -A x64', cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 9, desc: 'Windows Visual Studio 2019 x64 Python 3.9' }
@@ -54,12 +56,12 @@ jobs:
       if: runner.os=='Windows'
     - run: choco install -y -r --no-progress eigen --version=3.4.0 ${{ matrix.cfg.choco_flags }}
       if: runner.os=='Windows'
-    - run: choco install -y -r --no-progress doxygen.install graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects
+    - run: choco install -y -r --no-progress doxygen.install --version=1.9.6 & choco install -y -r --no-progress graphviz & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects
       if: runner.os=='Windows'
     - run: |
-        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex.2.8.9.20230510.nupkg --no-check-certificate -nv
-        choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20230510 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20230510/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'"
-        del /f /q ibex.2.8.9.20230510.nupkg
+        wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex.2.8.9.20231007.nupkg --no-check-certificate -nv
+        choco install -y -r --no-progress --ignore-dependencies -s . ibex --version=2.8.9.20231007 ${{ matrix.cfg.choco_flags }} --params "'/url:https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20231007/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip'"
+        del /f /q ibex.2.8.9.20231007.nupkg
     - run: |
         mkdir build ; cd build
         cmake -E env CXXFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" CFLAGS=" /wd4267 /wd4244 /wd4305 /wd4996" cmake ${{ matrix.cfg.cmake_params }} -D CMAKE_INSTALL_PREFIX="../codac" -D WITH_PYTHON=ON ..

doc/doc/index.rst

@@ -227,7 +227,7 @@ The distance function :math:`g(\mathbf{x},\mathbf{b})` between the robot and a l
 .. figure:: img/rangeonly-nox0.png
 
 | *You just solved a non-linear state-estimation without knowledge about initial condition.*
-| See the full example on Github: `in C++ <https://github.com/codac-team/codac/blob/master/examples/tuto/01_getting_started/01_getting_started.cpp>`_ or `in Python <https://github.com/codac-team/codac/blob/master/examples/tuto/01_getting_started/01_getting_started.py>`_.
+| See the full example on Github: `in C++ <https://github.com/codac-team/codac/blob/master/examples/tuto/01_getting_started/01_getting_started.cpp>`_, `in Python <https://github.com/codac-team/codac/blob/master/examples/tuto/01_getting_started/01_getting_started.py>`__ or `in MATLAB <https://github.com/codac-team/codac/blob/master/examples/tuto/01_getting_started/a01_getting_started.m>`_.
 
 In the tutorial and in the examples folder of this library, you will find more advanced problems such as Simultaneous Localization And Mapping (SLAM), data association problems or delayed systems.
 

doc/doc/install/01-installation.rst

@@ -4,7 +4,7 @@
 Installing the Codac library
 ############################
 
-Codac is available in both C++17 and Python3. Note that you can also :ref:`use Codac online in Python <sec-py-project-online>`, without having to install the library on your machine.
+Codac is available in both C++17 and Python3 (:ref:`as well as MATLAB through its Python interface <sec-start-matlab-project>`). Note that you can also :ref:`use Codac online in Python <sec-py-project-online>`, without having to install the library on your machine.
 
 .. role:: gbg
 

doc/doc/install/02-start-py-project.rst

@@ -30,11 +30,7 @@ Start a Python project
 
   python3 myscript.py
 
-In order to visualize the tube, you need to launch the VIBes viewer independently. On Linux, you can for instance execute:
-
-.. code-block:: bash
-
-  VIBes-viewer
+In order to visualize the tube, you need to launch before the :ref:`VIBes viewer <sec-installation-graphics>` independently.
 
 If everything is well installed on your computer, you should see the following window appear:
 

doc/doc/install/03-start-cpp-project.rst

@@ -113,11 +113,7 @@ Lastly, the project can be run with:
   ./build/my_project
 
 | This script will create a simple tube and display it.
-| In order to visualize the tube, you need to launch the VIBes viewer independently. On Linux, you can for instance execute:
-
-.. code-block:: bash
-
-  VIBes-viewer
+| In order to visualize the tube, you need to launch before the :ref:`VIBes viewer <sec-installation-graphics>` independently.
 
 If everything is well installed on your computer, you should see the following window appear: