Merge branch 'godardma-codac2_dev' into codac2_dev

doc/CMakeLists.txt

@@ -52,4 +52,53 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/mathjax_stmaryrd.js
 
     endif()
 
+  endif()
+
+# User manual (Sphinx)
+
+  find_package(Sphinx)
+
+  if(NOT SPHINX_FOUND)
+
+    message(STATUS "Sphinx not found, will not be able to generate the manual.")
+
+  else()
+
+    # Includes CMake commands in config file:
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/manual/conf.py.in ${CMAKE_CURRENT_BINARY_DIR}/manual/conf.py)
+
+    set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/manual)
+    set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/manual)
+
+    # Copying _static files of Sphinx to build directories
+    foreach(static_file ${CMAKE_CURRENT_SOURCE_DIR}/manual/_static/)
+      file(COPY ${static_file} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/manual/_static/)
+    endforeach()
+
+    # Copying tmp files
+    foreach(static_file ${CMAKE_CURRENT_SOURCE_DIR}/manual/tmp/)
+      file(COPY ${static_file} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/manual/tmp/)
+    endforeach()
+
+    # todo: the SPHINX_EXECUTABLE is already set by FindSphinx.cmake:
+    # check that it works without the following overload for Win and Linux:
+    if(WIN32)
+      set(SPHINX_EXECUTABLE "sphinx-build")
+    else()
+      set(SPHINX_EXECUTABLE "python3" "-msphinx")
+    endif()
+
+    add_custom_target(manual
+                      COMMAND
+                      ${SPHINX_EXECUTABLE} -b html
+                      # Specifying path to conf.py generated by CMake:
+                      -c ${CMAKE_CURRENT_BINARY_DIR}/manual/
+                      ${SPHINX_SOURCE} ${SPHINX_BUILD}
+                      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+                      COMMENT "Generating the manual website using Sphinx")
+
+    install(DIRECTORY ${SPHINX_BUILD}/
+            DESTINATION share/manual/${CMAKE_PROJECT_NAME}
+            OPTIONAL)
+
   endif()

doc/manual/_static/css/custom.css

@@ -0,0 +1,10 @@
+div.rst-content a:visited
+{
+  color: #2980b9;
+  text-decoration: none;
+}
+
+div.rst-content li.toctree-l1 > a
+{
+  font-weight: bold;
+}

doc/manual/conf.py.in

@@ -0,0 +1,40 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = 'Codac'
+copyright = 'Codac Team'
+author = 'Codac Team'
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    'sphinx_rtd_theme',
+]
+
+templates_path = ['_templates']
+exclude_patterns = []
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_static_path = ['_static']
+html_theme = "sphinx_rtd_theme"
+html_logo = "_static/logos/logo_codac.svg"
+
+# These paths are either relative to html_static_path
+# or fully qualified paths (eg. https://...)
+html_css_files = [
+    'css/custom.css',
+]
+
+html_theme_options = {
+    'logo_only': True,
+    'display_version': True,
+}

doc/manual/index.rst

@@ -0,0 +1,51 @@
+Codac manual
+============
+
+
+.. toctree::
+   :caption: Overview of Codac
+   :maxdepth: 3
+
+   Constraint programming and IA <http://codac.io>
+   The Codac framework <http://codac.io>
+   Target audience <http://codac.io>
+
+
+.. toctree::
+   :caption: User manual
+   :maxdepth: 3
+
+   installation/index.rst
+   intervals/index.rst
+   linear/index.rst
+   functions/index.rst
+   tubes/index.rst
+   contractors/index.rst
+   separators/index.rst
+   pavers/index.rst
+   cn/index.rst
+   geometry/index.rst
+   ellipsoids/index.rst
+   topology/index.rst
+   visualization/index.rst
+   extensions/index.rst
+   seealso/index.rst
+   references/index.rst
+
+
+.. toctree::
+   :caption: How-to guides
+   :maxdepth: 3
+
+   howto/robotics/index.rst
+   howto/geometry/index.rst
+   howto/dynamical/index.rst
+
+
+.. toctree::
+   :caption: Development
+   :maxdepth: 3
+
+   Changelog <http://codac.io>
+   C++ API <http://codac.io>
+   Information for developers <http://codac.io>

examples/00_graphics/graphic_examples.py

@@ -23,7 +23,7 @@
 fig1.set_window_properties([50,50],[500,500]) # position, window size
 fig1.set_axes(axis(0,[-10,10]), axis(1,[-10,10])) # (axis_id,[range_of_values_on_this_axis])
 fig1.draw_box([[-1,1],[-1,1]],[Color.green(),Color.red(0.2)]) # drawing a green box with red opacity values inside
-fig1.draw_circle([1,1],0.5,Color(255,155,5)) # drawing a circle at (1,1) of radius 0.5 with a custom RGB color
+fig1.draw_circle([1,1],0.5,Color([255,155,5])) # drawing a circle at (1,1) of radius 0.5 with a custom RGB color
 fig1.draw_ring([1,1],[4,6],Color.red()) # drawing a ring at (1,1) of radius [4,6] with a predefined red color
 
 fig2 = Figure2D("My figure 2", GraphicOutput.VIBES | GraphicOutput.IPE)
@@ -44,5 +44,31 @@
 fig2.draw_polygone([[2,4.5],[4,4.5],[4.2,3.5],[3.5,3]], [Color.none(),Color.green(0.5)])
 fig2.draw_polyline([[-0.8,0],[0,1.5]], 0.2, [Color.red(),Color.black(0.3)])
 fig2.draw_ellipse([1,1],[0.5,2], 0.2, [Color.blue(),Color.blue(0.3)])
+
+# Colors
+# predefined colors without and with opacity
 fig2.draw_point([2,2], [Color.red(),Color.yellow(0.5)])
-fig2.draw_box([[2.4,2.9],[2.4,2.9]],[Color("#da3907"),Color("#da390755")])
+# HTML color without and with opacity
+fig2.draw_box([[2.4,2.9],[2.4,2.9]],[Color("#da3907"),Color("#da390755")])
+# HSV color without and with opacity
+fig2.draw_box([[2.6,3.1],[2.6,3.1]],[Color([108,90,78],Model.HSV),Color([108,90,78,20],Model.HSV)])
+# RGB color auto cast from list without and with opacity
+fig2.draw_box([[2.,2.3],[2.6,2.9]],[[255,0,255],[255,0,255,100]])
+
+fig3 = Figure2D("ColorMap figure", GraphicOutput.VIBES | GraphicOutput.IPE)
+fig3.set_axes(axis(0,[-1,21]), axis(1,[-5.5,0.5]))
+fig3.set_window_properties([800,250],[500,500])
+
+cmap_haxby=ColorMap.haxby()
+cmap_default=ColorMap.basic()
+cmap_blue_tube=ColorMap.blue_tube()
+cmap_red_tube=ColorMap.red_tube()
+cmap_rainbow=ColorMap.rainbow()
+
+for i in range (20):
+    ratio=i/20
+    fig3.draw_box([[i,i+1],[-1,0]],[Color.black(),cmap_haxby.color(ratio)])
+    fig3.draw_box([[i,i+1],[-2,-1]],[Color.black(),cmap_default.color(ratio)])
+    fig3.draw_box([[i,i+1],[-3,-2]],[Color.black(),cmap_blue_tube.color(ratio)])
+    fig3.draw_box([[i,i+1],[-4,-3]],[Color.black(),cmap_red_tube.color(ratio)])
+    fig3.draw_box([[i,i+1],[-5,-4]],[Color.black(),cmap_rainbow.color(ratio)])

python/src/graphics/CMakeLists.txt

@@ -12,6 +12,7 @@
     paver/codac2_py_drawwhilepaving.cpp
 
     styles/codac2_py_Color.cpp
+    styles/codac2_py_ColorMap.cpp
     styles/codac2_py_StyleProperties.cpp
   )
 

python/src/graphics/codac2_py_graphics.cpp

@@ -22,6 +22,7 @@ void export_drawwhilepaving(py::module& m);
 
 // styles
 void export_Color(py::module& m);
+void export_ColorMap(py::module& m);
 void export_StyleProperties(py::module& m);
 
 
@@ -31,6 +32,7 @@ PYBIND11_MODULE(_graphics, m)
 
   // styles
   export_Color(m);
+  export_ColorMap(m);
   export_StyleProperties(m);
 
   // figures

python/src/graphics/figures/codac2_py_Figure2D.cpp

@@ -136,6 +136,16 @@ void export_Figure2D(py::module& m)
       VOID_FIGURE2D_DRAW_AUV_CONST_VECTOR_REF_FLOAT_CONST_STYLEPROPERTIES_REF,
       "x"_a, "size"_a, "s"_a=StyleProperties())
 
+    // Pavings
+
+    .def("draw_paving", (void(Figure2D::*)(const PavingOut&,const StyleProperties&,const StyleProperties&))&Figure2D::draw_paving,
+      VOID_FIGURE2D_DRAW_PAVING_CONST_PAVINGOUT_REF_CONST_STYLEPROPERTIES_REF_CONST_STYLEPROPERTIES_REF,
+      "p"_a, "boundary_style"_a=StyleProperties::boundary(), "outside_style"_a=StyleProperties::outside())
+
+    .def("draw_paving", (void(Figure2D::*)(const PavingInOut&,const StyleProperties&,const StyleProperties&,const StyleProperties&))&Figure2D::draw_paving,
+      VOID_FIGURE2D_DRAW_PAVING_CONST_PAVINGINOUT_REF_CONST_STYLEPROPERTIES_REF_CONST_STYLEPROPERTIES_REF_CONST_STYLEPROPERTIES_REF,
+      "p"_a, "boundary_style"_a=StyleProperties::boundary(), "outside_style"_a=StyleProperties::outside(), "inside_style"_a=StyleProperties::inside())
+
   ;
 
   py::class_<DefaultView> exported_default_view(m, "DefaultView", DEFAULTVIEW_MAIN);

python/src/graphics/styles/codac2_py_Color.cpp

@@ -19,29 +19,60 @@ using namespace codac2;
 namespace py = pybind11;
 using namespace pybind11::literals;
 
+
 void export_Color(py::module& m)
 {
+
+  py::enum_<Model>(m, "Model")
+    .value("RGB", Model::RGB)
+    .value("HSV", Model::HSV)
+  ;
+
   py::class_<Color> exported_color(m, "Color", COLOR_MAIN);
   exported_color
+
+    .def(py::init<>(),COLOR_COLOR)
 
-    .def_readwrite("r", &Color::r)
-    .def_readwrite("g", &Color::g)
-    .def_readwrite("b", &Color::b)
-    .def_readwrite("alpha", &Color::alpha)
-    .def_readwrite("hex_str", &Color::hex_str)
+    .def(py::init<const std::array<float,3>&,Model>(),
+      COLOR_COLOR_CONST_ARRAY_FLOAT3_REF_MODEL,
+      "xyz"_a, "m_"_a=Model::RGB)
 
-    .def(py::init<int,int,int,int>(),
-      COLOR_COLOR_INT_INT_INT_INT,
-      "r"_a, "g"_a, "b"_a, "alpha"_a=255)
-
-    .def(py::init<float,float,float,float>(),
-      COLOR_COLOR_FLOAT_FLOAT_FLOAT_FLOAT,
-      "r"_a, "g"_a, "b"_a, "alpha"_a=1.)
+    .def(py::init<const std::array<float,4>&,Model>(),
+      COLOR_COLOR_CONST_ARRAY_FLOAT4_REF_MODEL,
+      "xyza"_a, "m_"_a=Model::RGB)
 
     .def(py::init<const std::string&>(),
       COLOR_COLOR_CONST_STRING_REF,
       "hex_str"_a)
 
+    .def("model", &Color::model,
+      CONST_MODEL_REF_COLOR_MODEL_CONST)
+
+
+    // Other formats
+
+    .def("hex_str", &Color::hex_str,
+      STRING_COLOR_HEX_STR_CONST)
+
+    .def("vec", &Color::vec,
+      VECTOR_COLOR_VEC_CONST)
+
+    // Conversions
+
+    .def("rgb", &Color::rgb,
+      COLOR_COLOR_RGB_CONST)
+
+    .def("hsv", &Color::hsv,
+      COLOR_COLOR_HSV_CONST)
+
+    // Overload flux operator
+
+    .def("__str__", [](const Color& c) {
+      std::ostringstream oss;
+      oss << c;
+      return oss.str();
+    })
+
     // Predefined colors
 
     .def_static("none", &Color::none,
@@ -79,4 +110,6 @@ void export_Color(py::module& m)
       STATIC_COLOR_COLOR_DARK_GRAY_FLOAT,
       "alpha"_a=1.)
   ;
+
+  py::implicitly_convertible<py::list, Color>();
 }

python/src/graphics/styles/codac2_py_ColorMap.cpp

@@ -0,0 +1,55 @@
+/** 
+ *  Codac binding (core)
+ * ----------------------------------------------------------------------------
+ *  \date       2024
+ *  \author     Simon Rohou, Maël Godard
+ *  \copyright  Copyright 2024 Codac Team
+ *  \license    GNU Lesser General Public License (LGPL)
+ */
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+#include <pybind11/stl.h>
+#include <codac2_ColorMap.h>
+#include "codac2_py_ColorMap_docs.h" // Generated file from Doxygen XML (doxygen2docstring.py):
+
+using namespace std;
+using namespace codac2;
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+void export_ColorMap(py::module& m)
+{
+  py::class_<ColorMap> exported_colormap(m, "ColorMap", COLORMAP_MAIN);
+  exported_colormap
+
+    .def(py::init<Model>(),
+        COLORMAP_COLORMAP_MODEL,
+        "m"_a=Model::RGB)
+
+    .def("model", &ColorMap::model,
+        CONST_MODEL_REF_COLORMAP_MODEL_CONST)
+
+    .def("color", &ColorMap::color,
+        COLOR_COLORMAP_COLOR_FLOAT_CONST,
+        "r"_a)
+
+    // Predifined color maps
+
+    .def_static("haxby", &ColorMap::haxby,
+        STATIC_COLORMAP_COLORMAP_HAXBY)
+
+    .def_static("basic", &ColorMap::basic,
+        STATIC_COLORMAP_COLORMAP_BASIC)
+
+    .def_static("blue_tube", &ColorMap::blue_tube,
+        STATIC_COLORMAP_COLORMAP_BLUE_TUBE)
+
+    .def_static("red_tube", &ColorMap::red_tube,
+        STATIC_COLORMAP_COLORMAP_RED_TUBE)
+
+    .def_static("rainbow", &ColorMap::rainbow,
+        STATIC_COLORMAP_COLORMAP_RAINBOW)
+
+  ;
+}