Codac: constraint-programming for robotics

• Codac main page
• Try Codac online with Python
• Installing the Codac library
• Start a Python project
• Start a C++ project

User manual

• Introduction
• Basic structures for real values
  • Vectors, matrices
  • Trajectories (signals)
• Domains: sets of feasible values
  • Intervals and boxes
  • Tubes: sets of trajectories
• Inclusion functions
• Static contractors
  • Generic CtcFunction: \(\mathbf{f}(\mathbf{x})=\mathbf{0}\)
  • CtcDist: \(\sqrt{x^2+y^2}=d\)
  • CtcPolar: \(\big(x=\rho\cos\theta~;y=\rho\sin\theta\big)\)
  • CtcConstell: \(\mathbf{x}\in\mathbb{M}\)
  • CtcCartProd: \(\mathcal{C}_{\mathcal{C}_1\times \mathcal{C}_2}\)
  • CtcBox: \(\mathcal{C}_{box}\)
• Temporal contractors
  • CtcDeriv: \(\dot{x}(t)=v(t)\)
  • CtcEval: \(y_i=x(t_i)\)
  • CtcLohner: \(\dot{\mathbf{x}}(t)=\mathbf{f}\big(\mathbf{x}(t)\big)\)
  • CtcPicard: \(\dot{\mathbf{x}}(t)=\mathbf{f}\big(\mathbf{x}(t)\big)\)
  • CtcDelay: \(x(t)=y(t+a)\)
  • CtcLinobs: \(\dot{\mathbf{x}}=\mathbf{Ax+Bu}\)
  • CtcChain: \(\dot{x_1}=x_2,~\dot{x_2}=x_3\)
• Contractor Networks
  • Building a solver
• Set-inversion and separators
  • SepBox: \(\mathcal{S}_{box}\)
• Graphical tools
  • The VIBes viewer
  • Display tubes and trajectories w.r.t. time
• FAQ: Frequently Asked Questions
• See also: codac-unsupported

Use cases

• Lie symmetries for guaranteed integ.
• Pose estimation with range-only obs.

Tutorial for mobile robotics

• Main page
  • Introduction to the concepts of CP and IA
  • Installing the Codac library
  • [video] For C++, we advice to use the Qt Creator IDE, see how to use it for Codac
  • Start a Python project
  • Start a C++ project
• Introduction
  • Installing the Codac library
  • Start a Python project
  • Start a C++ project
• A. Intervals and contractors
• B. Static range-only localization
• C. Static range-bearing localization
• D. Building our own contractor
• E. Hello tubes
• F. Asynchronous measurements
• G. Localization with data association
• H. Range-only SLAM

Development

• Changelog
• C++ API technical documentation
• Information for developers