Make sure all figures have a caption

This commit makes the first use of the cleveref package, which we should consider using everywhere instead of \autoref.

chapters/annotations.tex

@@ -470,15 +470,18 @@ \subsubsection{Graphical Properties}\doublelabel{graphical-properties}
 gradients that represent a horizontal cylinder, a vertical cylinder and
 a sphere, respectively. The gradient goes from line color to fill color.
 
-\includegraphics{bezierpoints}
+The border pattern attributes \lstinline!Raised!, \lstinline!Sunken! and \lstinline!Engraved! represent frames which are rendered in a tool-dependent way --- inside the extent of the filled shape.
 
-The border pattern attributes \lstinline!Raised!, \lstinline!Sunken! and \lstinline!Engraved! represent frames
-which are rendered in a tool-dependent way -- inside the extent of the
-filled shape.
+\begin{figure}[H]
+  \begin{center}
+    \includegraphics{bezierpoints}
+  \end{center}
+  \caption{Line with \lstinline!smooth = Bezier!.  The four line points $P_{1}$, \ldots{}, $P_{4}$ results in two quadratic splines and two straight line segments.}\doublelabel{fig:smooth-bezier}
+\end{figure}
 
 The \lstinline!smooth! attribute specifies that a line can be drawn as straight line
 segments (\lstinline!None!) or using a spline (\lstinline!Bezier!), where the line's points
-specify control points of a quadratic Bezier curve.
+specify control points of a quadratic Bezier curve, see \autoref{fig:smooth-bezier}.
 
 For lines with only two points, the \lstinline!smooth! attribute has no effect.
 

chapters/statemachines.tex

@@ -584,9 +584,13 @@ \subsection{Example}\doublelabel{example}
 end HierarchicalAndParallelStateMachine;
 \end{lstlisting}
 
-The behavior of the state machine can be seen in the plots of \lstinline!v!:
+\Cref{fig:state-machine-behavior} shows the behavior of the state machine.
 \begin{figure}[H]
-\includegraphics[width=4.16667in,height=2.91667in]{statemachineplot}
+  \begin{center}
+    \includegraphics[width=4.16667in,height=2.91667in]{statemachineplot}
+  \end{center}
+  \caption{State machine behavior, as reflected by the variable \lstinline!v!.}
+  \label{fig:state-machine-behavior}
 \end{figure}
 
 The transition from \lstinline!state1! to \lstinline!state2! could have been done with a

preamble.tex

@@ -316,6 +316,8 @@
 \newcommand{\textgreatereq}{$\geq$}
 \newcommand{\textlesseq}{$\leq$}
 
+\usepackage[nameinlink,noabbrev]{cleveref}
+
 % Change all autoref variants below chapter to use "section"
 \def\subsectionautorefname{section}
 \def\subsubsectionautorefname{section}