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codac-team · Jun 6, 2020 · 5e3555d · 5e3555d
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diff --git a/README.md b/README.md
@@ -7,7 +7,7 @@ Tubex is a library providing tools for **constraint programming** over reals and
 | In this paradigm, users concentrate on the properties of a solution to be found (*e.g.* the pose of a robot, the location of a landmark) by stating **constraints on the variables**. Then, a solver performs constraint propagation on the variables and provides a **reliable** set of feasible solutions corresponding to the considered problem. In this approach, the user concentrates on *what* is the problem instead of *how* to solve it, thus leaving the computer dealing with the *how*. The strength of this declarative paradigm lies in its **simpleness**, as it allows one to describe a complex problem without requiring the knowledge of resolution tools coming with specific parameters to choose.
 
 | **What about mobile robotics?**
-| In the field of robotics, complex problems such as **non-linear state estimation**, **delays**, **SLAM** or **kidnapeed robot problems** can be solved in a very few steps by using constraint programming. Even though the Tubex library is not meant to target only robotics problems, the design of its interface has been largely influenced by the needs of the above class of applications. Tubex provides solutions to deal with these problems, that are usually hardly solvable by conventional methods such as particle approaches or Kalman filters. 
+| In the field of robotics, complex problems such as **non-linear state estimation**, **delays**, **SLAM** or **kidnapped robot problems** can be solved in a very few steps by using constraint programming. Even though the Tubex library is not meant to target only robotics problems, the design of its interface has been largely influenced by the needs of the above class of applications. Tubex provides solutions to deal with these problems, that are usually hardly solvable by conventional methods such as particle approaches or Kalman filters. 
 
 In a nutshell, Tubex is a high-level **constraint programming framework** providing tools to easily solve a wide range of robotic problems.
 
@@ -35,7 +35,7 @@ Documentation
 * [API technical documentation](http://simon-rohou.fr/research/tubex-lib/doxygen/html/annotated.html)
 
 
-Licence and development
+License and development
 -----------------------
 
 This software is under [GNU Lesser General Public License](https://www.gnu.org/copyleft/lgpl.html).

diff --git a/doc/doc/index.rst b/doc/doc/index.rst
@@ -21,7 +21,7 @@ Tubex is a C++/Python library providing tools for **constraint programming** ove
 .. The strength of this declarative paradigm lies in its **simpleness**, as it allows one to describe a complex problem without requiring the knowledge of resolution tools coming with specific parameters to choose.
 
 | **What about mobile robotics?**
-| In the field of robotics, complex problems such as **non-linear state estimation**, **delays**, **SLAM** or **kidnapeed robot problems** can be solved in a very few steps by using constraint programming. Even though the Tubex library is not meant to target only robotics problems, the design of its interface has been largely influenced by the needs of the above class of applications. Tubex provides solutions to deal with these problems, that are usually hardly solvable by conventional methods such as particle approaches or Kalman filters. 
+| In the field of robotics, complex problems such as **non-linear state estimation**, **delays**, **SLAM** or **kidnapped robot problems** can be solved in a very few steps by using constraint programming. Even though the Tubex library is not meant to target only robotics problems, the design of its interface has been largely influenced by the needs of the above class of applications. Tubex provides solutions to deal with these problems, that are usually hardly solvable by conventional methods such as particle approaches or Kalman filters. 
 
 In a nutshell, Tubex is a high-level **constraint programming framework** providing tools to easily solve a wide range of robotic problems.
 

diff --git a/doc/doc/install/01-installation.rst b/doc/doc/install/01-installation.rst
@@ -55,8 +55,8 @@ For updating your already installed version of Tubex, the procedure is:
 After the installation, please see the :ref:`sec-installation-graphics` section.
 
 
-Full installation for C++ use or developpers
---------------------------------------------
+Full installation for C++ use or developers
+-------------------------------------------
 
 For C++, the ``✓`` configurations are officially supported at the moment:
 
@@ -114,7 +114,7 @@ The last sources are available on `the official Tubex development repository <ht
 
 .. code-block:: bash
 
-  git clone https://github.com/SimonRohou/tubex-lib # download the sources from Github
+  git clone https://github.com/SimonRohou/tubex-lib # download the sources from GitHub
   cd tubex-lib                                      # move to the Tubex directory
   git submodule init ; git submodule update         # get pybind11 submodule
   mkdir build ; cd build ; cmake .. ; make          # build the sources

diff --git a/doc/doc/manual/01-introduction/index.rst b/doc/doc/manual/01-introduction/index.rst
@@ -60,7 +60,7 @@ Using IBEX in Python with pyIbex
 .. Figure:: ../../img/logo_pyibex.jpg
   :align: left
 
-A python API has been developped for IBEX: the `pyIbex library <http://benensta.github.io/pyIbex/>`_.
+A python API has been developed for IBEX: the `pyIbex library <http://benensta.github.io/pyIbex/>`_.
 It makes available in Python many C++ functionalities of IBEX that are used in robotic applications such as contractors and separators. It aims at combining the flexibility of Python with the speed of C++ algorithms.
 
 Tubex is available in both C++ and Python. It stands on pyIbex for the use of IBEX objects such as intervals and static contractors.
diff --git a/doc/doc/manual/01-introduction/intro_constraint_programming.rst b/doc/doc/manual/01-introduction/intro_constraint_programming.rst
@@ -83,7 +83,7 @@ By *reliable*, we mean that all sources of uncertainties are taken into account,
 - model parameter uncertainties
 - measurement noise
 - uncertainties related to time discretization
-- linearization truncatures
+- linearization truncations
 - approximation of real numbers by floating-point values
 
 The outcomes are intervals and tubes that are guaranteed to contain the solutions of the system.

diff --git a/doc/doc/manual/03-domains/01-dom-intervals.rst b/doc/doc/manual/03-domains/01-dom-intervals.rst
@@ -281,7 +281,7 @@ Dealing with closed intervals, most of the operations can rely on their bounds.
     ~ & = & \varnothing \textrm{ otherwise}.
   \end{eqnarray}
 
-Low-level libraries upon which Tubex has been built provide functionnalities for computing arithmetic on intervals, involving basic operations as well as non-linear functions. The following functions can be used:
+Low-level libraries upon which Tubex has been built provide functionalities for computing arithmetic on intervals, involving basic operations as well as non-linear functions. The following functions can be used:
 
 =========================  ==================================================================
 Code                       Meaning

diff --git a/doc/doc/manual/03-domains/02-dom-tubes.rst b/doc/doc/manual/03-domains/02-dom-tubes.rst
@@ -43,7 +43,7 @@ The box :math:`[k\delta,k\delta+\delta]\times\left[x\right]\left(t_{k}\right)`,
    Custom discretization of tubes is now at hand, they can be made of slices that are not all defined with the same sampling time :math:`\delta`.
 
 This implementation takes rigorously into account floating point precision when building a tube.
-Further computations involving :math:`[x](\cdot)` will be implicitely based on its slices, thus keeping a reliable outer approximation of the solution set. 
+Further computations involving :math:`[x](\cdot)` will be implicitly based on its slices, thus keeping a reliable outer approximation of the solution set. 
 
 
 Creating tubes

diff --git a/doc/doc/manual/05-dynamic-contractors/03-ctc-picard.rst b/doc/doc/manual/05-dynamic-contractors/03-ctc-picard.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  The writting of this page is in progress. Several changes are currently perfomed on the library.
+  The writing of this page is in progress. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 ***************************************************************

diff --git a/doc/doc/manual/06-contractor-network/01-cn-solver.rst b/doc/doc/manual/06-contractor-network/01-cn-solver.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *****************

diff --git a/doc/doc/manual/06-contractor-network/02-cn-realtime.rst b/doc/doc/manual/06-contractor-network/02-cn-realtime.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *************************************

diff --git a/doc/doc/manual/06-contractor-network/03-cn-graphics.rst b/doc/doc/manual/06-contractor-network/03-cn-graphics.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 ********************************

diff --git a/doc/doc/manual/06-contractor-network/index.rst b/doc/doc/manual/06-contractor-network/index.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 ###################

diff --git a/doc/doc/manual/07-graphics/02-figtube.rst b/doc/doc/manual/07-graphics/02-figtube.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *******

diff --git a/doc/doc/manual/07-graphics/03-figmap.rst b/doc/doc/manual/07-graphics/03-figmap.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 ******

diff --git a/doc/doc/manual/07-graphics/04-colormaps.rst b/doc/doc/manual/07-graphics/04-colormaps.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 **********

diff --git a/doc/doc/manual/08-going-further/01-serialization.rst b/doc/doc/manual/08-going-further/01-serialization.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *******************

diff --git a/doc/doc/manual/08-going-further/02-bisections.rst b/doc/doc/manual/08-going-further/02-bisections.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *********************

diff --git a/doc/doc/manual/08-going-further/03-pavings.rst b/doc/doc/manual/08-going-further/03-pavings.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *******

diff --git a/doc/doc/manual/08-going-further/04-tubes-implementation.rst b/doc/doc/manual/08-going-further/04-tubes-implementation.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 ********************
@@ -14,4 +14,4 @@ Tubes implementation
 
 .. note::
 
-  It should be emphasized that, mainly for efficiency reasons, we do not use inheritance hierarchy between the types of ``Tube`` and ``TubeVector``. So, a ``Tube`` is not a particular ``TubeVector``, altough one might legitimately expect this (this would also be a perfectly valid design). This is in contrast with Matlab, where, basically, everything is an array of matrices. This choice is compliant with the IBEX design.
+  It should be emphasized that, mainly for efficiency reasons, we do not use inheritance hierarchy between the types of ``Tube`` and ``TubeVector``. So, a ``Tube`` is not a particular ``TubeVector``, although one might legitimately expect this (this would also be a perfectly valid design). This is in contrast with Matlab, where, basically, everything is an array of matrices. This choice is compliant with the IBEX design.
diff --git a/doc/doc/manual/08-going-further/05-functions.rst b/doc/doc/manual/08-going-further/05-functions.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *********

diff --git a/doc/doc/manual/08-going-further/index.rst b/doc/doc/manual/08-going-further/index.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 #############

diff --git a/doc/doc/manual/09-extensions/01-ode.rst b/doc/doc/manual/09-extensions/01-ode.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 *******************************************

diff --git a/doc/doc/manual/09-extensions/index.rst b/doc/doc/manual/09-extensions/index.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 ###################

diff --git a/doc/doc/manual/10-dev/index.rst b/doc/doc/manual/10-dev/index.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  Several changes are currently perfomed on the library.
+  Several changes are currently performed on the library.
   This page may not be up to date.
 
 ##########################

diff --git a/doc/doc/tutorial/00-getting-started/index.rst b/doc/doc/tutorial/00-getting-started/index.rst
@@ -21,7 +21,7 @@ Please follow the related page of the manual to see how to do it:
 
   /install/01-installation
 
-Then, depending on your preference between C++ or Python, you can run some *Hello World!* program to be sure everything is working well so far:
+Then, depending on your preference between C++ or Python, you can run some *Hello World!* program to be sure everything is working well:
 
 .. toctree:: 
   :maxdepth: 1

diff --git a/doc/doc/tutorial/03-static-rangebearing/index.rst b/doc/doc/tutorial/03-static-rangebearing/index.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 Static range-and-bearing localization

diff --git a/doc/doc/tutorial/04-dyn-rangeonly/index.rst b/doc/doc/tutorial/04-dyn-rangeonly/index.rst
@@ -2,7 +2,7 @@
 
 .. warning::
 
-  This part of the documentation is deprecated. Several changes are currently perfomed on the library.
+  This part of the documentation is deprecated. Several changes are currently performed on the library.
   A new stable version of Tubex will be released in the coming weeks.
 
 Dynamic localization with asynchronous measurements

diff --git a/src/3rd/ode/tubex_capd2tubex.h b/src/3rd/ode/tubex_capd2tubex.h
@@ -27,7 +27,7 @@ namespace tubex
 
    * \param vectorField the vector field associated to the function that we would like to integrate
    * \param x0 The initial condition
-   * \param timestep time step desired for the integration. If equal to 0 CAPD will calculate the timesep by itself
+   * \param timestep time step desired for the integration. If equal to 0 CAPD will calculate the timestep by itself
    * to increase calculation speed
    */
 
@@ -48,7 +48,7 @@ namespace tubex
    * \param domain period of tine on which we would like to perform the integration
    * \param f function that we would like to integrate
    * \param x0 The initial condition
-   * \param timestep time step desired for the integration. If equal to 0 CAPD will calculate the timesep by itself
+   * \param timestep time step desired for the integration. If equal to 0 CAPD will calculate the timestep by itself
    * to increase calculation speed
    */
 

diff --git a/src/core/cn/tubex_ContractorNetwork.cpp b/src/core/cn/tubex_ContractorNetwork.cpp
@@ -263,7 +263,7 @@ namespace tubex
       // If possible, breaking down the constraint to slices level
       if(!dyn_ctc.is_intertemporal() && !Domain::all_slices(v_domains))
       {
-        // Not intertemporal => 
+        // Not inter-temporal => 
         assert(Domain::all_dyn(v_domains)); // all domains are slices or tubes or tube vectors
         assert(Domain::dyn_same_slicing(v_domains)); // all domains share same slicing
 

diff --git a/src/core/cn/tubex_ContractorNetwork.h b/src/core/cn/tubex_ContractorNetwork.h
@@ -85,7 +85,7 @@ namespace tubex
       /**
        * \brief Creates an Interval intermediate variable with a reference kept in the 
        *        ContractorNetwork. The variable will be kept alive outside its definition
-       *        block. This allows for instance to add contraints involving intermediate
+       *        block. This allows for instance to add constraints involving intermediate
        *        variables inside iteration loops. The variable exists in the CN but cannot
        *        be reached outside its definition block. Its deallocation is handled by
        *        the CN.
@@ -98,7 +98,7 @@ namespace tubex
       /**
        * \brief Creates an IntervalVector intermediate variable with a reference kept in the 
        *        ContractorNetwork. The variable will be kept alive outside its definition
-       *        block. This allows for instance to add contraints involving intermediate
+       *        block. This allows for instance to add constraints involving intermediate
        *        variables inside iteration loops. The variable exists in the CN but cannot
        *        be reached outside its definition block. Its deallocation is handled by
        *        the CN.
@@ -111,7 +111,7 @@ namespace tubex
       /**
        * \brief Creates a Tube intermediate variable with a reference kept in the 
        *        ContractorNetwork. The variable will be kept alive outside its definition
-       *        block. This allows for instance to add contraints involving intermediate
+       *        block. This allows for instance to add constraints involving intermediate
        *        variables inside iteration loops. The variable exists in the CN but cannot
        *        be reached outside its definition block. Its deallocation is handled by
        *        the CN.
@@ -124,7 +124,7 @@ namespace tubex
       /**
        * \brief Creates a TubeVector intermediate variable with a reference kept in the 
        *        ContractorNetwork. The variable will be kept alive outside its definition
-       *        block. This allows for instance to add contraints involving intermediate
+       *        block. This allows for instance to add constraints involving intermediate
        *        variables inside iteration loops. The variable exists in the CN but cannot
        *        be reached outside its definition block. Its deallocation is handled by
        *        the CN.
@@ -268,7 +268,7 @@ namespace tubex
        * \brief Triggers on all contractors involved in the graph.
        *
        * This method can be used to reset the propagation process when domains have been updated
-       * externaly: outside the ContractorNetwork.
+       * externally: outside the ContractorNetwork.
        */
       void trigger_all_contractors();