[cn] reset interm variables (create_dom -> create_interm_var)

doc/doc/index.rst

@@ -182,7 +182,7 @@ The distance function :math:`g(\mathbf{x},\mathbf{b})` between the robot and a l
 
     for i in range (0,len(y)): # we add the observ. constraint for each range-only measurement
 
-      p = cn.create_dom(IntervalVector(4)) # intermed. variable (state at t_i)
+      p = cn.create_interm_var(IntervalVector(4)) # intermed. variable (state at t_i)
 
       # Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc.dist, [cn.subvector(p,0,1), b[i], y[i]])
@@ -197,7 +197,7 @@ The distance function :math:`g(\mathbf{x},\mathbf{b})` between the robot and a l
 
     for(int i = 0 ; i < 3 ; i++) // we add the observ. constraint for each range-only measurement
     {
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // intermed. variable (state at t_i)
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // intermed. variable (state at t_i)
 
       // Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc::dist, {cn.subvector(p,0,1), b[i], y[i]});

doc/doc/tutorial/04-own-contractor/index.rst

@@ -548,7 +548,7 @@ Appendix
     
     cn.contract(); // segmentation fault here
 
-  Instead, we must create the domains inside the CN object in order to keep it alive outside the block. This can be done with the method ``.create_dom()``:
+  Instead, we must create the domains inside the CN object in order to keep it alive outside the block. This can be done with the method ``.create_interm_var()``:
 
   .. code:: cpp
 
@@ -558,7 +558,7 @@ Appendix
     
     if(/* some condition */)
     {
-      Interval& a = cn.create_dom(Interval(1,20));
+      Interval& a = cn.create_interm_var(Interval(1,20));
       cn.add(ctc_plus, {x, y, a});
     } // 'a' is not lost
     
@@ -568,8 +568,8 @@ Appendix
 
   .. code:: cpp
 
-    IntervalVector& d = cn.create_dom(IntervalVector(2));
+    IntervalVector& d = cn.create_interm_var(IntervalVector(2));
 
   creates for instance an intermediate 2d variable with a 2d box domain: :math:`[\mathbf{d}]=[-\infty,\infty]^2`. Its argument defines the type of domain to be created (``Interval``, ``IntervalVector``, *etc.*). 
 
-  Technically, ``create_dom()`` returns a C++ *reference* (in the above example, of type ``IntervalVector&``). The reference is an alias on the intermediate variable, that is now inside the Contractor Network. It can be used in the same way as other variables involved in the CN.
+  Technically, ``create_interm_var()`` returns a C++ *reference* (in the above example, of type ``IntervalVector&``). The reference is an alias on the intermediate variable, that is now inside the Contractor Network. It can be used in the same way as other variables involved in the CN.

doc/doc/tutorial/07-data-association/solution.py

@@ -103,9 +103,9 @@ def contract(self, x):
   y2 = Interval(v_obs[i][2]) # bearing
 
   # Intermediate variables:
-  a = cn.create_dom(Interval())
-  d = cn.create_dom(IntervalVector(2))
-  p = cn.create_dom(IntervalVector(4))
+  a = cn.create_interm_var(Interval())
+  d = cn.create_interm_var(IntervalVector(2))
+  p = cn.create_interm_var(IntervalVector(4))
 
   cn.add(ctc_constell, [m[i]])
   cn.add(ctc_minus, [d, m[i], cn.subvector(p,0,1)])

examples/brunovsky/main.cpp

@@ -109,10 +109,10 @@ int main()
     {
       // New domains and intermediate variables:
       Vector& landmark((i%2 == 0) ? m_a : m_b); // selecting landmark
-      IntervalVector& b = cn.create_dom(IntervalVector(landmark));
-      Interval& t = cn.create_dom((i+1)*tdomain.diam()/nb_obs+tdomain.lb());
-      Interval& d = cn.create_dom(sqrt(sqr(b[0]-x_truth(t)[0])+sqr(b[1]-x_truth(t)[1])));
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // state at time t
+      IntervalVector& b = cn.create_interm_var(IntervalVector(landmark));
+      Interval& t = cn.create_interm_var((i+1)*tdomain.diam()/nb_obs+tdomain.lb());
+      Interval& d = cn.create_interm_var(sqrt(sqr(b[0]-x_truth(t)[0])+sqr(b[1]-x_truth(t)[1])));
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // state at time t
 
       d.inflate(0.025); // bounded measurement
       cout << i << "\t" << ((i%2 == 0) ? "m_a" : "m_b") << "\t" << t.mid() << "\t" << d << endl;

examples/robotics/10_datasso/datasso.py

@@ -98,9 +98,9 @@ def contract(self, x):
   y2 = Interval(v_obs[i][2]) # bearing
 
   # Intermediate variables:
-  a = cn.create_dom(Interval())
-  d = cn.create_dom(IntervalVector(2))
-  p = cn.create_dom(IntervalVector(3))
+  a = cn.create_interm_var(Interval())
+  d = cn.create_interm_var(IntervalVector(2))
+  p = cn.create_interm_var(IntervalVector(3))
 
   cn.add(ctc_constell, [m[i]])
   cn.add(ctc_minus, [d, m[i], cn.subvector(p,0,1)])

examples/robotics/10_datasso/main.cpp

@@ -96,9 +96,9 @@ int main()
       Interval &y2 = v_obs[i][2]; // bearing
 
       // Intermediate variables:
-      Interval& a = cn.create_dom(Interval());
-      IntervalVector& d = cn.create_dom(IntervalVector(2));
-      IntervalVector& p = cn.create_dom(IntervalVector(3));
+      Interval& a = cn.create_interm_var(Interval());
+      IntervalVector& d = cn.create_interm_var(IntervalVector(2));
+      IntervalVector& p = cn.create_interm_var(IntervalVector(3));
 
       cn.add(ctc_constell, {m[i]});
       cn.add(ctc_minus, {d, m[i], cn.subvector(p,0,1)});

examples/tuto/01_getting_started/01_getting_started.cpp

@@ -65,7 +65,7 @@ int main()
 
     for(int i = 0 ; i < 3 ; i++) // we add the observ. constraint for each range-only measurement
     {
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // intermed. variable (state at t_i)
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // intermed. variable (state at t_i)
 
       // Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc::dist, {cn.subvector(p,0,1), b[i], y[i]});

examples/tuto/01_getting_started/01_getting_started.py

@@ -56,7 +56,7 @@
 
 for i in range (0,len(y)): # we add the observ. constraint for each range-only measurement
 
-  p = cn.create_dom(IntervalVector(4)) # intermed. variable (state at t_i)
+  p = cn.create_interm_var(IntervalVector(4)) # intermed. variable (state at t_i)
 
   # Distance constraint: relation between the state at t_i and the ith beacon position
   cn.add(ctc.dist, [cn.subvector(p,0,1), b[i], y[i]])

examples/tuto/03_static_rangebearing/03_static_rangebearing.cpp

@@ -60,8 +60,8 @@ int main()
     for(int i = 0 ; i < v_obs.size() ; i++)
     {
       // Intermediate variables
-      Interval& alpha = cn.create_dom(Interval());
-      IntervalVector& d = cn.create_dom(IntervalVector(2));
+      Interval& alpha = cn.create_interm_var(Interval());
+      IntervalVector& d = cn.create_interm_var(IntervalVector(2));
 
       cn.add(ctc_plus, {v_obs[i][1], heading, alpha});
       cn.add(ctc_minus, {v_map[i], x, d});

examples/tuto/03_static_rangebearing/03_static_rangebearing.py

@@ -46,8 +46,8 @@
 for i in range(0,len(v_obs)):
 
   # Intermediate variables
-  alpha = cn.create_dom(Interval())
-  d = cn.create_dom(IntervalVector(2))
+  alpha = cn.create_interm_var(Interval())
+  d = cn.create_interm_var(IntervalVector(2))
 
   cn.add(ctc_plus, [v_obs[i][1], heading, alpha])
   cn.add(ctc_minus, [v_map[i], x, d])

examples/tuto/04_dyn_rangeonly/04_dyn_rangeonly.cpp

@@ -64,7 +64,7 @@ int main()
 
     for(int i = 0 ; i < 3 ; i++) // we add the observ. constraint for each range-only measurement
     {
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // intermed. variable (state at t_i)
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // intermed. variable (state at t_i)
 
       // Distance constraint: relation between the state at t_i and the ith beacon position
       cn.add(ctc::dist, {cn.subvector(p,0,1), b[i], y[i]});

examples/tuto/04_dyn_rangeonly/04_dyn_rangeonly.py

@@ -56,7 +56,7 @@
 
 for i in range (0,len(y)): # we add the observ. constraint for each range-only measurement
 
-  p = cn.create_dom(IntervalVector(4)) # intermed. variable (state at t_i)
+  p = cn.create_interm_var(IntervalVector(4)) # intermed. variable (state at t_i)
 
   # Distance constraint: relation between the state at t_i and the ith beacon position
   cn.add(ctc.dist, [cn.subvector(p,0,1), b[i], y[i]])

examples/tuto/05_dyn_rangebearing/05_dyn_rangebearing.cpp

@@ -81,9 +81,9 @@ int main()
     for(auto& y : v_obs)
     {
       // Intermediate variables
-      Interval& alpha = cn.create_dom(Interval()); // absolute angle robot-landmark
-      IntervalVector& d = cn.create_dom(IntervalVector(2)); // dist robot-landmark
-      IntervalVector& p = cn.create_dom(IntervalVector(4)); // state at t_i
+      Interval& alpha = cn.create_interm_var(Interval()); // absolute angle robot-landmark
+      IntervalVector& d = cn.create_interm_var(IntervalVector(2)); // dist robot-landmark
+      IntervalVector& p = cn.create_interm_var(IntervalVector(4)); // state at t_i
 
       cn.add(ctc_plus, {y[2], p[2], alpha});
       cn.add(ctc_minus, {cn.subvector(y,3,4), cn.subvector(p,0,1), d});

examples/tuto/05_dyn_rangebearing/05_dyn_rangebearing.py

@@ -66,9 +66,9 @@
 for y in v_obs: # we add the observ. constraint for each range-only measurement
 
   # Intermediate variables
-  alpha = cn.create_dom(Interval()) # absolute angle robot-landmark
-  d = cn.create_dom(IntervalVector(2)) # dist robot-landmark
-  p = cn.create_dom(IntervalVector(4)) # state at t_i
+  alpha = cn.create_interm_var(Interval()) # absolute angle robot-landmark
+  d = cn.create_interm_var(IntervalVector(2)) # dist robot-landmark
+  p = cn.create_interm_var(IntervalVector(4)) # state at t_i
 
   cn.add(ctc_plus, [y[2], p[2], alpha])
   cn.add(ctc_minus, [cn.subvector(y,3,4), cn.subvector(p,0,1), d])

python/codac/tests/test_cn.py

@@ -462,7 +462,7 @@ def test_adding_continuous_data(self):
     self.assertEqual(v(4), Interval(-3.,-1.))
 
 
-  def test_create_dom_tube(self):
+  def test_create_interm_var_tube(self):
 
     dt = 0.1
     tdomain = Interval(0.,10.)
@@ -475,7 +475,7 @@ def test_create_dom_tube(self):
     ctc_deriv = CtcDeriv()
 
     v_local = Tube(tdomain, dt, TFunction("0"))
-    #v_inside = cn.create_dom(v_local)
+    #v_inside = cn.create_interm_var(v_local)
     #cn.add(ctc_deriv, [x,v_inside])
 
     #cn.contract()

python/src/core/cn/codac_py_ContractorNetwork.cpp

@@ -134,6 +134,30 @@ void export_ContractorNetwork(py::module& m)
       py::return_value_policy::reference_internal,
       py::keep_alive<1,0>())
 
+    .def("create_interm_var", (Interval& (ContractorNetwork::*)(const Interval&))&ContractorNetwork::create_interm_var,
+      CONTRACTORNETWORK_INTERVAL_CREATE_INTERM_VAR_INTERVAL,
+      "i"_a,
+      py::return_value_policy::reference_internal,
+      py::keep_alive<1,0>())
+
+    .def("create_interm_var", (IntervalVector& (ContractorNetwork::*)(const IntervalVector&))&ContractorNetwork::create_interm_var,
+      CONTRACTORNETWORK_INTERVALVECTOR_CREATE_INTERM_VAR_INTERVALVECTOR,
+      "iv"_a,
+      py::return_value_policy::reference_internal,
+      py::keep_alive<1,0>())
+
+    .def("create_interm_var", (Tube& (ContractorNetwork::*)(const Tube&))&ContractorNetwork::create_interm_var,
+      CONTRACTORNETWORK_TUBE_CREATE_INTERM_VAR_TUBE,
+      "t"_a,
+      py::return_value_policy::reference_internal,
+      py::keep_alive<1,0>())
+
+    .def("create_interm_var", (TubeVector& (ContractorNetwork::*)(const TubeVector&))&ContractorNetwork::create_interm_var,
+      CONTRACTORNETWORK_TUBEVECTOR_CREATE_INTERM_VAR_TUBEVECTOR,
+      "tv"_a,
+      py::return_value_policy::reference_internal,
+      py::keep_alive<1,0>())
+
     .def("subvector", (IntervalVector& (ContractorNetwork::*)(Vector&,int,int))&ContractorNetwork::subvector,
       CONTRACTORNETWORK_INTERVALVECTOR_SUBVECTOR_VECTOR_INT_INT,
       "v"_a, "start_index"_a, "end_index"_a,

src/core/cn/codac_ContractorNetwork.cpp

@@ -61,22 +61,46 @@ namespace codac
 
     Interval& ContractorNetwork::create_dom(const Interval& i)
     {
-      return add_dom(Domain(i))->interval();
+      cout << "create_dom(): deprecated. Use create_interm_var() instead." << endl;
+      return create_interm_var(i);
+    }
+
+    Interval& ContractorNetwork::create_interm_var(const Interval& i)
+    {
+      return add_dom(Domain(i, true))->interval();
     }
 
     IntervalVector& ContractorNetwork::create_dom(const IntervalVector& iv)
     {
-      return add_dom(Domain(iv))->interval_vector();
+      cout << "create_dom(): deprecated. Use create_interm_var() instead." << endl;
+      return create_interm_var(iv);
+    }
+
+    IntervalVector& ContractorNetwork::create_interm_var(const IntervalVector& iv)
+    {
+      return add_dom(Domain(iv, true))->interval_vector();
     }
 
     Tube& ContractorNetwork::create_dom(const Tube& t)
     {
-      return add_dom(Domain(t))->tube();
+      cout << "create_dom(): deprecated. Use create_interm_var() instead." << endl;
+      return create_interm_var(t);
+    }
+
+    Tube& ContractorNetwork::create_interm_var(const Tube& t)
+    {
+      return add_dom(Domain(t, true))->tube();
     }
 
     TubeVector& ContractorNetwork::create_dom(const TubeVector& tv)
     {
-      return add_dom(Domain(tv))->tube_vector();
+      cout << "create_dom(): deprecated. Use create_interm_var() instead." << endl;
+      return create_interm_var(tv);
+    }
+
+    TubeVector& ContractorNetwork::create_interm_var(const TubeVector& tv)
+    {
+      return add_dom(Domain(tv, true))->tube_vector();
     }
 
     IntervalVector& ContractorNetwork::subvector(Vector& v, int start_index, int end_index)

src/core/cn/codac_ContractorNetwork.h

@@ -96,6 +96,7 @@ namespace codac
        * \return a reference to the created Interval domain variable
        */
       Interval& create_dom(const Interval& i);
+      Interval& create_interm_var(const Interval& i);
 
       /**
        * \brief Creates an IntervalVector intermediate variable with a reference kept in the 
@@ -109,6 +110,7 @@ namespace codac
        * \return a reference to the created IntervalVector domain variable
        */
       IntervalVector& create_dom(const IntervalVector& iv);
+      IntervalVector& create_interm_var(const IntervalVector& iv);
 
       /**
        * \brief Creates a Tube intermediate variable with a reference kept in the 
@@ -122,6 +124,7 @@ namespace codac
        * \return a reference to the created Tube domain variable
        */
       Tube& create_dom(const Tube& t);
+      Tube& create_interm_var(const Tube& t);
 
       /**
        * \brief Creates a TubeVector intermediate variable with a reference kept in the 
@@ -135,6 +138,7 @@ namespace codac
        * \return a reference to the created TubeVector domain variable
        */
       TubeVector& create_dom(const TubeVector& tv);
+      TubeVector& create_interm_var(const TubeVector& tv);
 
       /**
        * \brief Creates a subvector of a Vector domain
@@ -279,6 +283,8 @@ namespace codac
        */
       void trigger_all_contractors();
 
+      void reset_interm_var();
+
       /**
        * \brief Returns the number of contractors that are waiting for process.
        *

src/core/cn/codac_ContractorNetwork_solve.cpp

@@ -158,7 +158,7 @@ namespace codac
       for(const auto& ctc : m_map_ctc)
       {
         if(ctc.second->type() == Contractor::Type::T_IBEX
-          || ctc.second->type() == Contractor::Type::T_TUBEX
+          || ctc.second->type() == Contractor::Type::T_CODAC
           || ctc.second->type() == Contractor::Type::T_EQUALITY)
         {
           // Only "contracting" contractors are triggered
@@ -171,6 +171,16 @@ namespace codac
       }
     }
 
+    void ContractorNetwork::reset_interm_var()
+    {
+      for(auto& dom : m_map_domains)
+        if(dom.second->is_interm_var())
+        {
+          dom.second->reset_value();
+          trigger_ctc_related_to_dom(dom.second);
+        }
+    }
+
     int ContractorNetwork::nb_ctc_in_stack() const
     {
       return m_deque.size();