Codac documentation

Codac documentation describes Codac as a C++/Python/Matlab library for interval computations and constraint programming over real numbers, trajectories, and sets. It is aimed at problems where exact solutions are not generally available and uses numerical analysis with rigorous interval arithmetic to compute bounds on feasible solution sets, with applications in parameter estimation, guaranteed integration, and robot localization.

The manual says the toolbox can approximate feasible solutions of non-linear and differential systems. It emphasizes guarantee and exhaustiveness: no solutions are lost, and all possible values are captured when multiple solutions exist. Codac is also described as useful for establishing numerical proofs or approximating solutions for complex systems involving real numbers, vectors, trajectories, uncertain sets, and graphs. The documentation notes that many of the library’s developers are motivated by challenges in mobile robotics.

Its documentation lists a broad set of components and topics, including intervals, interval vectors, a BoolInterval enumeration, tubes, linear algebra, reliable inversions of matrices, interval LU decomposition, inclusion functions, analytic inclusion functions, analytic operators, contractors and separators such as CtcInter, CtcInverse, CtcLohner, CtcDist, CtcPolar, and CtcVisible, geometric utilities, segment and polygon tools, zonotopes, ellipsoids, visualization, binary serialization, transformation estimation, octahedral symmetries, sampled trajectories, and extensions for SymPy and CAPD. The manual also includes state-estimation lessons covering range and bearing, data association, dynamic localization, range-only SLAM, and tile-based localization.

Codac is presented as a documentation site for the library and provides installation guides for Python, C++, and MATLAB. The page also includes a C++ API and references an old version, Codac V1.