Codac (Catalog Of Domains And Contractors) is a library designed for interval computations and constraint programming over real numbers, trajectories, and sets. It is implemented with support for C++, Python, and MATLAB, and is intended for applications that require reliable numerical analysis, such as parameter estimation, guaranteed integration, and robot localization. The library focuses on providing reliable outputs by using interval arithmetic to ensure that all feasible solutions to complex systems are captured, making it suitable for establishing numerical proofs or approximating solutions where exact computation is not possible.
The platform offers a range of features centered on interval analysis and validated numerics. It includes classes for intervals and interval vectors, linear algebra operations such as reliable matrix inversion and interval LU decomposition, and analytic inclusion functions. Codac also provides a set of contractors and separators for constraint propagation, including specific implementations like CtcInter, CtcInverse, CtcLohner, and others. In addition, the library contains geometric utilities for working with segments, polygons, zonotopes, and ellipsoids, as well as visualization tools for 2D and 3D figures. Codac supports binary serialization, transformation estimation, and analysis of sampled trajectories. Extensions are available for symbolic mathematics through SymPy and for rigorous numerics in dynamical systems via CAPD.
Codac is particularly relevant for researchers and engineers working in fields such as mobile robotics, where exhaustive and guaranteed computation of feasible solution sets is critical. The toolbox is designed to approximate feasible solutions for nonlinear and differential systems, using numerical methods to compute bounds on these sets. The documentation provides examples, such as solving systems of equations and inequalities using interval contractors, and visualizing the results as non-overlapping boxes that approximate the solution set.
The library is delivered as a software package compatible with C++, Python, and MATLAB environments. Codac positions itself within the class of scientific computing libraries focused on interval analysis and constraint programming for real-valued and set-valued problems.
In the Frameworks & SDKs space, Codac documentation takes a focused approach. It focuses on enabling reliable interval analysis and validated numerics for scientific computing and research. It is built as an open-source project for scientists and engineers. Codac documentation is open source under the MIT license. It runs on the web and the command line, and it can be self-hosted.
Codac documentation first shipped in 2020. Development happens publicly on GitHub with 3.5k stars. Key capabilities include interval analysis, validated numerics, and python/C++/MATLAB support.
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