diff --git a/docs/build/doctrees/environment.pickle b/docs/build/doctrees/environment.pickle new file mode 100644 index 0000000..2665283 Binary files /dev/null and b/docs/build/doctrees/environment.pickle differ diff --git a/docs/build/doctrees/index.doctree b/docs/build/doctrees/index.doctree new file mode 100644 index 0000000..7b59543 Binary files /dev/null and b/docs/build/doctrees/index.doctree differ diff --git a/docs/build/doctrees/partie_simulation.doctree b/docs/build/doctrees/partie_simulation.doctree new file mode 100644 index 0000000..5f0ce89 Binary files /dev/null and b/docs/build/doctrees/partie_simulation.doctree differ diff --git a/docs/build/html/.buildinfo b/docs/build/html/.buildinfo new file mode 100644 index 0000000..59fb764 --- /dev/null +++ b/docs/build/html/.buildinfo @@ -0,0 +1,4 @@ +# Sphinx build info version 1 +# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. +config: 3f2d5eb0f30a1ec065592d2fbc241d52 +tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/docs/build/html/_sources/index.rst.txt b/docs/build/html/_sources/index.rst.txt new file mode 100644 index 0000000..31dd49c --- /dev/null +++ b/docs/build/html/_sources/index.rst.txt @@ -0,0 +1,20 @@ +.. LDR_SIMULATION documentation master file, created by + sphinx-quickstart on Wed Jul 17 15:14:54 2024. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to LDR_SIMULATION's documentation! +========================================== + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/docs/build/html/_sources/partie_simulation.md.txt b/docs/build/html/_sources/partie_simulation.md.txt new file mode 100644 index 0000000..5488861 --- /dev/null +++ b/docs/build/html/_sources/partie_simulation.md.txt @@ -0,0 +1,66 @@ +# Introduction +Dans le cadre des travaux de recherche menés au LDR sur les plateformes embarquées, les chercheurs souhaitent mettre en place des environnements de développements et de tests plus récents et robustes pour 2 applications en particulier, dans l’ordre d’importance : + +- La programmation embarquée, en particulier avec OS Temps Réel. +Mettre en place un environnement de dev/tests avec sondes logicielles pour le temps réel. Pour réaliser des tests de systèmes contraints, possiblement utilisant des architectures matérielles diverses (ARM, RISC-V, etc.), les chercheurs ont besoin d’un environnement clair, générant des traces analysables (quantité de mémoire utilisée, temps passé sur le processeur et lors des accès aux périphériques, décisions d’ordonnancement, etc.). + +- Simulateur pour robotique/drone. +Mettre en place un environnement de dev/tests avec, par exemple CoppeliaSim et Python/ROS, génération de scénario et récupération des données de vol et de l’environnement simulé. +Différents travaux sont réalisés depuis plusieurs années avec l’ONERA sur des simulations utilisant de drones. Ces travaux utilisent d’anciens simulateurs difficiles à maintenir aujourd’hui, ce qui rend complexe la reproduction de certains résultats. Plusieurs exemples existent pour des applications spécifiques, comme avec le robot Poppy et ROS. + +La documentation de la partie "Simulation" est disponible dans le dossier LDR_Simulation + +# Simulation + +La simulation c’est la création d’un modèle virtuel d’une machine, tout en prenant en considération l’environnement de travail et tous les autres facteurs influents. Ça nous permet de savoir si la conception peut fonctionner après la fabrication. Ça nous permet de tester différentes machines/algorithmes dans un même environnement (plusieurs drones dans un parc urbain et voir comment chaque drone navigue entre les arbres et réagit aux obstacles), et de tester une machine dans différents environnements (simuler un seul modèle de drone au-dessus d'une forêt avec des vents variables, dans un désert avec des températures élevées ou à l’intérieur de la maison). + +Comparaison entre CoppeliaSim et GazeboSim qui sont tous deux des simulateurs de robotique mais avec des caractéristiques distinctes, L’objectif de cette comparaison est de déterminer le simulateur le plus adapté à nos besoins. + +## La restitution des avantages/inconvénients + +### Le simulateur CoppeliaSim + +| **Avantages** | **Inconvénients** | +|--- |--- | +| L'installation est simple et rapide
sur Windows, une version portable est
également disponible. | L’exécution n’est pas possible via le
terminal directement sans avoir lancer
CoppeliaSim avant. | +| La création des scènes est simple,
la personnalisation est également
possible grâce aux script intégrés | un facteur de temps réel n’est pas très
lent que le temps réel (pour l’exemple
de BubbleRob il est de 0.99 donc 9900 fois
plus lent que le temps réel). | +| Interface graphique conviviale et
facile à utiliser, la création des
scènes est donc simple, la personnalisation
est possible grâce aux script intégrés | | +| CoppeliaSim n’est pas déterministe
mais on peut le configurer pour l’être
en modifiantcertains paramètres mais ces
modifications influencent négativement sur
le comportement dans les simulations
(disparition des objets par exemple) | | + + +### Le simulateur GazeboSim + +| **Avantages** | **Inconvénients** | +|--- |--- | +| L’installation et la prise en main de
la plateforme sur Linux est plus facile
à installer et à configurer | L’installation sur Windows est complexe
car des installations supplémentaires
sont nécessaires (via conda-forge,
vcpkg ou WSL) | +| La création d’une scène est en XML
et son exécution est dans un terminal
directement sans passer par l’interface
graphique | Windows n'est pas une plateforme officiellement
supportée par Open Robotics pour Gazebo | +| GazeboSim offre une personnalisation
avancée car il supporte plusieurs langages
de programmation (Python, C++) | L’installation nécessite une version
spécifique sur Linux (ubuntu 22.04) donc
manque de flexibilité | +| Un facteur de temps réel est beaucoup
plus rapide que le temps réel | L'interface graphique de GazeboSim
est complexe pour les débutants
(notamment pour la version classique). | +| | Une carte graphique Nvidia avec support
CUDA est requise pour l’exécution de
certaines simulations. | + + +## Les besoins pour la simulation + +Les besoins coté recherche et coté enseignement (rajouter le tableau et commentez le en bas) +- Un simulateur qui a l’interface graphique de coppeliasim mais qu’on pourra utiliser comme Gazebo, c’est-à-dire on pourra créer notre scène sur un fichier et avoir un seul dossier qui contient notre projet, on pourra lancer le projet dans un terminal sans ouvrir le simulateur avant. +- Un simulateur facile à installer sur windows de preférence (car sur linux certaines exécutions bug) +- Un simulateur avec un facteur temps réel qui soit proche du temps réel +Image du tableau +Après avoir tester les deux simulateurs j’ai choisi comme outil de simulation CoppeliaSim pour sa facilité et son efficacité. + +### Tableau récapitulatif + +**TIPS COPPELIASIM** + +- Toujours enregistrer la scène avant de lancer la simulation sinon tous les objets que vous avez rajoutés ou toutes modifications apportées seront disparus +- Toujours arrêter la simulation en cours avant de lancer une nouvelle simulation +- Si vous avez ouvert plusieurs scènes à la fois, arrêtez la simulation de toutes les scènes avant de lancer une nouvelle simulation +- Si vous voulez déplacer un objet avec la main ou en tapant les coordonnées que vous souhaitez, cliquez sur ça + +## Application réelle + +Créer une scène "DronePainting" qui contient deux drones (ou plus, qui sait), et faire en sorte qu'ils volent vers un mur et dessinent des points selon mes indications (ils peuvent former un rectangle par exemple), la programmation est sous Python et la visualisation est sur CoppeliaSim. +Lancer la simulation en mode stepped pour avoir une simulation déterministe et reproductible + +Pour la simulation j’ai dans un premier temps crée une scène ou un drone se déplace vers un mur et marque deux points dans deux positions différentes : je vais expliquer comment j’ai rajouté le nozzle paint également. +Par la suite j’ai créé une autre scène ou deux drones se déplacent de la même manière tout en étant reproductible donc pour se faire, il a fallu créer une loop pour que les taches asynchrones en arrière-plan ce qui permet une exécution non bloquante. diff --git a/docs/build/html/_static/_sphinx_javascript_frameworks_compat.js b/docs/build/html/_static/_sphinx_javascript_frameworks_compat.js new file mode 100644 index 0000000..8141580 --- /dev/null +++ b/docs/build/html/_static/_sphinx_javascript_frameworks_compat.js @@ -0,0 +1,123 @@ +/* Compatability shim for jQuery and underscores.js. + * + * Copyright Sphinx contributors + * Released under the two clause BSD licence + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} diff --git a/docs/build/html/_static/base-stemmer.js b/docs/build/html/_static/base-stemmer.js new file mode 100644 index 0000000..ca6cca1 --- /dev/null +++ b/docs/build/html/_static/base-stemmer.js @@ -0,0 +1,294 @@ +/**@constructor*/ +BaseStemmer = function() { + this.setCurrent = function(value) { + this.current = value; + this.cursor = 0; + this.limit = this.current.length; + this.limit_backward = 0; + this.bra = this.cursor; + this.ket = this.limit; + }; + + this.getCurrent = function() { + return this.current; + }; + + this.copy_from = function(other) { + this.current = other.current; + this.cursor = other.cursor; + this.limit = other.limit; + this.limit_backward = other.limit_backward; + this.bra = other.bra; + this.ket = other.ket; + }; + + this.in_grouping = function(s, min, max) { + if (this.cursor >= this.limit) return false; + var ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) return false; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false; + this.cursor++; + return true; + }; + + this.in_grouping_b = function(s, min, max) { + if (this.cursor <= this.limit_backward) return false; + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) return false; + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false; + this.cursor--; + return true; + }; + + this.out_grouping = function(s, min, max) { + if (this.cursor >= this.limit) return false; + var ch = this.current.charCodeAt(this.cursor); + if (ch > max || ch < min) { + this.cursor++; + return true; + } + ch -= min; + if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) == 0) { + this.cursor++; + return true; + } + return false; + }; + + this.out_grouping_b = function(s, min, max) { + if (this.cursor <= this.limit_backward) return false; + var ch = this.current.charCodeAt(this.cursor - 1); + if (ch > max || ch < min) { + this.cursor--; + return true; + } + ch -= min; + if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) { + this.cursor--; + return true; + } + return false; + }; + + this.eq_s = function(s) + { + if (this.limit - this.cursor < s.length) return false; + if (this.current.slice(this.cursor, this.cursor + s.length) != s) + { + return false; + } + this.cursor += s.length; + return true; + }; + + this.eq_s_b = function(s) + { + if (this.cursor - this.limit_backward < s.length) return false; + if (this.current.slice(this.cursor - s.length, this.cursor) != s) + { + return false; + } + this.cursor -= s.length; + return true; + }; + + /** @return {number} */ this.find_among = function(v) + { + var i = 0; + var j = v.length; + + var c = this.cursor; + var l = this.limit; + + var common_i = 0; + var common_j = 0; + + var first_key_inspected = false; + + while (true) + { + var k = i + ((j - i) >>> 1); + var diff = 0; + var common = common_i < common_j ? common_i : common_j; // smaller + // w[0]: string, w[1]: substring_i, w[2]: result, w[3]: function (optional) + var w = v[k]; + var i2; + for (i2 = common; i2 < w[0].length; i2++) + { + if (c + common == l) + { + diff = -1; + break; + } + diff = this.current.charCodeAt(c + common) - w[0].charCodeAt(i2); + if (diff != 0) break; + common++; + } + if (diff < 0) + { + j = k; + common_j = common; + } + else + { + i = k; + common_i = common; + } + if (j - i <= 1) + { + if (i > 0) break; // v->s has been inspected + if (j == i) break; // only one item in v + + // - but now we need to go round once more to get + // v->s inspected. This looks messy, but is actually + // the optimal approach. + + if (first_key_inspected) break; + first_key_inspected = true; + } + } + do { + var w = v[i]; + if (common_i >= w[0].length) + { + this.cursor = c + w[0].length; + if (w.length < 4) return w[2]; + var res = w[3](this); + this.cursor = c + w[0].length; + if (res) return w[2]; + } + i = w[1]; + } while (i >= 0); + return 0; + }; + + // find_among_b is for backwards processing. Same comments apply + this.find_among_b = function(v) + { + var i = 0; + var j = v.length + + var c = this.cursor; + var lb = this.limit_backward; + + var common_i = 0; + var common_j = 0; + + var first_key_inspected = false; + + while (true) + { + var k = i + ((j - i) >> 1); + var diff = 0; + var common = common_i < common_j ? common_i : common_j; + var w = v[k]; + var i2; + for (i2 = w[0].length - 1 - common; i2 >= 0; i2--) + { + if (c - common == lb) + { + diff = -1; + break; + } + diff = this.current.charCodeAt(c - 1 - common) - w[0].charCodeAt(i2); + if (diff != 0) break; + common++; + } + if (diff < 0) + { + j = k; + common_j = common; + } + else + { + i = k; + common_i = common; + } + if (j - i <= 1) + { + if (i > 0) break; + if (j == i) break; + if (first_key_inspected) break; + first_key_inspected = true; + } + } + do { + var w = v[i]; + if (common_i >= w[0].length) + { + this.cursor = c - w[0].length; + if (w.length < 4) return w[2]; + var res = w[3](this); + this.cursor = c - w[0].length; + if (res) return w[2]; + } + i = w[1]; + } while (i >= 0); + return 0; + }; + + /* to replace chars between c_bra and c_ket in this.current by the + * chars in s. + */ + this.replace_s = function(c_bra, c_ket, s) + { + var adjustment = s.length - (c_ket - c_bra); + this.current = this.current.slice(0, c_bra) + s + this.current.slice(c_ket); + this.limit += adjustment; + if (this.cursor >= c_ket) this.cursor += adjustment; + else if (this.cursor > c_bra) this.cursor = c_bra; + return adjustment; + }; + + this.slice_check = function() + { + if (this.bra < 0 || + this.bra > this.ket || + this.ket > this.limit || + this.limit > this.current.length) + { + return false; + } + return true; + }; + + this.slice_from = function(s) + { + var result = false; + if (this.slice_check()) + { + this.replace_s(this.bra, this.ket, s); + result = true; + } + return result; + }; + + this.slice_del = function() + { + return this.slice_from(""); + }; + + this.insert = function(c_bra, c_ket, s) + { + var adjustment = this.replace_s(c_bra, c_ket, s); + if (c_bra <= this.bra) this.bra += adjustment; + if (c_bra <= this.ket) this.ket += adjustment; + }; + + this.slice_to = function() + { + var result = ''; + if (this.slice_check()) + { + result = this.current.slice(this.bra, this.ket); + } + return result; + }; + + this.assign_to = function() + { + return this.current.slice(0, this.limit); + }; +}; diff --git a/docs/build/html/_static/basic.css b/docs/build/html/_static/basic.css new file mode 100644 index 0000000..f316efc --- /dev/null +++ b/docs/build/html/_static/basic.css @@ -0,0 +1,925 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: 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--- /dev/null +++ b/docs/build/html/_static/doctools.js @@ -0,0 +1,156 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Base JavaScript utilities for all Sphinx HTML documentation. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ +"use strict"; + +const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([ + "TEXTAREA", + "INPUT", + "SELECT", + "BUTTON", +]); + +const _ready = (callback) => { + if (document.readyState !== "loading") { + callback(); + } else { + document.addEventListener("DOMContentLoaded", callback); + } +}; + +/** + * Small JavaScript module for the documentation. + */ +const Documentation = { + init: () => { + Documentation.initDomainIndexTable(); + Documentation.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS: {}, + PLURAL_EXPR: (n) => (n === 1 ? 0 : 1), + LOCALE: "unknown", + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext: (string) => { + const translated = Documentation.TRANSLATIONS[string]; + switch (typeof translated) { + case "undefined": + return string; // no translation + case "string": + return translated; // translation exists + default: + return translated[0]; // (singular, plural) translation tuple exists + } + }, + + ngettext: (singular, plural, n) => { + const translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated !== "undefined") + return translated[Documentation.PLURAL_EXPR(n)]; + return n === 1 ? singular : plural; + }, + + addTranslations: (catalog) => { + Object.assign(Documentation.TRANSLATIONS, catalog.messages); + Documentation.PLURAL_EXPR = new Function( + "n", + `return (${catalog.plural_expr})` + ); + Documentation.LOCALE = catalog.locale; + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar: () => { + document.querySelectorAll("input[name=q]")[0]?.focus(); + }, + + /** + * Initialise the domain index toggle buttons + */ + initDomainIndexTable: () => { + const toggler = (el) => { + const idNumber = el.id.substr(7); + const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`); + if (el.src.substr(-9) === "minus.png") { + el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`; + toggledRows.forEach((el) => (el.style.display = "none")); + } else { + el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`; + toggledRows.forEach((el) => (el.style.display = "")); + } + }; + + const togglerElements = document.querySelectorAll("img.toggler"); + togglerElements.forEach((el) => + el.addEventListener("click", (event) => toggler(event.currentTarget)) + ); + togglerElements.forEach((el) => (el.style.display = "")); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler); + }, + + initOnKeyListeners: () => { + // only install a listener if it is really needed + if ( + !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS + ) + return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.altKey || event.ctrlKey || event.metaKey) return; + + if (!event.shiftKey) { + switch (event.key) { + case "ArrowLeft": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const prevLink = document.querySelector('link[rel="prev"]'); + if (prevLink && prevLink.href) { + window.location.href = prevLink.href; + event.preventDefault(); + } + break; + case "ArrowRight": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const nextLink = document.querySelector('link[rel="next"]'); + if (nextLink && nextLink.href) { + window.location.href = nextLink.href; + event.preventDefault(); + } + break; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case "/": + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break; + Documentation.focusSearchBar(); + event.preventDefault(); + } + }); + }, +}; + +// quick alias for translations +const _ = Documentation.gettext; + +_ready(Documentation.init); diff --git a/docs/build/html/_static/documentation_options.js b/docs/build/html/_static/documentation_options.js new file mode 100644 index 0000000..2f3aa1b --- /dev/null +++ b/docs/build/html/_static/documentation_options.js @@ -0,0 +1,13 @@ +const DOCUMENTATION_OPTIONS = { + VERSION: '', + LANGUAGE: 'fr', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/docs/build/html/_static/file.png b/docs/build/html/_static/file.png new file mode 100644 index 0000000..a858a41 Binary files /dev/null and b/docs/build/html/_static/file.png differ diff --git a/docs/build/html/_static/french-stemmer.js b/docs/build/html/_static/french-stemmer.js new file mode 100644 index 0000000..c970831 --- /dev/null +++ b/docs/build/html/_static/french-stemmer.js @@ -0,0 +1,1325 @@ +// Generated by Snowball 2.1.0 - https://snowballstem.org/ + +/**@constructor*/ +FrenchStemmer = function() { + var base = new BaseStemmer(); + /** @const */ var a_0 = [ + ["col", -1, -1], + ["par", -1, -1], + ["tap", -1, -1] + ]; + + /** @const */ var a_1 = [ + ["", -1, 7], + ["H", 0, 6], + ["He", 1, 4], + ["Hi", 1, 5], + ["I", 0, 1], + ["U", 0, 2], + ["Y", 0, 3] + ]; + + /** @const */ var a_2 = [ + ["iqU", -1, 3], + ["abl", -1, 3], + ["I\u00E8r", -1, 4], + ["i\u00E8r", -1, 4], + ["eus", -1, 2], + ["iv", -1, 1] + ]; + + /** @const */ var a_3 = [ + ["ic", -1, 2], + ["abil", -1, 1], + ["iv", -1, 3] + ]; + + /** @const */ var a_4 = [ + ["iqUe", -1, 1], + ["atrice", -1, 2], + ["ance", -1, 1], + ["ence", -1, 5], + ["logie", -1, 3], + ["able", -1, 1], + ["isme", -1, 1], + ["euse", -1, 11], + ["iste", -1, 1], + ["ive", -1, 8], + ["if", -1, 8], + ["usion", -1, 4], + ["ation", -1, 2], + ["ution", -1, 4], + ["ateur", -1, 2], + ["iqUes", -1, 1], + ["atrices", -1, 2], + ["ances", -1, 1], + ["ences", -1, 5], + ["logies", -1, 3], + ["ables", -1, 1], + ["ismes", -1, 1], + ["euses", -1, 11], + ["istes", -1, 1], + ["ives", -1, 8], + ["ifs", -1, 8], + ["usions", -1, 4], + ["ations", -1, 2], + ["utions", -1, 4], + ["ateurs", -1, 2], + ["ments", -1, 15], + ["ements", 30, 6], + ["issements", 31, 12], + ["it\u00E9s", -1, 7], + ["ment", -1, 15], + ["ement", 34, 6], + ["issement", 35, 12], + ["amment", 34, 13], + ["emment", 34, 14], + ["aux", -1, 10], + ["eaux", 39, 9], + ["eux", -1, 1], + ["it\u00E9", -1, 7] + ]; + + /** @const */ var a_5 = [ + ["ira", -1, 1], + ["ie", -1, 1], + ["isse", -1, 1], + ["issante", -1, 1], + ["i", -1, 1], + ["irai", 4, 1], + ["ir", -1, 1], + ["iras", -1, 1], + ["ies", -1, 1], + ["\u00EEmes", -1, 1], + ["isses", -1, 1], + ["issantes", -1, 1], + ["\u00EEtes", -1, 1], + ["is", -1, 1], + ["irais", 13, 1], + ["issais", 13, 1], + ["irions", -1, 1], + ["issions", -1, 1], + ["irons", -1, 1], + ["issons", -1, 1], + ["issants", -1, 1], + ["it", -1, 1], + ["irait", 21, 1], + ["issait", 21, 1], + ["issant", -1, 1], + ["iraIent", -1, 1], + ["issaIent", -1, 1], + ["irent", -1, 1], + ["issent", -1, 1], + ["iront", -1, 1], + ["\u00EEt", -1, 1], + ["iriez", -1, 1], + ["issiez", -1, 1], + ["irez", -1, 1], + ["issez", -1, 1] + ]; + + /** @const */ var a_6 = [ + ["a", -1, 3], + ["era", 0, 2], + ["asse", -1, 3], + ["ante", -1, 3], + ["\u00E9e", -1, 2], + ["ai", -1, 3], + ["erai", 5, 2], + ["er", -1, 2], + ["as", -1, 3], + ["eras", 8, 2], + ["\u00E2mes", -1, 3], + ["asses", -1, 3], + ["antes", -1, 3], + ["\u00E2tes", -1, 3], + ["\u00E9es", -1, 2], + ["ais", -1, 3], + ["erais", 15, 2], + ["ions", -1, 1], + ["erions", 17, 2], + ["assions", 17, 3], + ["erons", -1, 2], + ["ants", -1, 3], + ["\u00E9s", -1, 2], + ["ait", -1, 3], + ["erait", 23, 2], + ["ant", -1, 3], + ["aIent", -1, 3], + ["eraIent", 26, 2], + ["\u00E8rent", -1, 2], + ["assent", -1, 3], + ["eront", -1, 2], + ["\u00E2t", -1, 3], + ["ez", -1, 2], + ["iez", 32, 2], + ["eriez", 33, 2], + ["assiez", 33, 3], + ["erez", 32, 2], + ["\u00E9", -1, 2] + ]; + + /** @const */ var a_7 = [ + ["e", -1, 3], + ["I\u00E8re", 0, 2], + ["i\u00E8re", 0, 2], + ["ion", -1, 1], + ["Ier", -1, 2], + ["ier", -1, 2] + ]; + + /** @const */ var a_8 = [ + ["ell", -1, -1], + ["eill", -1, -1], + ["enn", -1, -1], + ["onn", -1, -1], + ["ett", -1, -1] + ]; + + /** @const */ var /** Array */ g_v = [17, 65, 16, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 130, 103, 8, 5]; + + /** @const */ var /** Array */ g_keep_with_s = [1, 65, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128]; + + var /** number */ I_p2 = 0; + var /** number */ I_p1 = 0; + var /** number */ I_pV = 0; + + + /** @return {boolean} */ + function r_prelude() { + while(true) + { + var /** number */ v_1 = base.cursor; + lab0: { + golab1: while(true) + { + var /** number */ v_2 = base.cursor; + lab2: { + lab3: { + var /** number */ v_3 = base.cursor; + lab4: { + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab4; + } + base.bra = base.cursor; + lab5: { + var /** number */ v_4 = base.cursor; + lab6: { + if (!(base.eq_s("u"))) + { + break lab6; + } + base.ket = base.cursor; + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab6; + } + if (!base.slice_from("U")) + { + return false; + } + break lab5; + } + base.cursor = v_4; + lab7: { + if (!(base.eq_s("i"))) + { + break lab7; + } + base.ket = base.cursor; + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab7; + } + if (!base.slice_from("I")) + { + return false; + } + break lab5; + } + base.cursor = v_4; + if (!(base.eq_s("y"))) + { + break lab4; + } + base.ket = base.cursor; + if (!base.slice_from("Y")) + { + return false; + } + } + break lab3; + } + base.cursor = v_3; + lab8: { + base.bra = base.cursor; + if (!(base.eq_s("\u00EB"))) + { + break lab8; + } + base.ket = base.cursor; + if (!base.slice_from("He")) + { + return false; + } + break lab3; + } + base.cursor = v_3; + lab9: { + base.bra = base.cursor; + if (!(base.eq_s("\u00EF"))) + { + break lab9; + } + base.ket = base.cursor; + if (!base.slice_from("Hi")) + { + return false; + } + break lab3; + } + base.cursor = v_3; + lab10: { + base.bra = base.cursor; + if (!(base.eq_s("y"))) + { + break lab10; + } + base.ket = base.cursor; + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab10; + } + if (!base.slice_from("Y")) + { + return false; + } + break lab3; + } + base.cursor = v_3; + if (!(base.eq_s("q"))) + { + break lab2; + } + base.bra = base.cursor; + if (!(base.eq_s("u"))) + { + break lab2; + } + base.ket = base.cursor; + if (!base.slice_from("U")) + { + return false; + } + } + base.cursor = v_2; + break golab1; + } + base.cursor = v_2; + if (base.cursor >= base.limit) + { + break lab0; + } + base.cursor++; + } + continue; + } + base.cursor = v_1; + break; + } + return true; + }; + + /** @return {boolean} */ + function r_mark_regions() { + I_pV = base.limit; + I_p1 = base.limit; + I_p2 = base.limit; + var /** number */ v_1 = base.cursor; + lab0: { + lab1: { + var /** number */ v_2 = base.cursor; + lab2: { + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab2; + } + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab2; + } + if (base.cursor >= base.limit) + { + break lab2; + } + base.cursor++; + break lab1; + } + base.cursor = v_2; + lab3: { + if (base.find_among(a_0) == 0) + { + break lab3; + } + break lab1; + } + base.cursor = v_2; + if (base.cursor >= base.limit) + { + break lab0; + } + base.cursor++; + golab4: while(true) + { + lab5: { + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab5; + } + break golab4; + } + if (base.cursor >= base.limit) + { + break lab0; + } + base.cursor++; + } + } + I_pV = base.cursor; + } + base.cursor = v_1; + var /** number */ v_4 = base.cursor; + lab6: { + golab7: while(true) + { + lab8: { + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab8; + } + break golab7; + } + if (base.cursor >= base.limit) + { + break lab6; + } + base.cursor++; + } + golab9: while(true) + { + lab10: { + if (!(base.out_grouping(g_v, 97, 251))) + { + break lab10; + } + break golab9; + } + if (base.cursor >= base.limit) + { + break lab6; + } + base.cursor++; + } + I_p1 = base.cursor; + golab11: while(true) + { + lab12: { + if (!(base.in_grouping(g_v, 97, 251))) + { + break lab12; + } + break golab11; + } + if (base.cursor >= base.limit) + { + break lab6; + } + base.cursor++; + } + golab13: while(true) + { + lab14: { + if (!(base.out_grouping(g_v, 97, 251))) + { + break lab14; + } + break golab13; + } + if (base.cursor >= base.limit) + { + break lab6; + } + base.cursor++; + } + I_p2 = base.cursor; + } + base.cursor = v_4; + return true; + }; + + /** @return {boolean} */ + function r_postlude() { + var /** number */ among_var; + while(true) + { + var /** number */ v_1 = base.cursor; + lab0: { + base.bra = base.cursor; + among_var = base.find_among(a_1); + if (among_var == 0) + { + break lab0; + } + base.ket = base.cursor; + switch (among_var) { + case 1: + if (!base.slice_from("i")) + { + return false; + } + break; + case 2: + if (!base.slice_from("u")) + { + return false; + } + break; + case 3: + if (!base.slice_from("y")) + { + return false; + } + break; + case 4: + if (!base.slice_from("\u00EB")) + { + return false; + } + break; + case 5: + if (!base.slice_from("\u00EF")) + { + return false; + } + break; + case 6: + if (!base.slice_del()) + { + return false; + } + break; + case 7: + if (base.cursor >= base.limit) + { + break lab0; + } + base.cursor++; + break; + } + continue; + } + base.cursor = v_1; + break; + } + return true; + }; + + /** @return {boolean} */ + function r_RV() { + if (!(I_pV <= base.cursor)) + { + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_R1() { + if (!(I_p1 <= base.cursor)) + { + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_R2() { + if (!(I_p2 <= base.cursor)) + { + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_standard_suffix() { + var /** number */ among_var; + base.ket = base.cursor; + among_var = base.find_among_b(a_4); + if (among_var == 0) + { + return false; + } + base.bra = base.cursor; + switch (among_var) { + case 1: + if (!r_R2()) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + break; + case 2: + if (!r_R2()) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + var /** number */ v_1 = base.limit - base.cursor; + lab0: { + base.ket = base.cursor; + if (!(base.eq_s_b("ic"))) + { + base.cursor = base.limit - v_1; + break lab0; + } + base.bra = base.cursor; + lab1: { + var /** number */ v_2 = base.limit - base.cursor; + lab2: { + if (!r_R2()) + { + break lab2; + } + if (!base.slice_del()) + { + return false; + } + break lab1; + } + base.cursor = base.limit - v_2; + if (!base.slice_from("iqU")) + { + return false; + } + } + } + break; + case 3: + if (!r_R2()) + { + return false; + } + if (!base.slice_from("log")) + { + return false; + } + break; + case 4: + if (!r_R2()) + { + return false; + } + if (!base.slice_from("u")) + { + return false; + } + break; + case 5: + if (!r_R2()) + { + return false; + } + if (!base.slice_from("ent")) + { + return false; + } + break; + case 6: + if (!r_RV()) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + var /** number */ v_3 = base.limit - base.cursor; + lab3: { + base.ket = base.cursor; + among_var = base.find_among_b(a_2); + if (among_var == 0) + { + base.cursor = base.limit - v_3; + break lab3; + } + base.bra = base.cursor; + switch (among_var) { + case 1: + if (!r_R2()) + { + base.cursor = base.limit - v_3; + break lab3; + } + if (!base.slice_del()) + { + return false; + } + base.ket = base.cursor; + if (!(base.eq_s_b("at"))) + { + base.cursor = base.limit - v_3; + break lab3; + } + base.bra = base.cursor; + if (!r_R2()) + { + base.cursor = base.limit - v_3; + break lab3; + } + if (!base.slice_del()) + { + return false; + } + break; + case 2: + lab4: { + var /** number */ v_4 = base.limit - base.cursor; + lab5: { + if (!r_R2()) + { + break lab5; + } + if (!base.slice_del()) + { + return false; + } + break lab4; + } + base.cursor = base.limit - v_4; + if (!r_R1()) + { + base.cursor = base.limit - v_3; + break lab3; + } + if (!base.slice_from("eux")) + { + return false; + } + } + break; + case 3: + if (!r_R2()) + { + base.cursor = base.limit - v_3; + break lab3; + } + if (!base.slice_del()) + { + return false; + } + break; + case 4: + if (!r_RV()) + { + base.cursor = base.limit - v_3; + break lab3; + } + if (!base.slice_from("i")) + { + return false; + } + break; + } + } + break; + case 7: + if (!r_R2()) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + var /** number */ v_5 = base.limit - base.cursor; + lab6: { + base.ket = base.cursor; + among_var = base.find_among_b(a_3); + if (among_var == 0) + { + base.cursor = base.limit - v_5; + break lab6; + } + base.bra = base.cursor; + switch (among_var) { + case 1: + lab7: { + var /** number */ v_6 = base.limit - base.cursor; + lab8: { + if (!r_R2()) + { + break lab8; + } + if (!base.slice_del()) + { + return false; + } + break lab7; + } + base.cursor = base.limit - v_6; + if (!base.slice_from("abl")) + { + return false; + } + } + break; + case 2: + lab9: { + var /** number */ v_7 = base.limit - base.cursor; + lab10: { + if (!r_R2()) + { + break lab10; + } + if (!base.slice_del()) + { + return false; + } + break lab9; + } + base.cursor = base.limit - v_7; + if (!base.slice_from("iqU")) + { + return false; + } + } + break; + case 3: + if (!r_R2()) + { + base.cursor = base.limit - v_5; + break lab6; + } + if (!base.slice_del()) + { + return false; + } + break; + } + } + break; + case 8: + if (!r_R2()) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + var /** number */ v_8 = base.limit - base.cursor; + lab11: { + base.ket = base.cursor; + if (!(base.eq_s_b("at"))) + { + base.cursor = base.limit - v_8; + break lab11; + } + base.bra = base.cursor; + if (!r_R2()) + { + base.cursor = base.limit - v_8; + break lab11; + } + if (!base.slice_del()) + { + return false; + } + base.ket = base.cursor; + if (!(base.eq_s_b("ic"))) + { + base.cursor = base.limit - v_8; + break lab11; + } + base.bra = base.cursor; + lab12: { + var /** number */ v_9 = base.limit - base.cursor; + lab13: { + if (!r_R2()) + { + break lab13; + } + if (!base.slice_del()) + { + return false; + } + break lab12; + } + base.cursor = base.limit - v_9; + if (!base.slice_from("iqU")) + { + return false; + } + } + } + break; + case 9: + if (!base.slice_from("eau")) + { + return false; + } + break; + case 10: + if (!r_R1()) + { + return false; + } + if (!base.slice_from("al")) + { + return false; + } + break; + case 11: + lab14: { + var /** number */ v_10 = base.limit - base.cursor; + lab15: { + if (!r_R2()) + { + break lab15; + } + if (!base.slice_del()) + { + return false; + } + break lab14; + } + base.cursor = base.limit - v_10; + if (!r_R1()) + { + return false; + } + if (!base.slice_from("eux")) + { + return false; + } + } + break; + case 12: + if (!r_R1()) + { + return false; + } + if (!(base.out_grouping_b(g_v, 97, 251))) + { + return false; + } + if (!base.slice_del()) + { + return false; + } + break; + case 13: + if (!r_RV()) + { + return false; + } + if (!base.slice_from("ant")) + { + return false; + } + return false; + case 14: + if (!r_RV()) + { + return false; + } + if (!base.slice_from("ent")) + { + return false; + } + return false; + case 15: + var /** number */ v_11 = base.limit - base.cursor; + if (!(base.in_grouping_b(g_v, 97, 251))) + { + return false; + } + if (!r_RV()) + { + return false; + } + base.cursor = base.limit - v_11; + if (!base.slice_del()) + { + return false; + } + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_i_verb_suffix() { + if (base.cursor < I_pV) + { + return false; + } + var /** number */ v_2 = base.limit_backward; + base.limit_backward = I_pV; + base.ket = base.cursor; + if (base.find_among_b(a_5) == 0) + { + base.limit_backward = v_2; + return false; + } + base.bra = base.cursor; + { + var /** number */ v_3 = base.limit - base.cursor; + lab0: { + if (!(base.eq_s_b("H"))) + { + break lab0; + } + base.limit_backward = v_2; + return false; + } + base.cursor = base.limit - v_3; + } + if (!(base.out_grouping_b(g_v, 97, 251))) + { + base.limit_backward = v_2; + return false; + } + if (!base.slice_del()) + { + return false; + } + base.limit_backward = v_2; + return true; + }; + + /** @return {boolean} */ + function r_verb_suffix() { + var /** number */ among_var; + if (base.cursor < I_pV) + { + return false; + } + var /** number */ v_2 = base.limit_backward; + base.limit_backward = I_pV; + base.ket = base.cursor; + among_var = base.find_among_b(a_6); + if (among_var == 0) + { + base.limit_backward = v_2; + return false; + } + base.bra = base.cursor; + switch (among_var) { + case 1: + if (!r_R2()) + { + base.limit_backward = v_2; + return false; + } + if (!base.slice_del()) + { + return false; + } + break; + case 2: + if (!base.slice_del()) + { + return false; + } + break; + case 3: + if (!base.slice_del()) + { + return false; + } + var /** number */ v_3 = base.limit - base.cursor; + lab0: { + base.ket = base.cursor; + if (!(base.eq_s_b("e"))) + { + base.cursor = base.limit - v_3; + break lab0; + } + base.bra = base.cursor; + if (!base.slice_del()) + { + return false; + } + } + break; + } + base.limit_backward = v_2; + return true; + }; + + /** @return {boolean} */ + function r_residual_suffix() { + var /** number */ among_var; + var /** number */ v_1 = base.limit - base.cursor; + lab0: { + base.ket = base.cursor; + if (!(base.eq_s_b("s"))) + { + base.cursor = base.limit - v_1; + break lab0; + } + base.bra = base.cursor; + var /** number */ v_2 = base.limit - base.cursor; + lab1: { + var /** number */ v_3 = base.limit - base.cursor; + lab2: { + if (!(base.eq_s_b("Hi"))) + { + break lab2; + } + break lab1; + } + base.cursor = base.limit - v_3; + if (!(base.out_grouping_b(g_keep_with_s, 97, 232))) + { + base.cursor = base.limit - v_1; + break lab0; + } + } + base.cursor = base.limit - v_2; + if (!base.slice_del()) + { + return false; + } + } + if (base.cursor < I_pV) + { + return false; + } + var /** number */ v_5 = base.limit_backward; + base.limit_backward = I_pV; + base.ket = base.cursor; + among_var = base.find_among_b(a_7); + if (among_var == 0) + { + base.limit_backward = v_5; + return false; + } + base.bra = base.cursor; + switch (among_var) { + case 1: + if (!r_R2()) + { + base.limit_backward = v_5; + return false; + } + lab3: { + var /** number */ v_6 = base.limit - base.cursor; + lab4: { + if (!(base.eq_s_b("s"))) + { + break lab4; + } + break lab3; + } + base.cursor = base.limit - v_6; + if (!(base.eq_s_b("t"))) + { + base.limit_backward = v_5; + return false; + } + } + if (!base.slice_del()) + { + return false; + } + break; + case 2: + if (!base.slice_from("i")) + { + return false; + } + break; + case 3: + if (!base.slice_del()) + { + return false; + } + break; + } + base.limit_backward = v_5; + return true; + }; + + /** @return {boolean} */ + function r_un_double() { + var /** number */ v_1 = base.limit - base.cursor; + if (base.find_among_b(a_8) == 0) + { + return false; + } + base.cursor = base.limit - v_1; + base.ket = base.cursor; + if (base.cursor <= base.limit_backward) + { + return false; + } + base.cursor--; + base.bra = base.cursor; + if (!base.slice_del()) + { + return false; + } + return true; + }; + + /** @return {boolean} */ + function r_un_accent() { + { + var v_1 = 1; + while(true) + { + lab0: { + if (!(base.out_grouping_b(g_v, 97, 251))) + { + break lab0; + } + v_1--; + continue; + } + break; + } + if (v_1 > 0) + { + return false; + } + } + base.ket = base.cursor; + lab1: { + var /** number */ v_3 = base.limit - base.cursor; + lab2: { + if (!(base.eq_s_b("\u00E9"))) + { + break lab2; + } + break lab1; + } + base.cursor = base.limit - v_3; + if (!(base.eq_s_b("\u00E8"))) + { + return false; + } + } + base.bra = base.cursor; + if (!base.slice_from("e")) + { + return false; + } + return true; + }; + + this.stem = /** @return {boolean} */ function() { + var /** number */ v_1 = base.cursor; + r_prelude(); + base.cursor = v_1; + r_mark_regions(); + base.limit_backward = base.cursor; base.cursor = base.limit; + var /** number */ v_3 = base.limit - base.cursor; + lab0: { + lab1: { + var /** number */ v_4 = base.limit - base.cursor; + lab2: { + var /** number */ v_5 = base.limit - base.cursor; + lab3: { + var /** number */ v_6 = base.limit - base.cursor; + lab4: { + if (!r_standard_suffix()) + { + break lab4; + } + break lab3; + } + base.cursor = base.limit - v_6; + lab5: { + if (!r_i_verb_suffix()) + { + break lab5; + } + break lab3; + } + base.cursor = base.limit - v_6; + if (!r_verb_suffix()) + { + break lab2; + } + } + base.cursor = base.limit - v_5; + var /** number */ v_7 = base.limit - base.cursor; + lab6: { + base.ket = base.cursor; + lab7: { + var /** number */ v_8 = base.limit - base.cursor; + lab8: { + if (!(base.eq_s_b("Y"))) + { + break lab8; + } + base.bra = base.cursor; + if (!base.slice_from("i")) + { + return false; + } + break lab7; + } + base.cursor = base.limit - v_8; + if (!(base.eq_s_b("\u00E7"))) + { + base.cursor = base.limit - v_7; + break lab6; + } + base.bra = base.cursor; + if (!base.slice_from("c")) + { + return false; + } + } + } + break lab1; + } + base.cursor = base.limit - v_4; + if (!r_residual_suffix()) + { + break lab0; + } + } + } + base.cursor = base.limit - v_3; + var /** number */ v_9 = base.limit - base.cursor; + r_un_double(); + base.cursor = base.limit - v_9; + var /** number */ v_10 = base.limit - base.cursor; + r_un_accent(); + base.cursor = base.limit - v_10; + base.cursor = base.limit_backward; + var /** number */ v_11 = base.cursor; + r_postlude(); + base.cursor = v_11; + return true; + }; + + /**@return{string}*/ + this['stemWord'] = function(/**string*/word) { + base.setCurrent(word); + this.stem(); + return base.getCurrent(); + }; +}; diff --git a/docs/build/html/_static/jquery.js b/docs/build/html/_static/jquery.js new file mode 100644 index 0000000..c4c6022 --- /dev/null +++ b/docs/build/html/_static/jquery.js @@ -0,0 +1,2 @@ +/*! jQuery v3.6.0 | (c) OpenJS Foundation and other contributors | jquery.org/license */ +!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return 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~~~~~~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for the full-text search. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ +"use strict"; + +/** + * Simple result scoring code. + */ +if (typeof Scorer === "undefined") { + var Scorer = { + // Implement the following function to further tweak the score for each result + // The function takes a result array [docname, title, anchor, descr, score, filename] + // and returns the new score. + /* + score: result => { + const [docname, title, anchor, descr, score, filename] = result + return score + }, + */ + + // query matches the full name of an object + objNameMatch: 11, + // or matches in the last dotted part of the object name + objPartialMatch: 6, + // Additive scores depending on the priority of the object + objPrio: { + 0: 15, // used to be importantResults + 1: 5, // used to be objectResults + 2: -5, // used to be unimportantResults + }, + // Used when the priority is not in the mapping. + objPrioDefault: 0, + + // query found in title + title: 15, + partialTitle: 7, + // query found in terms + term: 5, + partialTerm: 2, + }; +} + +const _removeChildren = (element) => { + while (element && element.lastChild) element.removeChild(element.lastChild); +}; + +/** + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping + */ +const _escapeRegExp = (string) => + string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string + +const _displayItem = (item, searchTerms, highlightTerms) => { + const docBuilder = DOCUMENTATION_OPTIONS.BUILDER; + const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX; + const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX; + const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY; + const contentRoot = document.documentElement.dataset.content_root; + + const [docName, title, anchor, descr, score, _filename] = item; + + let listItem = document.createElement("li"); + let requestUrl; + let linkUrl; + if (docBuilder === "dirhtml") { + // dirhtml builder + let dirname = docName + "/"; + if (dirname.match(/\/index\/$/)) + dirname = dirname.substring(0, dirname.length - 6); + else if (dirname === "index/") dirname = ""; + requestUrl = contentRoot + dirname; + linkUrl = requestUrl; + } else { + // normal html builders + requestUrl = contentRoot + docName + docFileSuffix; + linkUrl = docName + docLinkSuffix; + } + let linkEl = listItem.appendChild(document.createElement("a")); + linkEl.href = linkUrl + anchor; + linkEl.dataset.score = score; + linkEl.innerHTML = title; + if (descr) { + listItem.appendChild(document.createElement("span")).innerHTML = + " (" + descr + ")"; + // highlight search terms in the description + if (SPHINX_HIGHLIGHT_ENABLED) // set in sphinx_highlight.js + highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted")); + } + else if (showSearchSummary) + fetch(requestUrl) + .then((responseData) => responseData.text()) + .then((data) => { + if (data) + listItem.appendChild( + Search.makeSearchSummary(data, searchTerms, anchor) + ); + // highlight search terms in the summary + if (SPHINX_HIGHLIGHT_ENABLED) // set in sphinx_highlight.js + highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted")); + }); + Search.output.appendChild(listItem); +}; +const _finishSearch = (resultCount) => { + Search.stopPulse(); + Search.title.innerText = _("Search Results"); + if (!resultCount) + Search.status.innerText = Documentation.gettext( + "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories." + ); + else + Search.status.innerText = _( + "Search finished, found ${resultCount} page(s) matching the search query." + ).replace('${resultCount}', resultCount); +}; +const _displayNextItem = ( + results, + resultCount, + searchTerms, + highlightTerms, +) => { + // results left, load the summary and display it + // this is intended to be dynamic (don't sub resultsCount) + if (results.length) { + _displayItem(results.pop(), searchTerms, highlightTerms); + setTimeout( + () => _displayNextItem(results, resultCount, searchTerms, highlightTerms), + 5 + ); + } + // search finished, update title and status message + else _finishSearch(resultCount); +}; +// Helper function used by query() to order search results. +// Each input is an array of [docname, title, anchor, descr, score, filename]. +// Order the results by score (in opposite order of appearance, since the +// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically. +const _orderResultsByScoreThenName = (a, b) => { + const leftScore = a[4]; + const rightScore = b[4]; + if (leftScore === rightScore) { + // same score: sort alphabetically + const leftTitle = a[1].toLowerCase(); + const rightTitle = b[1].toLowerCase(); + if (leftTitle === rightTitle) return 0; + return leftTitle > rightTitle ? -1 : 1; // inverted is intentional + } + return leftScore > rightScore ? 1 : -1; +}; + +/** + * Default splitQuery function. Can be overridden in ``sphinx.search`` with a + * custom function per language. + * + * The regular expression works by splitting the string on consecutive characters + * that are not Unicode letters, numbers, underscores, or emoji characters. + * This is the same as ``\W+`` in Python, preserving the surrogate pair area. + */ +if (typeof splitQuery === "undefined") { + var splitQuery = (query) => query + .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu) + .filter(term => term) // remove remaining empty strings +} + +/** + * Search Module + */ +const Search = { + _index: null, + _queued_query: null, + _pulse_status: -1, + + htmlToText: (htmlString, anchor) => { + const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html'); + for (const removalQuery of [".headerlinks", "script", "style"]) { + htmlElement.querySelectorAll(removalQuery).forEach((el) => { el.remove() }); + } + if (anchor) { + const anchorContent = htmlElement.querySelector(`[role="main"] ${anchor}`); + if (anchorContent) return anchorContent.textContent; + + console.warn( + `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.` + ); + } + + // if anchor not specified or not found, fall back to main content + const docContent = htmlElement.querySelector('[role="main"]'); + if (docContent) return docContent.textContent; + + console.warn( + "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template." + ); + return ""; + }, + + init: () => { + const query = new URLSearchParams(window.location.search).get("q"); + document + .querySelectorAll('input[name="q"]') + .forEach((el) => (el.value = query)); + if (query) Search.performSearch(query); + }, + + loadIndex: (url) => + (document.body.appendChild(document.createElement("script")).src = url), + + setIndex: (index) => { + Search._index = index; + if (Search._queued_query !== null) { + const query = Search._queued_query; + Search._queued_query = null; + Search.query(query); + } + }, + + hasIndex: () => Search._index !== null, + + deferQuery: (query) => (Search._queued_query = query), + + stopPulse: () => (Search._pulse_status = -1), + + startPulse: () => { + if (Search._pulse_status >= 0) return; + + const pulse = () => { + Search._pulse_status = (Search._pulse_status + 1) % 4; + Search.dots.innerText = ".".repeat(Search._pulse_status); + if (Search._pulse_status >= 0) window.setTimeout(pulse, 500); + }; + pulse(); + }, + + /** + * perform a search for something (or wait until index is loaded) + */ + performSearch: (query) => { + // create the required interface elements + const searchText = document.createElement("h2"); + searchText.textContent = _("Searching"); + const searchSummary = document.createElement("p"); + searchSummary.classList.add("search-summary"); + searchSummary.innerText = ""; + const searchList = document.createElement("ul"); + searchList.classList.add("search"); + + const out = document.getElementById("search-results"); + Search.title = out.appendChild(searchText); + Search.dots = Search.title.appendChild(document.createElement("span")); + Search.status = out.appendChild(searchSummary); + Search.output = out.appendChild(searchList); + + const searchProgress = document.getElementById("search-progress"); + // Some themes don't use the search progress node + if (searchProgress) { + searchProgress.innerText = _("Preparing search..."); + } + Search.startPulse(); + + // index already loaded, the browser was quick! + if (Search.hasIndex()) Search.query(query); + else Search.deferQuery(query); + }, + + _parseQuery: (query) => { + // stem the search terms and add them to the correct list + const stemmer = new Stemmer(); + const searchTerms = new Set(); + const excludedTerms = new Set(); + const highlightTerms = new Set(); + const objectTerms = new Set(splitQuery(query.toLowerCase().trim())); + splitQuery(query.trim()).forEach((queryTerm) => { + const queryTermLower = queryTerm.toLowerCase(); + + // maybe skip this "word" + // stopwords array is from language_data.js + if ( + stopwords.indexOf(queryTermLower) !== -1 || + queryTerm.match(/^\d+$/) + ) + return; + + // stem the word + let word = stemmer.stemWord(queryTermLower); + // select the correct list + if (word[0] === "-") excludedTerms.add(word.substr(1)); + else { + searchTerms.add(word); + highlightTerms.add(queryTermLower); + } + }); + + if (SPHINX_HIGHLIGHT_ENABLED) { // set in sphinx_highlight.js + localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" ")) + } + + // console.debug("SEARCH: searching for:"); + // console.info("required: ", [...searchTerms]); + // console.info("excluded: ", [...excludedTerms]); + + return [query, searchTerms, excludedTerms, highlightTerms, objectTerms]; + }, + + /** + * execute search (requires search index to be loaded) + */ + _performSearch: (query, searchTerms, excludedTerms, highlightTerms, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + const allTitles = Search._index.alltitles; + const indexEntries = Search._index.indexentries; + + // Collect multiple result groups to be sorted separately and then ordered. + // Each is an array of [docname, title, anchor, descr, score, filename]. + const normalResults = []; + const nonMainIndexResults = []; + + _removeChildren(document.getElementById("search-progress")); + + const queryLower = query.toLowerCase().trim(); + for (const [title, foundTitles] of Object.entries(allTitles)) { + if (title.toLowerCase().trim().includes(queryLower) && (queryLower.length >= title.length/2)) { + for (const [file, id] of foundTitles) { + let score = Math.round(100 * queryLower.length / title.length) + normalResults.push([ + docNames[file], + titles[file] !== title ? `${titles[file]} > ${title}` : title, + id !== null ? "#" + id : "", + null, + score, + filenames[file], + ]); + } + } + } + + // search for explicit entries in index directives + for (const [entry, foundEntries] of Object.entries(indexEntries)) { + if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) { + for (const [file, id, isMain] of foundEntries) { + const score = Math.round(100 * queryLower.length / entry.length); + const result = [ + docNames[file], + titles[file], + id ? "#" + id : "", + null, + score, + filenames[file], + ]; + if (isMain) { + normalResults.push(result); + } else { + nonMainIndexResults.push(result); + } + } + } + } + + // lookup as object + objectTerms.forEach((term) => + normalResults.push(...Search.performObjectSearch(term, objectTerms)) + ); + + // lookup as search terms in fulltext + normalResults.push(...Search.performTermsSearch(searchTerms, excludedTerms)); + + // let the scorer override scores with a custom scoring function + if (Scorer.score) { + normalResults.forEach((item) => (item[4] = Scorer.score(item))); + nonMainIndexResults.forEach((item) => (item[4] = Scorer.score(item))); + } + + // Sort each group of results by score and then alphabetically by name. + normalResults.sort(_orderResultsByScoreThenName); + nonMainIndexResults.sort(_orderResultsByScoreThenName); + + // Combine the result groups in (reverse) order. + // Non-main index entries are typically arbitrary cross-references, + // so display them after other results. + let results = [...nonMainIndexResults, ...normalResults]; + + // remove duplicate search results + // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept + let seen = new Set(); + results = results.reverse().reduce((acc, result) => { + let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(','); + if (!seen.has(resultStr)) { + acc.push(result); + seen.add(resultStr); + } + return acc; + }, []); + + return results.reverse(); + }, + + query: (query) => { + const [searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms] = Search._parseQuery(query); + const results = Search._performSearch(searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms); + + // for debugging + //Search.lastresults = results.slice(); // a copy + // console.info("search results:", Search.lastresults); + + // print the results + _displayNextItem(results, results.length, searchTerms, highlightTerms); + }, + + /** + * search for object names + */ + performObjectSearch: (object, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const objects = Search._index.objects; + const objNames = Search._index.objnames; + const titles = Search._index.titles; + + const results = []; + + const objectSearchCallback = (prefix, match) => { + const name = match[4] + const fullname = (prefix ? prefix + "." : "") + name; + const fullnameLower = fullname.toLowerCase(); + if (fullnameLower.indexOf(object) < 0) return; + + let score = 0; + const parts = fullnameLower.split("."); + + // check for different match types: exact matches of full name or + // "last name" (i.e. last dotted part) + if (fullnameLower === object || parts.slice(-1)[0] === object) + score += Scorer.objNameMatch; + else if (parts.slice(-1)[0].indexOf(object) > -1) + score += Scorer.objPartialMatch; // matches in last name + + const objName = objNames[match[1]][2]; + const title = titles[match[0]]; + + // If more than one term searched for, we require other words to be + // found in the name/title/description + const otherTerms = new Set(objectTerms); + otherTerms.delete(object); + if (otherTerms.size > 0) { + const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase(); + if ( + [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0) + ) + return; + } + + let anchor = match[3]; + if (anchor === "") anchor = fullname; + else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname; + + const descr = objName + _(", in ") + title; + + // add custom score for some objects according to scorer + if (Scorer.objPrio.hasOwnProperty(match[2])) + score += Scorer.objPrio[match[2]]; + else score += Scorer.objPrioDefault; + + results.push([ + docNames[match[0]], + fullname, + "#" + anchor, + descr, + score, + filenames[match[0]], + ]); + }; + Object.keys(objects).forEach((prefix) => + objects[prefix].forEach((array) => + objectSearchCallback(prefix, array) + ) + ); + return results; + }, + + /** + * search for full-text terms in the index + */ + performTermsSearch: (searchTerms, excludedTerms) => { + // prepare search + const terms = Search._index.terms; + const titleTerms = Search._index.titleterms; + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + + const scoreMap = new Map(); + const fileMap = new Map(); + + // perform the search on the required terms + searchTerms.forEach((word) => { + const files = []; + const arr = [ + { files: terms[word], score: Scorer.term }, + { files: titleTerms[word], score: Scorer.title }, + ]; + // add support for partial matches + if (word.length > 2) { + const escapedWord = _escapeRegExp(word); + if (!terms.hasOwnProperty(word)) { + Object.keys(terms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: terms[term], score: Scorer.partialTerm }); + }); + } + if (!titleTerms.hasOwnProperty(word)) { + Object.keys(titleTerms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: titleTerms[term], score: Scorer.partialTitle }); + }); + } + } + + // no match but word was a required one + if (arr.every((record) => record.files === undefined)) return; + + // found search word in contents + arr.forEach((record) => { + if (record.files === undefined) return; + + let recordFiles = record.files; + if (recordFiles.length === undefined) recordFiles = [recordFiles]; + files.push(...recordFiles); + + // set score for the word in each file + recordFiles.forEach((file) => { + if (!scoreMap.has(file)) scoreMap.set(file, {}); + scoreMap.get(file)[word] = record.score; + }); + }); + + // create the mapping + files.forEach((file) => { + if (!fileMap.has(file)) fileMap.set(file, [word]); + else if (fileMap.get(file).indexOf(word) === -1) fileMap.get(file).push(word); + }); + }); + + // now check if the files don't contain excluded terms + const results = []; + for (const [file, wordList] of fileMap) { + // check if all requirements are matched + + // as search terms with length < 3 are discarded + const filteredTermCount = [...searchTerms].filter( + (term) => term.length > 2 + ).length; + if ( + wordList.length !== searchTerms.size && + wordList.length !== filteredTermCount + ) + continue; + + // ensure that none of the excluded terms is in the search result + if ( + [...excludedTerms].some( + (term) => + terms[term] === file || + titleTerms[term] === file || + (terms[term] || []).includes(file) || + (titleTerms[term] || []).includes(file) + ) + ) + break; + + // select one (max) score for the file. + const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w])); + // add result to the result list + results.push([ + docNames[file], + titles[file], + "", + null, + score, + filenames[file], + ]); + } + return results; + }, + + /** + * helper function to return a node containing the + * search summary for a given text. keywords is a list + * of stemmed words. + */ + makeSearchSummary: (htmlText, keywords, anchor) => { + const text = Search.htmlToText(htmlText, anchor); + if (text === "") return null; + + const textLower = text.toLowerCase(); + const actualStartPosition = [...keywords] + .map((k) => textLower.indexOf(k.toLowerCase())) + .filter((i) => i > -1) + .slice(-1)[0]; + const startWithContext = Math.max(actualStartPosition - 120, 0); + + const top = startWithContext === 0 ? "" : "..."; + const tail = startWithContext + 240 < text.length ? "..." : ""; + + let summary = document.createElement("p"); + summary.classList.add("context"); + summary.textContent = top + text.substr(startWithContext, 240).trim() + tail; + + return summary; + }, +}; + +_ready(Search.init); diff --git a/docs/build/html/_static/sphinx_highlight.js b/docs/build/html/_static/sphinx_highlight.js new file mode 100644 index 0000000..8a96c69 --- /dev/null +++ b/docs/build/html/_static/sphinx_highlight.js @@ -0,0 +1,154 @@ +/* Highlighting utilities for Sphinx HTML documentation. */ +"use strict"; + +const SPHINX_HIGHLIGHT_ENABLED = true + +/** + * highlight a given string on a node by wrapping it in + * span elements with the given class name. + */ +const _highlight = (node, addItems, text, className) => { + if (node.nodeType === Node.TEXT_NODE) { + const val = node.nodeValue; + const parent = node.parentNode; + const pos = val.toLowerCase().indexOf(text); + if ( + pos >= 0 && + !parent.classList.contains(className) && + !parent.classList.contains("nohighlight") + ) { + let span; + + const closestNode = parent.closest("body, svg, foreignObject"); + const isInSVG = closestNode && closestNode.matches("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.classList.add(className); + } + + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + const rest = document.createTextNode(val.substr(pos + text.length)); + parent.insertBefore( + span, + parent.insertBefore( + rest, + node.nextSibling + ) + ); + node.nodeValue = val.substr(0, pos); + /* There may be more occurrences of search term in this node. So call this + * function recursively on the remaining fragment. + */ + _highlight(rest, addItems, text, className); + + if (isInSVG) { + const rect = document.createElementNS( + "http://www.w3.org/2000/svg", + "rect" + ); + const bbox = parent.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute("class", className); + addItems.push({ parent: parent, target: rect }); + } + } + } else if (node.matches && !node.matches("button, select, textarea")) { + node.childNodes.forEach((el) => _highlight(el, addItems, text, className)); + } +}; +const _highlightText = (thisNode, text, className) => { + let addItems = []; + _highlight(thisNode, addItems, text, className); + addItems.forEach((obj) => + obj.parent.insertAdjacentElement("beforebegin", obj.target) + ); +}; + +/** + * Small JavaScript module for the documentation. + */ +const SphinxHighlight = { + + /** + * highlight the search words provided in localstorage in the text + */ + highlightSearchWords: () => { + if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight + + // get and clear terms from localstorage + const url = new URL(window.location); + const highlight = + localStorage.getItem("sphinx_highlight_terms") + || url.searchParams.get("highlight") + || ""; + localStorage.removeItem("sphinx_highlight_terms") + url.searchParams.delete("highlight"); + window.history.replaceState({}, "", url); + + // get individual terms from highlight string + const terms = highlight.toLowerCase().split(/\s+/).filter(x => x); + if (terms.length === 0) return; // nothing to do + + // There should never be more than one element matching "div.body" + const divBody = document.querySelectorAll("div.body"); + const body = divBody.length ? divBody[0] : document.querySelector("body"); + window.setTimeout(() => { + terms.forEach((term) => _highlightText(body, term, "highlighted")); + }, 10); + + const searchBox = document.getElementById("searchbox"); + if (searchBox === null) return; + searchBox.appendChild( + document + .createRange() + .createContextualFragment( + '

' + + '' + + _("Hide Search Matches") + + "

" + ) + ); + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords: () => { + document + .querySelectorAll("#searchbox .highlight-link") + .forEach((el) => el.remove()); + document + .querySelectorAll("span.highlighted") + .forEach((el) => el.classList.remove("highlighted")); + localStorage.removeItem("sphinx_highlight_terms") + }, + + initEscapeListener: () => { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return; + if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) { + SphinxHighlight.hideSearchWords(); + event.preventDefault(); + } + }); + }, +}; + +_ready(() => { + /* Do not call highlightSearchWords() when we are on the search page. + * It will highlight words from the *previous* search query. + */ + if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords(); + SphinxHighlight.initEscapeListener(); +}); diff --git a/docs/build/html/_static/translations.js b/docs/build/html/_static/translations.js new file mode 100644 index 0000000..5171463 --- /dev/null +++ b/docs/build/html/_static/translations.js @@ -0,0 +1,60 @@ +Documentation.addTranslations({ + "locale": "fr", + "messages": { + "%(filename)s — %(docstitle)s": "%(filename)s — %(docstitle)s", + "© %(copyright_prefix)s %(copyright)s.": "© %(copyright_prefix)s %(copyright)s.", + ", in ": ", dans ", + "About these documents": "\u00c0 propos de ces documents", + "Automatically generated list of changes in version %(version)s": "Liste auto-g\u00e9n\u00e9r\u00e9e des modifications dans la version %(version)s", + "C API changes": "Modifications de l'API C", + "Changes in Version %(version)s — %(docstitle)s": "Changements dans la version %(version)s — %(docstitle)s", + "Collapse sidebar": "R\u00e9duire la barre lat\u00e9rale", + "Complete Table of Contents": "Table des mati\u00e8res compl\u00e8te", + "Contents": "Contenu", + "Copyright": "Copyright", + "Created using Sphinx %(sphinx_version)s.": "Cr\u00e9\u00e9 en utilisant Sphinx %(sphinx_version)s.", + "Expand sidebar": "Agrandir la barre lat\u00e9rale", + "Full index on one page": "Index complet sur une seule page", + "General Index": "Index g\u00e9n\u00e9ral", + "Global Module Index": "Index g\u00e9n\u00e9ral des modules", + "Go": "Go", + "Hide Search Matches": "Cacher les r\u00e9sultats de la recherche", + "Index": "Index", + "Index – %(key)s": "Index – %(key)s", + "Index pages by letter": "Indexer les pages par lettre", + "Indices and tables:": "Index et tables :", + "Last updated on %(last_updated)s.": "Mis \u00e0 jour le %(last_updated)s.", + "Library changes": "Modifications de la biblioth\u00e8que", + "Navigation": "Navigation", + "Next topic": "Sujet suivant", + "Other changes": "Autres modifications", + "Overview": "R\u00e9sum\u00e9", + "Please activate JavaScript to enable the search\n functionality.": "Veuillez activer le JavaScript pour que la recherche fonctionne.", + "Preparing search...": "Pr\u00e9paration de la recherche...", + "Previous topic": "Sujet pr\u00e9c\u00e9dent", + "Quick search": "Recherche rapide", + "Search": "Recherche", + "Search Page": "Page de recherche", + "Search Results": "R\u00e9sultats de la recherche", + "Search finished, found ${resultCount} page(s) matching the search query.": "Recherche termin\u00e9e, ${resultCount} page(s) correspondant \u00e0 la requ\u00eate de recherche ont \u00e9t\u00e9 trouv\u00e9es.", + "Search within %(docstitle)s": "Recherchez dans %(docstitle)s", + "Searching": "Recherche en cours", + "Searching for multiple words only shows matches that contain\n all words.": "Une recherche sur plusieurs mots ne retourne que les r\u00e9sultats contenant tous les mots.", + "Show Source": "Montrer le code source", + "Table of Contents": "Table des mati\u00e8res", + "This Page": "Cette page", + "Welcome! This is": "Bienvenue ! Ceci est", + "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories.": "Votre recherche ne correspond \u00e0 aucun document. Veuillez v\u00e9rifier que les mots sont correctement orthographi\u00e9s et que vous avez s\u00e9lectionn\u00e9 assez de cat\u00e9gories.", + "all functions, classes, terms": "toutes les fonctions, classes, termes", + "can be huge": "peut \u00eatre \u00e9norme", + "last updated": "derni\u00e8re modification", + "lists all sections and subsections": "lister l'ensemble des sections et sous-sections", + "next chapter": "Chapitre suivant", + "previous chapter": "Chapitre pr\u00e9c\u00e9dent", + "quick access to all modules": "acc\u00e8s rapide \u00e0 l'ensemble des modules", + "search": "rechercher", + "search this documentation": "rechercher dans cette documentation", + "the documentation for": "la documentation pour" + }, + "plural_expr": "(n == 0 || n == 1) ? 0 : n != 0 && n % 1000000 == 0 ? 1 : 2" +}); \ No newline at end of file diff --git a/docs/build/html/genindex.html b/docs/build/html/genindex.html new file mode 100644 index 0000000..f08283b --- /dev/null +++ b/docs/build/html/genindex.html @@ -0,0 +1,105 @@ + + + + + + Index — Documentation LDR_SIMULATION + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ +
+ + +
+
+
+ +
+ +
+

© Droits d'auteur 2024, Lila IGUERNELALA.

+
+ + Compilé avec Sphinx en utilisant un + thème + fourni par Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/build/html/index.html b/docs/build/html/index.html new file mode 100644 index 0000000..e60df3b --- /dev/null +++ b/docs/build/html/index.html @@ -0,0 +1,118 @@ + + + + + + + Welcome to LDR_SIMULATION’s documentation! — Documentation LDR_SIMULATION + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Welcome to LDR_SIMULATION’s documentation!

+
+
+
+
+

Indices and tables

+ +
+ + +
+
+
+ +
+ +
+

© Droits d'auteur 2024, Lila IGUERNELALA.

+
+ + Compilé avec Sphinx en utilisant un + thème + fourni par Read the Docs. + + +
+
+
+
+
+ + + + \ No newline at end of file diff --git a/docs/build/html/objects.inv b/docs/build/html/objects.inv new file mode 100644 index 0000000..0ef5828 Binary files /dev/null and b/docs/build/html/objects.inv differ diff --git a/docs/build/html/partie_simulation.html b/docs/build/html/partie_simulation.html new file mode 100644 index 0000000..7a1d4bf --- /dev/null +++ b/docs/build/html/partie_simulation.html @@ -0,0 +1,216 @@ + + + + + + + Introduction — Documentation LDR_SIMULATION + + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction

+

Dans le cadre des travaux de recherche menés au LDR sur les plateformes embarquées, les chercheurs souhaitent mettre en place des environnements de développements et de tests plus récents et robustes pour 2 applications en particulier, dans l’ordre d’importance :

+
    +

  • La programmation embarquée, en particulier avec OS Temps Réel. +Mettre en place un environnement de dev/tests avec sondes logicielles pour le temps réel. Pour réaliser des tests de systèmes contraints, possiblement utilisant des architectures matérielles diverses (ARM, RISC-V, etc.), les chercheurs ont besoin d’un environnement clair, générant des traces analysables (quantité de mémoire utilisée, temps passé sur le processeur et lors des accès aux périphériques, décisions d’ordonnancement, etc.).

    • +

  • Simulateur pour robotique/drone. +Mettre en place un environnement de dev/tests avec, par exemple CoppeliaSim et Python/ROS, génération de scénario et récupération des données de vol et de l’environnement simulé.
    +Différents travaux sont réalisés depuis plusieurs années avec l’ONERA sur des simulations utilisant de drones. Ces travaux utilisent d’anciens simulateurs difficiles à maintenir aujourd’hui, ce qui rend complexe la reproduction de certains résultats. Plusieurs exemples existent pour des applications spécifiques, comme avec le robot Poppy et ROS.

    • +
+

La documentation de la partie « Simulation » est disponible dans le dossier LDR_Simulation

+
+
+

Simulation

+

La simulation c’est la création d’un modèle virtuel d’une machine, tout en prenant en considération l’environnement de travail et tous les autres facteurs influents. Ça nous permet de savoir si la conception peut fonctionner après la fabrication. Ça nous permet de tester différentes machines/algorithmes dans un même environnement (plusieurs drones dans un parc urbain et voir comment chaque drone navigue entre les arbres et réagit aux obstacles), et de tester une machine dans différents environnements (simuler un seul modèle de drone au-dessus d’une forêt avec des vents variables, dans un désert avec des températures élevées ou à l’intérieur de la maison).

+

Comparaison entre CoppeliaSim et GazeboSim qui sont tous deux des simulateurs de robotique mais avec des caractéristiques distinctes, L’objectif de cette comparaison est de déterminer le simulateur le plus adapté à nos besoins.

+
+

La restitution des avantages/inconvénients

+
+

Le simulateur CoppeliaSim

+ + + + + + + + + + + + + + + + + + + + +

Avantages

Inconvénients

L’installation est simple et rapide
sur Windows, une version portable est
également disponible.

L’exécution n’est pas possible via le
terminal directement sans avoir lancer
CoppeliaSim avant.

La création des scènes est simple,
la personnalisation est également
possible grâce aux script intégrés

un facteur de temps réel n’est pas très
lent que le temps réel (pour l’exemple
de BubbleRob il est de 0.99 donc 9900 fois
plus lent que le temps réel).

Interface graphique conviviale et
facile à utiliser, la création des
scènes est donc simple, la personnalisation
est possible grâce aux script intégrés

CoppeliaSim n’est pas déterministe
mais on peut le configurer pour l’être
en modifiantcertains paramètres mais ces
modifications influencent négativement sur
le comportement dans les simulations
(disparition des objets par exemple)

+
+
+

Le simulateur GazeboSim

+ + + + + + + + + + + + + + + + + + + + + + + +

Avantages

Inconvénients

L’installation et la prise en main de
la plateforme sur Linux est plus facile
à installer et à configurer

L’installation sur Windows est complexe
car des installations supplémentaires
sont nécessaires (via conda-forge,
vcpkg ou WSL)

La création d’une scène est en XML
et son exécution est dans un terminal
directement sans passer par l’interface
graphique

Windows n’est pas une plateforme officiellement
supportée par Open Robotics pour Gazebo

GazeboSim offre une personnalisation
avancée car il supporte plusieurs langages
de programmation (Python, C++)

L’installation nécessite une version
spécifique sur Linux (ubuntu 22.04) donc
manque de flexibilité

Un facteur de temps réel est beaucoup
plus rapide que le temps réel

L’interface graphique de GazeboSim
est complexe pour les débutants
(notamment pour la version classique).

Une carte graphique Nvidia avec support
CUDA est requise pour l’exécution de
certaines simulations.

+
+
+
+

Les besoins pour la simulation

+

Les besoins coté recherche et coté enseignement (rajouter le tableau et commentez le en bas)

+
    +

  • Un simulateur qui a l’interface graphique de coppeliasim mais qu’on pourra utiliser comme Gazebo, c’est-à-dire on pourra créer notre scène sur un fichier et avoir un seul dossier qui contient notre projet, on pourra lancer le projet dans un terminal sans ouvrir le simulateur avant.

    • +

  • Un simulateur facile à installer sur windows de preférence (car sur linux certaines exécutions bug)

    • +

  • Un simulateur avec un facteur temps réel qui soit proche du temps réel +Image du tableau +Après avoir tester les deux simulateurs j’ai choisi comme outil de simulation CoppeliaSim pour sa facilité et son efficacité.

    • +
+
+

Tableau récapitulatif

+

TIPS COPPELIASIM

+
    +

  • Toujours enregistrer la scène avant de lancer la simulation sinon tous les objets que vous avez rajoutés ou toutes modifications apportées seront disparus

    • +

  • Toujours arrêter la simulation en cours avant de lancer une nouvelle simulation

    • +

  • Si vous avez ouvert plusieurs scènes à la fois, arrêtez la simulation de toutes les scènes avant de lancer une nouvelle simulation

    • +

  • Si vous voulez déplacer un objet avec la main ou en tapant les coordonnées que vous souhaitez, cliquez sur ça

    • +
+
+
+
+

Application réelle

+

Créer une scène « DronePainting » qui contient deux drones (ou plus, qui sait), et faire en sorte qu’ils volent vers un mur et dessinent des points selon mes indications (ils peuvent former un rectangle par exemple), la programmation est sous Python et la visualisation est sur CoppeliaSim. +Lancer la simulation en mode stepped pour avoir une simulation déterministe et reproductible

+

Pour la simulation j’ai dans un premier temps crée une scène ou un drone se déplace vers un mur et marque deux points dans deux positions différentes : je vais expliquer comment j’ai rajouté le nozzle paint également. +Par la suite j’ai créé une autre scène ou deux drones se déplacent de la même manière tout en étant reproductible donc pour se faire, il a fallu créer une loop pour que les taches asynchrones en arrière-plan ce qui permet une exécution non bloquante.

+
+
+ + +
+
+
+ +
+ +
+

© Droits d'auteur 2024, Lila IGUERNELALA.

+
+ + Compilé avec Sphinx en utilisant un + thème + fourni par Read the Docs. + + +
+
+
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© Droits d'auteur 2024, Lila IGUERNELALA.

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+ + Compilé avec Sphinx en utilisant un + thème + fourni par Read the Docs. + + +
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+ + + + + + + + + \ No newline at end of file diff --git a/docs/build/html/searchindex.js b/docs/build/html/searchindex.js new file mode 100644 index 0000000..07dad27 --- /dev/null +++ b/docs/build/html/searchindex.js @@ -0,0 +1 @@ +Search.setIndex({"alltitles": {"Application r\u00e9elle": [[1, "application-reelle"]], "Indices and tables": [[0, "indices-and-tables"]], "Introduction": [[1, "introduction"]], "La restitution des avantages/inconv\u00e9nients": [[1, "la-restitution-des-avantages-inconvenients"]], "Le simulateur CoppeliaSim": [[1, "le-simulateur-coppeliasim"]], "Le simulateur GazeboSim": [[1, "le-simulateur-gazebosim"]], "Les besoins pour la simulation": [[1, "les-besoins-pour-la-simulation"]], "Simulation": [[1, "simulation"]], "Tableau r\u00e9capitulatif": [[1, "tableau-recapitulatif"]], "Welcome to LDR_SIMULATION\u2019s documentation!": [[0, "welcome-to-ldr-simulation-s-documentation"]]}, "docnames": ["index", "partie_simulation"], "envversion": {"sphinx": 61, 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a/docs/source/index.rst +++ b/docs/source/index.rst @@ -10,7 +10,7 @@ Welcome to LDR_SIMULATION's documentation! :maxdepth: 2 :caption: Contents: - partie_simulation + Indices and tables ================== diff --git a/docs/source/partie_simulation.md b/docs/source/partie_simulation.md index d09f8f2..5488861 100644 --- a/docs/source/partie_simulation.md +++ b/docs/source/partie_simulation.md @@ -8,4 +8,59 @@ Mettre en place un environnement de dev/tests avec sondes logicielles pour le te Mettre en place un environnement de dev/tests avec, par exemple CoppeliaSim et Python/ROS, génération de scénario et récupération des données de vol et de l’environnement simulé. Différents travaux sont réalisés depuis plusieurs années avec l’ONERA sur des simulations utilisant de drones. Ces travaux utilisent d’anciens simulateurs difficiles à maintenir aujourd’hui, ce qui rend complexe la reproduction de certains résultats. Plusieurs exemples existent pour des applications spécifiques, comme avec le robot Poppy et ROS. -La documentation de la partie "Simulation" est disponible dans le dossier LDR_Simulation \ No newline at end of file +La documentation de la partie "Simulation" est disponible dans le dossier LDR_Simulation + +# Simulation + +La simulation c’est la création d’un modèle virtuel d’une machine, tout en prenant en considération l’environnement de travail et tous les autres facteurs influents. Ça nous permet de savoir si la conception peut fonctionner après la fabrication. Ça nous permet de tester différentes machines/algorithmes dans un même environnement (plusieurs drones dans un parc urbain et voir comment chaque drone navigue entre les arbres et réagit aux obstacles), et de tester une machine dans différents environnements (simuler un seul modèle de drone au-dessus d'une forêt avec des vents variables, dans un désert avec des températures élevées ou à l’intérieur de la maison). + +Comparaison entre CoppeliaSim et GazeboSim qui sont tous deux des simulateurs de robotique mais avec des caractéristiques distinctes, L’objectif de cette comparaison est de déterminer le simulateur le plus adapté à nos besoins. + +## La restitution des avantages/inconvénients + +### Le simulateur CoppeliaSim + +| **Avantages** | **Inconvénients** | +|--- |--- | +| L'installation est simple et rapide
sur Windows, une version portable est
également disponible. | L’exécution n’est pas possible via le
terminal directement sans avoir lancer
CoppeliaSim avant. | +| La création des scènes est simple,
la personnalisation est également
possible grâce aux script intégrés | un facteur de temps réel n’est pas très
lent que le temps réel (pour l’exemple
de BubbleRob il est de 0.99 donc 9900 fois
plus lent que le temps réel). | +| Interface graphique conviviale et
facile à utiliser, la création des
scènes est donc simple, la personnalisation
est possible grâce aux script intégrés | | +| CoppeliaSim n’est pas déterministe
mais on peut le configurer pour l’être
en modifiantcertains paramètres mais ces
modifications influencent négativement sur
le comportement dans les simulations
(disparition des objets par exemple) | | + + +### Le simulateur GazeboSim + +| **Avantages** | **Inconvénients** | +|--- |--- | +| L’installation et la prise en main de
la plateforme sur Linux est plus facile
à installer et à configurer | L’installation sur Windows est complexe
car des installations supplémentaires
sont nécessaires (via conda-forge,
vcpkg ou WSL) | +| La création d’une scène est en XML
et son exécution est dans un terminal
directement sans passer par l’interface
graphique | Windows n'est pas une plateforme officiellement
supportée par Open Robotics pour Gazebo | +| GazeboSim offre une personnalisation
avancée car il supporte plusieurs langages
de programmation (Python, C++) | L’installation nécessite une version
spécifique sur Linux (ubuntu 22.04) donc
manque de flexibilité | +| Un facteur de temps réel est beaucoup
plus rapide que le temps réel | L'interface graphique de GazeboSim
est complexe pour les débutants
(notamment pour la version classique). | +| | Une carte graphique Nvidia avec support
CUDA est requise pour l’exécution de
certaines simulations. | + + +## Les besoins pour la simulation + +Les besoins coté recherche et coté enseignement (rajouter le tableau et commentez le en bas) +- Un simulateur qui a l’interface graphique de coppeliasim mais qu’on pourra utiliser comme Gazebo, c’est-à-dire on pourra créer notre scène sur un fichier et avoir un seul dossier qui contient notre projet, on pourra lancer le projet dans un terminal sans ouvrir le simulateur avant. +- Un simulateur facile à installer sur windows de preférence (car sur linux certaines exécutions bug) +- Un simulateur avec un facteur temps réel qui soit proche du temps réel +Image du tableau +Après avoir tester les deux simulateurs j’ai choisi comme outil de simulation CoppeliaSim pour sa facilité et son efficacité. + +### Tableau récapitulatif + +**TIPS COPPELIASIM** + +- Toujours enregistrer la scène avant de lancer la simulation sinon tous les objets que vous avez rajoutés ou toutes modifications apportées seront disparus +- Toujours arrêter la simulation en cours avant de lancer une nouvelle simulation +- Si vous avez ouvert plusieurs scènes à la fois, arrêtez la simulation de toutes les scènes avant de lancer une nouvelle simulation +- Si vous voulez déplacer un objet avec la main ou en tapant les coordonnées que vous souhaitez, cliquez sur ça + +## Application réelle + +Créer une scène "DronePainting" qui contient deux drones (ou plus, qui sait), et faire en sorte qu'ils volent vers un mur et dessinent des points selon mes indications (ils peuvent former un rectangle par exemple), la programmation est sous Python et la visualisation est sur CoppeliaSim. +Lancer la simulation en mode stepped pour avoir une simulation déterministe et reproductible + +Pour la simulation j’ai dans un premier temps crée une scène ou un drone se déplace vers un mur et marque deux points dans deux positions différentes : je vais expliquer comment j’ai rajouté le nozzle paint également. +Par la suite j’ai créé une autre scène ou deux drones se déplacent de la même manière tout en étant reproductible donc pour se faire, il a fallu créer une loop pour que les taches asynchrones en arrière-plan ce qui permet une exécution non bloquante.