codac-team · godardma · Oct 22, 2025 · Jan 14, 2026 · Jan 15, 2026 · Jan 19, 2026
diff --git a/.github/workflows/dockercentos.yml b/.github/workflows/dockercentos.yml
@@ -22,7 +22,7 @@ jobs:
             - { img: 'lebarsfa/manylinux_2_28_aarch64-for-codac', os: ubuntu-24.04-arm, shell: bash, arch: aarch64, bitness: 64, runtime: manylinux_2_28, docker_flags: '--platform linux/arm64', desc: 'CentOS manylinux_2_28 aarch64' }
     name: ${{ matrix.cfg.desc }}
     steps: 
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0

diff --git a/.github/workflows/dockermatrix.yml b/.github/workflows/dockermatrix.yml
@@ -29,7 +29,7 @@ jobs:
             #- { img: 'lebarsfa/pi-64:focal-for-codac'           , os: ubuntu-24.04-arm, shell: bash, arch: arm64  , bitness: 64, runtime: focal         , cmake_flags: '-fPIC', deb: true, desc: 'Ubuntu 20.04 arm64' }
             - { img: 'lebarsfa/amd64:trixie-for-codac'          , os: ubuntu-latest   , shell: bash, arch: amd64  , bitness: 64, runtime: trixie        , cmake_flags: '-fPIC', deb: true, desc: 'Debian Trixie amd64' }
             - { img: 'lebarsfa/pi-64:trixie-for-codac'          , os: ubuntu-24.04-arm, shell: bash, arch: arm64  , bitness: 64, runtime: trixie        , cmake_flags: '-fPIC', deb: true, desc: 'Debian Trixie arm64' }
-            #- { img: 'lebarsfa/pi:trixie-for-codac'             , os: ubuntu-24.04-arm, shell: bash, arch: armhf  , bitness: 32, runtime: trixie        , cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Trixie armv6hf' } # No base image available...
+            - { img: 'lebarsfa/pi:trixie-for-codac'             , os: ubuntu-24.04-arm, shell: bash, arch: armhf  , bitness: 32, runtime: trixie        , cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Trixie armv6hf' }
             - { img: 'lebarsfa/amd64:bookworm-for-codac'        , os: ubuntu-latest   , shell: bash, arch: amd64  , bitness: 64, runtime: bookworm      , cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm amd64' }
             - { img: 'lebarsfa/pi-64:bookworm-for-codac'        , os: ubuntu-24.04-arm, shell: bash, arch: arm64  , bitness: 64, runtime: bookworm      , cmake_flags: '-fPIC', deb: true, desc: 'Debian Bookworm arm64' }
             - { img: 'lebarsfa/pi:bookworm-for-codac'           , os: ubuntu-24.04-arm, shell: bash, arch: armhf  , bitness: 32, runtime: bookworm      , cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Bookworm armv6hf' }
@@ -42,7 +42,7 @@ jobs:
             #- { img: 'lebarsfa/pi:buster-for-codac'             , os: ubuntu-24.04-arm, shell: bash, arch: armhf  , bitness: 32, runtime: buster        , cmake_flags: '-fPIC', deb: true, desc: 'Raspbian Buster armv6hf' }
     name: ${{ matrix.cfg.desc }}
     steps: 
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0

diff --git a/.github/workflows/macosmatrix.yml b/.github/workflows/macosmatrix.yml
@@ -34,7 +34,7 @@ jobs:
             - { os: macos-15-intel  , shell: bash, arch: x86_64 , runtime: sequoia , cmake_flags: '-fPIC', trgt: '10.16', cpcfg: '-macosx_10_16_x86_64', py_v_maj: 3, py_v_min: 8 , desc: 'macOS Sequoia Python 3.8 x86_64' }
     name: ${{ matrix.cfg.desc }}
     steps: 
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0
@@ -54,7 +54,7 @@ jobs:
     #  if: runner.os=='macOS'
     - run: brew install catch2 # Issues with binary packages when cross-compiling...
       if: (runner.os=='macOS')&&(matrix.cfg.cross!=true)
-    - run: brew install graphviz ; brew install --formula doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects furo sphinx-math-dollar sympy
+    - run: brew install graphviz ; brew install --formula doxygen ; python -m pip install --upgrade pip ; pip install --upgrade wheel setuptools sphinx breathe sphinx_rtd_theme sphinx-tabs sphinx-issues sphinx-reredirects furo sphinx-math-dollar sphinx_togglebutton sympy
       if: runner.os=='macOS'
     - run: |
         wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20250626/ibex_${{ matrix.cfg.arch }}_${{ matrix.cfg.runtime }}.zip --no-check-certificate -nv

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -20,7 +20,7 @@ jobs:
             - { os: ubuntu-22.04    , gcc_v: 11, py_v_maj: 3, py_v_min: 10, with_capd: ON , desc: 'Ubuntu 22.04 GCC 11 Python 3.10 CAPD tests' }
     name: ${{ matrix.cfg.desc }}
     steps: 
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0

diff --git a/.github/workflows/unixmatrix.yml b/.github/workflows/unixmatrix.yml
@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     if: (github.event_name!='pull_request')&&((github.ref_name=='codac1')||(github.ref_name=='codac2')||(github.ref_name=='codac2_codac4matlab'))
     steps: 
-    - uses: softprops/action-gh-release@v2
+    - uses: softprops/action-gh-release@v3
       id: create_release
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -68,7 +68,7 @@ jobs:
             - { os: macos-14        , shell: bash, arch: x86_64 , bitness: 64, runtime: sonoma        , cmake_params: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=x86_64 -D CMAKE_OSX_DEPLOYMENT_TARGET=14.0', cmake_flags: '-fPIC', cross: true, desc: 'macOS Sonoma x86_64 (cross)' }
     name: ${{ matrix.cfg.desc }}
     steps: 
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0

diff --git a/.github/workflows/vcmatrix.yml b/.github/workflows/vcmatrix.yml
@@ -35,7 +35,7 @@ jobs:
             - { os: windows-2022    , shell: cmd , arch: x64    , runtime: vc17          , cmake_params: '-G "Visual Studio 17" -T v143 -A x64'  , cpcfg: '-win_amd64', py_v_maj: 3, py_v_min: 8 , desc: 'Windows Visual Studio 2022 x64 Python 3.8' }
     name: ${{ matrix.cfg.desc }}
     steps: 
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0
@@ -56,7 +56,7 @@ jobs:
       if: runner.os=='Windows'
     #- run: choco install -y -r --no-progress eigen --version=3.4.0.20240224 ${{ matrix.cfg.choco_flags }}
     #  if: runner.os=='Windows'
-    - run: choco install -y -r --no-progress graphviz doxygen.install & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects furo sphinx-math-dollar sympy
+    - run: choco install -y -r --no-progress graphviz doxygen.install & python -m pip install --upgrade pip & pip install --upgrade wheel setuptools sphinx breathe sphinx-issues sphinx-tabs sphinx_rtd_theme sphinx-reredirects furo sphinx-math-dollar sphinx_togglebutton sympy
       if: runner.os=='Windows'
     - run: |
         wget https://github.com/lebarsfa/ibex-lib/releases/download/ibex-2.8.9.20250626/ibex.2.8.9.20250626.nupkg --no-check-certificate -nv

diff --git a/README.md b/README.md
@@ -81,8 +81,8 @@ This list is in alphabetical order by surname.
 - [Peter Franek](http://www.cs.cas.cz/~franek)
 - [Maël Godard](https://godardma.github.io)
 - [Nuwan Herath M.](https://members.loria.fr/NHerathMudiyanselage)
-- [Luc Jaulin](https://www.ensta-bretagne.fr/jaulin)
-- [Fabrice Le Bars](https://www.ensta-bretagne.fr/lebars)
+- [Luc Jaulin](https://webperso.ensta.fr/jaulin)
+- [Fabrice Le Bars](https://webperso.ensta.fr/lebars)
 - [Morgan Louédec](https://morgan-louedec.fr)
 - [Damien Massé](https://lab-sticc.univ-brest.fr/~dmasse)
 - [Bertrand Neveu](http://imagine.enpc.fr/~neveub)
@@ -91,7 +91,7 @@ This list is in alphabetical order by surname.
 - [Simon Rohou](http://simon-rohou.fr/research)
 - [Joris Tillet](https://perso.ensta-paris.fr/~tillet/)
 - [Gilles Trombettoni](https://www.lirmm.fr/~trombetton)
-- [Christophe Viel](https://www.ensta-bretagne.fr/viel/)
+- [Christophe Viel](https://webperso.ensta.fr/viel/)
 - [Raphael Voges](https://raphael-voges.de)
 
 We appreciate all contributions, whether they are code, documentation, bug reports, or suggestions. If you believe you should be listed here and are not, please contact us to update the list.

diff --git a/doc/api/Doxyfile.in b/doc/api/Doxyfile.in
@@ -2502,7 +2502,7 @@ HIDE_UNDOC_RELATIONS   = YES
 # set to NO
 # The default value is: NO.
 
-HAVE_DOT               = YES
+HAVE_DOT               = NO
 
 # The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
 # to run in parallel. When set to 0 doxygen will base this on the number of

diff --git a/doc/manual/development/changelog.rst b/doc/manual/development/changelog.rst
@@ -3,19 +3,32 @@
 Changelog
 =========
 
-Pull Request from godardma (17/04/26)
--------------------------------------
+Upcoming version 
+****************
 
+Pull Request #379 from godardma (27/04)
+---------------------------------------
 
-Commit 52b81c8 ([cmake] warning for Doxygen version)
-----------------------------------------------------
+``Zonotope`` and ``Parallelepiped`` center is now ``c`` instead of ``z`` to avoid ambiguity.
+
+Version 2.0.2
+*************
+
+Commit ca1f6f4
+--------------
 
 set_axes change for Figure2D
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Since this PR, a bounding box can be passed to the set_axes method to specify the ranges of the x and y axes.
 The old method with ``axis(id,Interval)`` still works
 
+Version 2.0.0
+*************
+
+Commit 52b81c8 ([cmake] warning for Doxygen version)
+----------------------------------------------------
+
 Python binding build requirement
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -24,6 +37,8 @@ If this version is not available, the API documentation will not be generated,
 which may cause issues when building the Python binding from source.
 This has no impact on the C++ build nor on downloading/installing the Python packages.
 
+Pre-Release
+***********
 
 Pull Request from godardma (15/10)
 ----------------------------------

diff --git a/doc/manual/development/info_dev.rst b/doc/manual/development/info_dev.rst
@@ -8,10 +8,11 @@ Building the Manual with Sphinx
 
 To build this manual using Sphinx, follow these steps:
 
-1. **Requirements**: Install `Sphinx <https://www.sphinx-doc.org/>`_ together with the extensions used by Codac, if they are not already installed.
+1. **Requirements**: Install `Sphinx <https://www.sphinx-doc.org/>`_ together with the extensions used by Codac, if they are not already installed. You will need also the ``dot`` command from `Graphviz <https://graphviz.org/>`_.
 
    .. code-block:: bash
 
+      sudo apt-get install sphinx-common graphviz
       pip install sphinx sphinx_rtd_theme furo sphinx-math-dollar sphinx_tabs breathe sphinx_togglebutton
 
 2. **Building the manual**: After configuring the CMake project, the manual can be build with:
@@ -41,8 +42,8 @@ If you simply want to use the latest Codac release in Python, you can download t
 
       sudo apt-get install -y g++ gcc cmake git flex bison
 
-   - a supported version of Python (>=3.6).
-   - a recent `Doxygen <https://www.doxygen.nl>`_ version (for instance, release 1.13.0 or newest). On Linux systems, latest releases are not available as Debian packages, so we advice to install Doxygen from the sources:
+   - a supported version of Python (>=3.8).
+   - a recent `Doxygen <https://www.doxygen.nl>`_ version (for instance, release 1.16.1 or newest). On Linux systems, latest releases are not available as Debian packages, so we advise to install Doxygen from the sources:
 
    .. code-block:: bash
 
@@ -95,12 +96,12 @@ If you simply want to use the latest Codac release in Python, you can download t
 
       Note that you will then have to ``import codac2`` instead of ``import codac`` in your Python scripts.
 
-   In addition to the ``-fPIC`` options, you will have to configure ``WITH_PYTHON=ON`` and ``PYBIND11_FINDPYTHON=OFF``. Note that CMake will automatically get the `pybind11 <https://pybind11.readthedocs.io>`_ files required for the binding.
+   In addition to the ``-fPIC`` options, you will have to configure ``WITH_PYTHON=ON`` and ``PYBIND11_FINDPYTHON=OFF``. Note that CMake will automatically get the `pybind11 <https://pybind11.readthedocs.io>`_ files required for the binding. Also, you will have to configure ``BUILD_TESTS=ON`` if you want to run the unit tests.
 
    .. code-block:: bash
 
       mkdir build ; cd build
-      cmake -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" -DWITH_PYTHON=ON -DPYBIND11_FINDPYTHON=OFF -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH="$HOME/ibex-lib/build_install;$HOME/doxygen/build_install" -DCMAKE_BUILD_TYPE=Release ..
+      cmake -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_C_FLAGS="-fPIC" -DWITH_PYTHON=ON -DPYBIND11_FINDPYTHON=OFF -DBUILD_TESTS=ON -DCMAKE_INSTALL_PREFIX=$HOME/codac/build_install -DCMAKE_PREFIX_PATH="$HOME/ibex-lib/build_install;$HOME/doxygen/build_install" -DCMAKE_BUILD_TYPE=Release ..
       make ; make install
 
 4. **Configure your Python environment**:
@@ -135,7 +136,7 @@ If you simply want to use the latest Codac release in Python, you can download t
       cd $HOME/codac/examples/03_sivia
       python main.py
 
-   Note that before executing the example, you will have to launch the VIBes viewer.
+   Note that before executing the example, you will have to launch the `VIBes viewer <../visualization/vibes.html>`_.
    You should obtain a graphical output corresponding to a set inversion.
 
 

diff --git a/doc/manual/index.rst b/doc/manual/index.rst
@@ -255,7 +255,7 @@ User manual
       * CtcCross / CtcNoCross
    * Shape contractors
       * CtcCtcBoundary
-      * CtcWrapper
+      * :ref:`sec-ctc-shape-ctcwrapper`
       * CtcImage
       * CtcDiscreteSet
    * Temporal contractors
@@ -317,8 +317,8 @@ User manual
    * :ref:`sec-zonotope`
    * Polyhedron
 
-* :ref:`sec-actions`
-   * :ref:`sec-actions-octasym`
+* :ref:`sec-tools`
+   * :ref:`sec-tools-octasym`
 
 * :ref:`sec-ellipsoids`
    * :ref:`sec-ellipsoids-intro`

diff --git a/doc/manual/manual/contractors/index.rst b/doc/manual/manual/contractors/index.rst
@@ -10,6 +10,7 @@ Contractors, separators
   CtcDist <geometric/ctcdist>
   CtcPolar <geometric/ctcpolar>
   CtcVisible <geometric/ctcvisible>
+  CtcWrapper <shape/ctcwrapper>
 
 ..   What are contractors? <http://codac.io>
 ..   The Ctc class <http://codac.io>
@@ -109,7 +110,7 @@ Overview of contractors and separators
    * - ``CtcCtcBoundary``
      - ``SepCtcBoundary``
 
-   * - ``CtcWrapper``
+   * - :ref:`CtcWrapper <sec-ctc-shape-ctcwrapper>`
      - ``SepWrapper``
 
    * - ``CtcImage``

diff --git a/doc/manual/manual/contractors/shape/ctcwrapper.rst b/doc/manual/manual/contractors/shape/ctcwrapper.rst
@@ -0,0 +1,40 @@
+.. _sec-ctc-shape-ctcwrapper:
+
+CtcWrapper
+===============================
+
+  Main author: `Maël Godard <https://godardma.github.io/>`_
+
+The CtcWrapper is a contractor to contract a box with respect to a set represented by a Codac object.
+Currently supported objects are:
+
+- :ref:`IntervalVector <sec-intervals-intervalvector-class>`
+- :ref:`Parallelepiped <subsec-zonotope-parallelepiped>`
+- PavingOut
+
+Methods
+-------
+
+Below is an example of the use of the CtcWrapper with a Parallelepiped.
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: src.py
+      :language: py
+      :start-after: [ctcparallelepiped-1-beg]
+      :end-before: [ctcparallelepiped-1-end]
+      :dedent: 4
+
+  .. group-tab:: C++
+
+    .. literalinclude:: src.cpp
+      :language: c++
+      :start-after: [ctcparallelepiped-1-beg]
+      :end-before: [ctcparallelepiped-1-end]
+      :dedent: 4
+
+.. admonition:: Technical documentation
+
+  See the `C++ API documentation of this class <../../api/html/classcodac2_1_1_ctc_wrapper.html>`_.
diff --git a/doc/manual/manual/contractors/shape/index.rst b/doc/manual/manual/contractors/shape/index.rst
@@ -0,0 +1,9 @@
+Geometric contractors
+=====================
+
+.. toctree::
+
+   CtcCtcBoundary <http://codac.io>
+   ctcwrapper.rst
+   CtcImage <http://codac.io>
+   CtcDiscreteSet <http://codac.io>
diff --git a/doc/manual/manual/contractors/shape/src.cpp b/doc/manual/manual/contractors/shape/src.cpp
@@ -0,0 +1,32 @@
+/** 
+ *  Codac tests
+ * ----------------------------------------------------------------------------
+ *  \date       2026
+ *  \author     Maël Godard
+ *  \copyright  Copyright 2024 Codac Team
+ *  \license    GNU Lesser General Public License (LGPL)
+ */
+
+#include <catch2/catch_test_macros.hpp>
+#include <codac2_CtcWrapper.h>
+#include <codac2_Approx.h>
+
+#include <codac2_Figure2D.h>
+
+using namespace std;
+using namespace codac2;
+
+TEST_CASE("CtcWrapper - Parallelepiped - manual")
+{
+  {
+    // [ctcparallelepiped-1-beg]
+    IntervalVector x ({{0,5}, {0,5}});
+    Parallelepiped p (Vector({1.5,2.8}), Matrix({{0.5,0.4},{0,0.2}}));
+    CtcWrapper c(p);
+    c.contract(x);
+    // x = [ [0.599999, 2.40001] ; [2.59999, 3] ]
+    // [ctcparallelepiped-1-end]
+
+    CHECK(Approx(x) == IntervalVector({{0.6, 2.4}, {2.6, 3}}));
+  }
+}
diff --git a/doc/manual/manual/contractors/shape/src.py b/doc/manual/manual/contractors/shape/src.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+
+#  Codac tests
+# ----------------------------------------------------------------------------
+#  \date       2026
+#  \author     Maël Godard
+#  \copyright  Copyright 2024 Codac Team
+#  \license    GNU Lesser General Public License (LGPL)
+
+import sys, os
+import unittest
+import math
+from codac import *
+
+class TestCtcShapeManual(unittest.TestCase):
+
+  def tests_CtcWrapper_Parallelepiped_manual(test):
+
+    # [ctcparallelepiped-1-beg]
+    x = IntervalVector([[0,5], [0,5]])
+    p = Parallelepiped(Vector([1.5,2.8]), Matrix([[0.5,0.4],[0,0.2]]))
+    c = CtcWrapper_Parallelepiped(p)
+    x = c.contract(x)
+    # x = [ [0.599999, 2.40001] ; [2.59999, 3] ]
+    # [ctcparallelepiped-1-end]
+
+    test.assertTrue(Approx(x) == IntervalVector([[0.6, 2.4], [2.6, 3]]))
+
+if __name__ ==  '__main__':
+  unittest.main()