The Codac Library

A Catalog of Domains and Contractors

Abstract

Codac (Catalog Of Domains And Contractors) is a C++/Python library providing tools for constraint programming over reals, trajectories and sets. It has many applications in parameter estimation, guaranteed integration or robot localization and provides reliable outputs by computing sets of feasible solutions according to the constraints defining the problem. This paper provides a brief overview of the library and its Contractor Network approach, illustrated on a convincing robotic application.