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pre-commit-ci[bot] · pre-commit-ci[bot] · Guilhem Saurel · Guilhem Saurel · Guilhem Saurel · Guilhem Saurel
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
+name: "CI - Nix"
+
+on:
+  push:
+
+jobs:
+  tests:
+    name: "Nix build on ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
-include: http://rainboard.laas.fr/project/hpp-centroidal-dynamics/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/hpp-centroidal-dynamics/.gitlab-ci.yml
--- a/.mergify.yml
+++ b/.mergify.yml
+pull_request_rules:
+  - name: merge automatically when CI passes and PR is approved
+    conditions:
+      - check-success = "gitlab-ci"
+      - check-success = "Nix build on ubuntu"
+      - check-success = "pre-commit.ci - pr"
+      - or:
+        - author = pre-commit-ci[bot]
+        - author = dependabot[bot]
+    actions:
+      merge:
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
 ci:
-    autoupdate_branch: 'devel'
+  autoupdate_branch: devel
 repos:
-   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.6
-    hooks:
-    -   id: clang-format
-        args: [--style=Google]
-   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: check-added-large-files
-    -   id: check-ast
-    -   id: check-executables-have-shebangs
-    -   id: check-json
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-toml
-    -   id: check-yaml
-    -   id: debug-statements
-    -   id: destroyed-symlinks
-    -   id: detect-private-key
-    -   id: end-of-file-fixer
-    -   id: fix-byte-order-marker
-    -   id: mixed-line-ending
-    -   id: trailing-whitespace
-   repo: https://github.com/psf/black
-    rev: 22.12.0
-    hooks:
-    -   id: black
-   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
-    hooks:
-    -   id: flake8
-   repo: https://github.com/cheshirekow/cmake-format-precommit
-    rev: v0.6.13
-    hooks:
-    - id: cmake-format
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.8.1
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+  - id: ruff-format
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.24.2
+  hooks:
+  - id: toml-sort-fix
+    exclude: poetry.lock
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v19.1.4
+  hooks:
+  - id: clang-format
+    args:
+    - --style=Google
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v5.0.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-executables-have-shebangs
+  - id: check-json
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
+  - id: debug-statements
+  - id: destroyed-symlinks
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.10)

 # Project properties
 set(PROJECT_NAME hpp-centroidal-dynamics)
@@ -8,15 +8,46 @@ set(PROJECT_DESCRIPTION

 # Project options
 option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+option(BUILD_WITH_CLP "Build the python bindings" OFF)

 # Project configuration
 set(PROJECT_USE_CMAKE_EXPORT TRUE)
 set(CUSTOM_HEADER_DIR "hpp/centroidal-dynamics")
 set(CXX_DISABLE_WERROR TRUE)

-# JRL-cmakemodule setup
-include(cmake/hpp.cmake)
-include(cmake/boost.cmake)
+# Check if the submodule cmake have been initialized
+set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
+if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+else()
+  find_package(jrl-cmakemodules QUIET CONFIG)
+  if(jrl-cmakemodules_FOUND)
+    get_property(
+      JRL_CMAKE_MODULES
+      TARGET jrl-cmakemodules::jrl-cmakemodules
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+    message(
+      FATAL_ERROR
+        "\nCan't find jrl-cmakemodules. Please either:\n"
+        "  - use git submodule: 'git submodule update --init'\n"
+        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
+    )
+  else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+  endif()
+endif()
+
+include("${JRL_CMAKE_MODULES}/hpp.cmake")
+include("${JRL_CMAKE_MODULES}/boost.cmake")

 # Project definition
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
@@ -29,24 +60,24 @@ endif(BUILD_PYTHON_INTERFACE)

 # Project dependencies
 add_project_dependency(Eigen3 REQUIRED)
+add_project_dependency(Boost REQUIRED)

 set(CMAKE_MODULE_PATH
-    ${PROJECT_SOURCE_DIR}/cmake/find-external/CDD
-    ${PROJECT_SOURCE_DIR}/cmake/find-external/CLP
-    ${PROJECT_SOURCE_DIR}/cmake/find-external/qpOASES)
-
-find_package(CDD REQUIRED)
-find_package(qpOASES REQUIRED)
-find_package(CLP)
-
-if("${CLP_LIBRARY}" STREQUAL "CLP_LIBRARY-NOTFOUND")
-  message(
-    STATUS
-      "CLP_LIBRARY equal to CLP_LIBRARY-NOTFOUND so I assume CLP was not found "
-  )
-else()
-  message(STATUS "CLP library found, defining macro CLP_FOUND")
+    ${JRL_CMAKE_MODULES}/find-external/CDD
+    ${JRL_CMAKE_MODULES}/find-external/CLP
+    ${JRL_CMAKE_MODULES}/find-external/CoinUtils
+    ${JRL_CMAKE_MODULES}/find-external/qpOASES)
+
+add_project_dependency(CDD REQUIRED FIND_EXTERNAL CDD)
+add_project_dependency(qpOASES REQUIRED FIND_EXTERNAL qpOASES)
+
+if(BUILD_WITH_CLP)
+  add_project_dependency(CLP REQUIRED FIND_EXTERNAL CLP)
+  add_project_dependency(CoinUtils REQUIRED FIND_EXTERNAL CoinUtils)
+  message(STATUS "Building with coin-or clp: ${CLP_PREFIX}")
  add_definitions(-DCLP_FOUND)
+else()
+  message(STATUS "Building without coin-or clp")
 endif()

 # Main Library
@@ -71,17 +102,14 @@ set(${PROJECT_NAME}_SOURCES

 add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
                                   ${${PROJECT_NAME}_HEADERS})
-target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
 target_include_directories(
-  ${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR} ${CDD_INCLUDE_DIRS}
-                                ${qpOASES_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} ${CDD_LIBRARIES} ${qpOASES_LIBRARY})
-
-if(CLP_FOUND)
-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${CLP_INCLUDE_DIR}")
-  target_link_libraries(${PROJECT_NAME} ${CLP_LIBRARIES}
-                        /usr/lib/libCoinUtils.so)
-endif(CLP_FOUND)
+  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen qpOASES::qpOASES
+                                             CDD::CDD Boost::boost)
+
+if(BUILD_WITH_CLP)
+  target_link_libraries(${PROJECT_NAME} PUBLIC CoinUtils::CoinUtils CLP::CLP)
+endif()

 install(
  TARGETS ${PROJECT_NAME}

--- a/README.md
+++ b/README.md
-# CentroidalDynamicsLib
+# HPP Centroidal Dynamics

 [![Pipeline status](https://gitlab.laas.fr/humanoid-path-planner/hpp-centroidal-dynamics/badges/master/pipeline.svg)](https://gitlab.laas.fr/humanoid-path-planner/hpp-centroidal-dynamics/commits/master)
 [![Coverage report](https://gitlab.laas.fr/humanoid-path-planner/hpp-centroidal-dynamics/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/humanoid-path-planner/hpp-centroidal-dynamics/master/coverage/)

--- a/cmake @ 29c0eb4e
+++ b/cmake @ 29c0eb4e
-Subproject commit 9403226002b930d592ca83b50d3cd714a1c2dc01
+Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659
--- a/flake.lock
+++ b/flake.lock
+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": [
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1717285511,
+        "narHash": "sha256-iKzJcpdXih14qYVcZ9QC9XuZYnPc6T8YImb6dX166kw=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "2a55567fcf15b1b1c7ed712a2c6fadaec7412ea8",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1727174734,
+        "narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
+        "owner": "gepetto",
+        "repo": "nixpkgs",
+        "rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-parts": "flake-parts",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
--- a/flake.nix
+++ b/flake.nix
+{
+  description = "Utility classes to check the (robust) equilibrium of a system in contact with the environment.";
+
+  inputs = {
+    nixpkgs.url = "github:gepetto/nixpkgs";
+    flake-parts = {
+      url = "github:hercules-ci/flake-parts";
+      inputs.nixpkgs-lib.follows = "nixpkgs";
+    };
+  };
+
+  outputs =
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+      systems = [
+        "x86_64-linux"
+        "aarch64-linux"
+        "aarch64-darwin"
+        "x86_64-darwin"
+      ];
+      perSystem =
+        { pkgs, self', ... }:
+        {
+          apps.default = {
+            type = "app";
+            program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+          };
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          packages = {
+            default = self'.packages.hpp-centroidal-dynamics;
+            hpp-centroidal-dynamics = pkgs.python3Packages.hpp-centroidal-dynamics.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./include
+                  ./package.xml
+                  ./python
+                  ./src
+                  ./test
+                  ./test_data
+                ];
+              };
+            });
+          };
+        };
+    };
+}
--- a/include/hpp/centroidal-dynamics/logger.hh
+++ b/include/hpp/centroidal-dynamics/logger.hh
@@ -45,7 +45,7 @@ namespace centroidal_dynamics {
 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
 #define SEND_DEBUG_STREAM_MSG(msg)
 #define SEND_INFO_STREAM_MSG(msg) \
-#define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
+  #define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
 #endif


--- a/package.xml
+++ b/package.xml
 <?xml version='1.0'?>
 <package format='2'>
    <name>hpp-centroidal-dynamics</name>
-    <version>4.15.1</version>
+    <version>6.0.0</version>
    <description>Testing equilibrium of a system in contact with the environment</description>

    <maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer>
-    <license>BSD</license>
+    <license>GPL</license>

    <author>Andrea Del Prete</author>
    <author>Pierre Fernbach</author>

--- a/pyproject.toml
+++ b/pyproject.toml
-[tool.black]
-exclude = "cmake"
+[build-system]
+build-backend = "cmeel.build"
+requires = [
+  "cmeel-boost[build] ~= 1.83.0",
+  "cmeel-cddlib[build] ~= 0.94.13",
+  "cmeel-clp[build] ~= 1.17.9.1",
+  "cmeel-coinutils[build] ~= 2.11.10",
+  "cmeel-qpoases[build] ~= 3.2.1",
+  "cmeel[build]",
+  "eigenpy[build] ~= 3.1"
+]
+
+[project]
+dependencies = [
+  "cmeel-boost ~= 1.83.0",
+  "cmeel-cddlib ~= 0.94.13",
+  "cmeel-clp ~= 1.17.9.1",
+  "cmeel-qpoases ~= 3.2.1",
+  "eigenpy ~= 3.1"
+]
+description = "Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods."
+license = "BSD-2-Clause"
+name = "hpp-centroidal-dynamics"
+version = "6.0.0"
+
+[tool.ruff]
+extend-exclude = ["cmake"]
+
+[tool.ruff.lint]
+extend-select = ["I", "NPY", "RUF", "UP", "W"]
+
+[tool.tomlsort]
+all = true
--- a/python/test/binding_tests.py
+++ b/python/test/binding_tests.py
 import unittest

-from numpy import array, asmatrix, cross
-
 from hpp_centroidal_dynamics import (
    LP_STATUS_OPTIMAL,
    Equilibrium,
    EquilibriumAlgorithm,
    SolverLP,
 )
+from numpy import array, asmatrix, cross


 class TestCentroidalDynamics(unittest.TestCase):

--- a/setup.cfg
+++ b/setup.cfg
-[flake8]
-exclude = cmake
-max-line-length = 88
-ignore = E226, E704, E24, E121, W504, E126, E123, W503, E203
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