.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

.gitlab-ci.yml

-include: http://rainboard.laas.fr/project/hpp-manipulation/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/hpp-manipulation/.gitlab-ci.yml

.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:

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.4.8
+  rev: v0.8.1
   hooks:
   - id: ruff
     args:
@@ -14,18 +14,18 @@ repos:
   hooks:
   - id: cmake-format
 - repo: https://github.com/pappasam/toml-sort
-  rev: v0.23.1
+  rev: v0.24.2
   hooks:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v18.1.6
+  rev: v19.1.4
   hooks:
   - id: clang-format
     args:
     - --style=Google
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.6.0
+  rev: v5.0.0
   hooks:
   - id: check-added-large-files
   - id: check-ast

cmake @ 29c0eb4e

-Subproject commit 657b07cb721ecbc383d4e76438eb6ec5c421a332
+Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659

flake.lock

+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": [
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1719877454,
+        "narHash": "sha256-g5N1yyOSsPNiOlFfkuI/wcUjmtah+nxdImJqrSATjOU=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "4e3583423212f9303aa1a6337f8dffb415920e4f",
+        "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
+}

flake.nix

+{
+  description = "Classes for manipulation planning";
+
+  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', ... }:
+        {
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          packages = {
+            default = self'.packages.hpp-manipulation;
+            hpp-manipulation = pkgs.hpp-manipulation.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./doc
+                  ./include
+                  ./package.xml
+                  ./plugins
+                  ./src
+                  ./tests
+                ];
+              };
+            });
+          };
+        };
+    };
+}

include/hpp/manipulation/device.hh

@@ -64,7 +64,7 @@ class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
   virtual std::ostream& print(std::ostream& os) const;
 
   void setRobotRootPosition(const std::string& robotName,
-                            const Transform3f& positionWRTParentJoint);
+                            const Transform3s& positionWRTParentJoint);
 
   virtual pinocchio::DevicePtr_t clone() const;
 

include/hpp/manipulation/fwd.hh

@@ -88,7 +88,7 @@ typedef constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3;
 typedef constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t;
 typedef core::value_type value_type;
 typedef core::size_type size_type;
-typedef core::Transform3f Transform3f;
+typedef core::Transform3s Transform3s;
 typedef core::vector_t vector_t;
 typedef core::vectorIn_t vectorIn_t;
 typedef core::vectorOut_t vectorOut_t;

include/hpp/manipulation/graph/dot.hh

@@ -54,7 +54,7 @@ struct DrawingAttributes {
   }
   std::string& operator[](const std::string& K) { return attr[K]; }
   DrawingAttributes()
-      : separator(", "), openSection("["), closeSection("]"), attr(){};
+      : separator(", "), openSection("["), closeSection("]"), attr() {};
 };
 
 struct Tooltip {
@@ -62,7 +62,7 @@ struct Tooltip {
   typedef std::list<std::string> TooltipLineVector;
   TooltipLineVector v;
 
-  Tooltip() : v(){};
+  Tooltip() : v() {};
   inline std::string toStr() const {
     std::stringstream ss;
     size_t i = v.size();

include/hpp/manipulation/graph/graph-component.hh

@@ -50,7 +50,7 @@ namespace graph {
 /// Define common methods of the graph components.
 class HPP_MANIPULATION_DLLAPI GraphComponent {
  public:
-  virtual ~GraphComponent(){};
+  virtual ~GraphComponent() {};
 
   /// Get the component name.
   const std::string& name() const;

include/hpp/manipulation/graph/state-selector.hh

@@ -41,7 +41,7 @@ namespace graph {
 /// be ordered because a configuration can be in several states.
 class HPP_MANIPULATION_DLLAPI StateSelector {
  public:
-  virtual ~StateSelector(){};
+  virtual ~StateSelector() {};
 
   /// Create a new StateSelector.
   static StateSelectorPtr_t create(const std::string& name);

include/hpp/manipulation/graph/statistics.hh

@@ -103,7 +103,7 @@ class HPP_MANIPULATION_DLLLOCAL NodeBin : public ::hpp::statistics::Bin {
 
 class HPP_MANIPULATION_DLLLOCAL Histogram {
  public:
-  virtual ~Histogram(){};
+  virtual ~Histogram() {};
 
   virtual void add(const RoadmapNodePtr_t& node) = 0;
 

include/hpp/manipulation/handle.hh

@@ -58,7 +58,7 @@ typedef constraints::ImplicitPtr_t ImplicitPtr_t;
 class HPP_MANIPULATION_DLLAPI Handle {
  public:
   static std::string className;
-  virtual ~Handle(){};
+  virtual ~Handle() {};
 
   /// Create constraint corresponding to a gripper grasping this object
   /// \param robot the robot that grasps the handle,
@@ -66,7 +66,7 @@ class HPP_MANIPULATION_DLLAPI Handle {
   /// \return the constraint of relative position between the handle and
   ///         the gripper.
   static HandlePtr_t create(const std::string& name,
-                            const Transform3f& localPosition,
+                            const Transform3s& localPosition,
                             const DeviceWkPtr_t& robot,
                             const JointPtr_t& joint) {
     Handle* ptr = new Handle(name, localPosition, robot, joint);
@@ -98,10 +98,10 @@ class HPP_MANIPULATION_DLLAPI Handle {
   /// \}
 
   /// Get local position in joint frame
-  const Transform3f& localPosition() const { return localPosition_; }
+  const Transform3s& localPosition() const { return localPosition_; }
 
   /// Set local position in joint frame
-  void localPosition(const Transform3f& localPosition) {
+  void localPosition(const Transform3s& localPosition) {
     localPosition_ = localPosition;
   }
 
@@ -175,7 +175,7 @@ class HPP_MANIPULATION_DLLAPI Handle {
   /// \param grasp object containing the grasp information
   /// \return the constraint of relative position between the handle and
   ///         the gripper.
-  Handle(const std::string& name, const Transform3f& localPosition,
+  Handle(const std::string& name, const Transform3s& localPosition,
          const DeviceWkPtr_t& robot, const JointPtr_t& joint)
       : name_(name),
         localPosition_(localPosition),
@@ -192,7 +192,7 @@ class HPP_MANIPULATION_DLLAPI Handle {
  private:
   std::string name_;
   /// Position of the handle in the joint frame.
-  Transform3f localPosition_;
+  Transform3s localPosition_;
   /// Joint to which the handle is linked.
   JointPtr_t joint_;
   /// Pointer to the robot

include/hpp/manipulation/path-planner/states-path-finder.hh

@@ -30,6 +30,7 @@
 #include <hpp/manipulation/config.hh>
 #include <hpp/manipulation/fwd.hh>
 #include <hpp/manipulation/problem.hh>
+#include <unordered_map>
 
 namespace hpp {
 namespace manipulation {
@@ -100,7 +101,7 @@ class HPP_MANIPULATION_DLLAPI StatesPathFinder : public core::PathPlanner {
  public:
   struct OptimizationData;
 
-  virtual ~StatesPathFinder(){};
+  virtual ~StatesPathFinder() {};
 
   static StatesPathFinderPtr_t create(const core::ProblemConstPtr_t& problem);
 

include/hpp/manipulation/path-planner/transition-planner.hh

@@ -31,6 +31,7 @@
 
 #include <hpp/core/path-planner.hh>
 #include <hpp/manipulation/fwd.hh>
+#include <hpp/manipulation/graph/fwd.hh>
 
 namespace hpp {
 namespace manipulation {
@@ -110,6 +111,11 @@ class HPP_MANIPULATION_DLLAPI TransitionPlanner : public core::PathPlanner {
   /// continuity.
   PathPtr_t directPath(ConfigurationIn_t q1, ConfigurationIn_t q2,
                        bool validate, bool& success, std::string& status);
+  /// Validate a configuration with the path validation of an edge.
+  /// \param q configuration to validate,
+  /// \param id index of the edge in the constraint graph.
+  bool validateConfiguration(ConfigurationIn_t q, std::size_t id,
+                             core::ValidationReportPtr_t& report) const;
   /// Optimize path using the selected path optimizers
   /// \param path input path
   /// \return optimized path
@@ -156,12 +162,18 @@ class HPP_MANIPULATION_DLLAPI TransitionPlanner : public core::PathPlanner {
   void init(TransitionPlannerWkPtr_t weak);
 
  private:
+  /// Check problem and forward maxIterations and timeout to inner problem.
+  void checkProblemAndForwardParameters();
+  /// Get pointer to edge from an id
+  graph::EdgePtr_t getEdgeOrThrow(std::size_t id) const;
   /// Pointer to the problem of the inner planner
   core::ProblemPtr_t innerProblem_;
   /// Pointer to the inner path planner
   PathPlannerPtr_t innerPlanner_;
   /// Vector of optimizers to call after solve
   std::vector<PathOptimizerPtr_t> pathOptimizers_;
+  /// Time parameterization instance
+  core::PathOptimizerPtr_t timeParameterization_;
   /// weak pointer to itself
   TransitionPlannerWkPtr_t weakPtr_;
 };  // class TransitionPlanner

package.xml

 <?xml version='1.0'?>
  <package format='2'>
  <name>hpp-manipulation</name>
- <version>5.0.0</version>
+ <version>6.0.0</version>
  <description>Classes for manipulation planning. </description>
 
  <maintainer email='hpp@laas.fr'>Joseph Mirabel</maintainer>
@@ -26,8 +26,8 @@
  <build_depend>urdfdom</build_depend>
  <exec_depend>urdfdom</exec_depend>
  <build_export_depend>urdfdom</build_export_depend>
- <build_depend>hpp-fcl</build_depend>
- <exec_depend>hpp-fcl</exec_depend>
- <build_export_depend>hpp-fcl</build_export_depend>
+ <build_depend>coal</build_depend>
+ <exec_depend>coal</exec_depend>
+ <build_export_depend>coal</build_export_depend>
  <test_depend>romeo_description</test_depend>
  </package>

pyproject.toml

@@ -14,7 +14,7 @@ dependencies = [
 description = "Classes for manipulation planning."
 license = "BSD-2-Clause"
 name = "hpp-manipulation"
-version = "5.0.0"
+version = "6.0.0"
 
 [tool.ruff]
 extend-exclude = ["cmake"]

src/device.cc

@@ -50,7 +50,7 @@ pinocchio::DevicePtr_t Device::clone() const {
   return shPtr;
 }
 
-void Device::setRobotRootPosition(const std::string& rn, const Transform3f& t) {
+void Device::setRobotRootPosition(const std::string& rn, const Transform3s& t) {
   FrameIndices_t idxs = robotFrames(rn);
   if (idxs.size() == 0)
     throw std::invalid_argument("No frame for robot name " + rn);
@@ -65,7 +65,7 @@ void Device::setRobotRootPosition(const std::string& rn, const Transform3f& t) {
     return;
   }
 
-  Transform3f shift(t * rootFrame.placement.inverse());
+  Transform3s shift(t * rootFrame.placement.inverse());
   // Find all the frames that have the same parent joint.
   for (std::size_t i = 1; i < idxs.size(); ++i) {
     Frame& frame = m.frames[idxs[i]];