Compare revisions

e3d59ca0 · f77269a3 · fa39add3 · eb0b8503 · 25e6aaa4 · a01d703d
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
+# pre-commit run -a (Guilhem Saurel, 2022-07-27)
+db4d991c9d727b8454695ce8d88948b948c6b36f
--- a/.gitmodules
+++ b/.gitmodules
 [submodule "cmake"]
 	path = cmake
-	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
-[submodule ".travis"]
-	path = .travis
-	url = git://github.com/jrl-umi3218/jrl-travis
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
+exclude: tests/test_python-syntax_error.py
+ci:
+    autoupdate_branch: 'devel'
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+    -   id: clang-format
+        args: [--style=Google]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    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: 22.8.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/flake8
+    rev: 5.0.4
+    hooks:
+    -   id: flake8
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format
--- a/.travis @ cbc92f81
+++ b/.travis @ cbc92f81
-Subproject commit cbc92f81bdd0dcfd7fc1eae56801d8111267937d
--- a/.travis.yml
+++ b/.travis.yml
-language: cpp
-sudo: required
-compiler:
-  - gcc
-  - clang
-env:
-  global:
-  - secure: "ECiHIh0aT5ml/MdKifvFIM2UpDWiPsJPEZpafLYM8U0VAPYThSfUe8JWhMsky8amOwm38akbSbr6C7iBKVpzjAqpgNdOdufO1RUZ6pUvtlVXiXTw2KlqPqbDVlD3QroVDhnX/rIRcg5ezEHAIb594uEaHdf8tlikhjdTc3aAgMA="
-  - APT_DEPENDENCIES="doxygen doxygen-latex libboost-all-dev libeigen3-dev liblapack-dev libblas-dev gfortran python-dev python-sphinx"
-  - GIT_DEPENDENCIES="stack-of-tasks/dynamic-graph"
-  - LCOV_IGNORE_RULES="*unitTesting*"
-  allow_failures: 
-  - compiler: clang
-notifications:
-  email:
-  - hpp-source@laas.fr
-branches:
-  only:
-  - master
-  - devel
-script: ./.travis/run build
-script: ./travis_custom/build_custom
-after_success: ./.travis/run after_success
-after_failure: ./.travis/run after_failure
-before_install: ./travis_custom/custom_before_install
-matrix:
-  allow_failures:
-    - compiler: clang
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-# Copyright 2010-2020, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST, LAAS-CNRS
+# Copyright 2010-2020, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem
+# Saurel, JRL, CNRS/AIST, LAAS-CNRS
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)
 # Project properties
-SET(PROJECT_ORG stack-of-tasks)
+set(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_NAME dynamic-graph-python)
+set(PROJECT_NAME dynamic-graph-python)
-SET(PROJECT_DESCRIPTION "Dynamic graph library Python bindings")
+set(PROJECT_DESCRIPTION "Dynamic graph library Python bindings")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 # Project options
-OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR "dynamic-graph/python")
+set(CUSTOM_HEADER_DIR "dynamic-graph/python")
-SET(CXX_DISABLE_WERROR TRUE)
+set(CXX_DISABLE_WERROR TRUE)
-SET(DOXYGEN_USE_MATHJAX YES)
+set(DOXYGEN_USE_MATHJAX YES)
 # JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
+include(cmake/base.cmake)
-INCLUDE(cmake/boost.cmake)
+include(cmake/boost.cmake)
-INCLUDE(cmake/python.cmake)
 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+check_minimal_cxx_standard(14 ENFORCE)
 # Project dependencies
-FINDPYTHON()
+set(PYTHON_COMPONENTS Interpreter Development NumPy)
+add_project_dependency(dynamic-graph 4.4.0 REQUIRED)
-ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
+add_project_dependency(eigenpy 2.7.10 REQUIRED)
-ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES eigenpy)
+set(PYTHON_EXPORT_DEPENDENCY_MACROS
-SEARCH_FOR_BOOST_PYTHON(REQUIRED)
+    "list(APPEND PYTHON_COMPONENTS ${PYTHON_COMPONENTS})\n${PYTHON_EXPORT_DEPENDENCY_MACROS}"
-IF(BUILD_TESTING)
+)
-  FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
+if(BUILD_TESTING)
-ENDIF(BUILD_TESTING)
+  find_package(Boost REQUIRED COMPONENTS unit_test_framework)
+endif(BUILD_TESTING)
+if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
+  # Silence a warning about a deprecated use of boost bind by boost >= 1.73
+  # without dropping support for boost < 1.73
+  add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
+endif()
 # Main Library
-SET(${PROJECT_NAME}_HEADERS
+set(${PROJECT_NAME}_HEADERS
-  include/${CUSTOM_HEADER_DIR}/api.hh
+    include/${CUSTOM_HEADER_DIR}/api.hh
-  include/${CUSTOM_HEADER_DIR}/convert-dg-to-py.hh
+    include/${CUSTOM_HEADER_DIR}/convert-dg-to-py.hh
-  include/${CUSTOM_HEADER_DIR}/dynamic-graph-py.hh
+    include/${CUSTOM_HEADER_DIR}/dynamic-graph-py.hh
-  include/${CUSTOM_HEADER_DIR}/interpreter.hh
+    include/${CUSTOM_HEADER_DIR}/fwd.hh
-  include/${CUSTOM_HEADER_DIR}/module.hh
+    include/${CUSTOM_HEADER_DIR}/interpreter.hh
-  include/${CUSTOM_HEADER_DIR}/python-compat.hh
+    include/${CUSTOM_HEADER_DIR}/module.hh
-  include/${CUSTOM_HEADER_DIR}/signal.hh
+    include/${CUSTOM_HEADER_DIR}/python-compat.hh
-  include/${CUSTOM_HEADER_DIR}/signal-wrapper.hh
+    include/${CUSTOM_HEADER_DIR}/signal.hh
-  )
+    include/${CUSTOM_HEADER_DIR}/signal-wrapper.hh)
-SET(${PROJECT_NAME}_SOURCES
+set(${PROJECT_NAME}_SOURCES
-  src/interpreter.cc
+    src/interpreter.cc src/dynamic_graph/python-compat.cc
-  src/dynamic_graph/python-compat.cc
+    src/dynamic_graph/entity-py.cc src/dynamic_graph/convert-dg-to-py.cc)
-  src/dynamic_graph/entity-py.cc
-  src/dynamic_graph/convert-dg-to-py.cc
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
-  )
+                                   ${${PROJECT_NAME}_HEADERS})
+target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-ADD_LIBRARY(${PROJECT_NAME} SHARED
+target_link_libraries(${PROJECT_NAME} PUBLIC dynamic-graph::dynamic-graph)
-  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+modernize_target_link_libraries(
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIR})
+  ${PROJECT_NAME}
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+  SCOPE
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${PYTHON_LIBRARY}
+  PUBLIC
-  dynamic-graph::dynamic-graph)
+  TARGETS
-TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME} PRIVATE)
+  Python${PYTHON_VERSION_MAJOR}::Python
+  LIBRARIES
-IF(SUFFIX_SO_VERSION)
+  ${PYTHON_LIBRARIES}
-  SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+  INCLUDE_DIRS
-ENDIF(SUFFIX_SO_VERSION)
+  ${PYTHON_INCLUDE_DIRS})
+target_link_boost_python(${PROJECT_NAME} PUBLIC)
-TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE PYTHON_LIBRARY="${PYTHON_LIBRARY}")
+if(SUFFIX_SO_VERSION)
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
-ADD_SUBDIRECTORY(src)
-IF(BUILD_TESTING)
+target_compile_definitions(${PROJECT_NAME}
-  ADD_SUBDIRECTORY(tests)
+                           PRIVATE PYTHON_LIBRARY="${PYTHON_LIBRARY}")
-ENDIF(BUILD_TESTING)
+install(
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
+  TARGETS ${PROJECT_NAME}
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)
+add_subdirectory(src)
+if(BUILD_TESTING)
+  add_subdirectory(tests)
+endif(BUILD_TESTING)
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
--- a/README.md
+++ b/README.md
-dynamic-graph-python
+# dynamic-graph-python
-====================
 [![Building Status](https://travis-ci.org/stack-of-tasks/dynamic-graph-python.svg?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic-graph-python)
 [![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph-python/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph-python/commits/master)
 [![Coverage report](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph-python/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph-python/master/coverage/)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/dynamic-graph-python/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/dynamic-graph-python)
 Python bindings for dynamic-graph.
@@ -14,52 +15,19 @@ submodules][git-submodules]. Please clone this repository using the
 repository, you can run `git submodule init && git submodule update`
 to retrieve the submodules.
+## Documentation
-Documentation
+[Online](https://gepettoweb.laas.fr/doc/stack-of-tasks/dynamic-graph-python/master/doxygen-html/)
-------------
-To get started with this library, please read the [online Doxygen
-documentation][doxygen-documentation].
-It can also be generated locally by running the `make doc`
+## Getting Help
-command. After the package is installed, the documentation will be
-located in the `$prefix/share/doc/dynamic-graph` directoy where
-`$prefix` is your installation prefix (`/usr/local` by default).
-Getting Help
------------
 Support is provided through:
- * the HPP mailing-list: hpp@laas.fr
+ * the [issue tracker](https://github.com/stack-of-tasks/dynamic-graph-python/issues)
- * the following HipChat room: http://www.hipchat.com/gh4wQrZeV
+ * the matrix room [#stack-of-tasks:laas.fr](https://matrix.to/#/#stack-of-tasks:laas.fr)
-How can I install dynamic-graph?
--------------------------------
-### Installing dependencies
-The matrix abstract layer depends on several packages which
-have to be available on your machine.
- - Libraries:
-   - [Boost][] (>= 1.40)
-     Its detection is controled by the `BOOST_ROOT` variable, see next section
-     for more information.
-   - [Lapack][] library
-     Use the generic purpose `CMAKE_CXX_FLAGS` and `CMAKE_EXE_LINKER_FLAGS`
-     to insert the flags required for the compiler to find your Lapack library
-     if it is installed in a non-standard directory.
-   - [jrl-mal][] library
-   - [dynamic-graph][] library
- - System tools:
-   - [CMake][] (>=2.6)
-   - [pkg-config][]
-   - usual compilation tools (GCC/G++, make, etc.)
-     If you are using Ubuntu, these tools are gathered in the `build-essential` package.
+## How can I install dynamic-graph?
 ### Compiling and installing the package
@@ -68,24 +36,21 @@ The manual compilation requires two steps:
 1. configuration of the build and generation of the build files
 2. compilation of the sources and installation of the package
-dynamic-graph uses [CMake][] to generate build files. It is
+dynamic-graph uses CMake to generate build files. It is
 recommended to create a separate build directory:
 ```sh
-mkdir _build         # (1) Create a build directory
+mkdir build
-cd _build            # (2) Go to the newly created build directory
+cd build
-cmake [options] ..   # (3) Generate the build files
+cmake ..
 ```
-Options which can be passed to CMake are detailed in the next section.
 ```sh
-make                 # (4) Compile the package
+make
-make test            # (5) Execute the package tests
+make test
-make install         # (6) Install the package into the prefix (see step 3)
+make install
 ```
 ### Options
 Additional options can be set on the command line through the
@@ -109,13 +74,8 @@ Available options are:
 The test suite can be run from your build directory by running:
 ```sh
-   make test
+make test
 ```
 Please open a ticket if some tests are failing on your computer, it
 should not be the case.
-Credits
-------
-This package authors are credited in the [AUTHORS](AUTHORS) file.
--- a/cmake @ 08c2c18b
+++ b/cmake @ 08c2c18b
-Subproject commit 91f97c1c31608f48d697a6b11037f13e878b9837
+Subproject commit 08c2c18b9033c2f0a86b885b589f4fa63a163caf
--- a/doc/footer.html
+++ b/doc/footer.html
@@ -8,4 +8,3 @@
 </center>
 </body>
 </head>
--- a/doc/header.html
+++ b/doc/header.html
@@ -4,4 +4,3 @@
      <LINK HREF="package.css" REL="stylesheet" TYPE="text/css">
    </HEAD>
    <BODY>
--- a/doc/package.css
+++ b/doc/package.css
@@ -45,8 +45,8 @@ a:link {
    color:#0066CC
 }
-a:hover, a:active { 
+a:hover, a:active {
-	text-decoration: underline; 
+	text-decoration: underline;
 	color: #3C9A35;
 }
@@ -57,7 +57,7 @@ a:visited {
 }
 DIV.memitem
-{ 
+{
  spacing: 10px;
  width:100%;
  background:#FFFFFF;
@@ -70,7 +70,7 @@ DIV.memitem
 }
 DIV.memproto
-{ 
+{
  width:100%;
  background:#F0F0F0;
  font-size:100%;
@@ -82,7 +82,7 @@ DIV.memproto
 }
 DIV.memdoc
-{ 
+{
  padding: 10px;
  width:100%;
  font-size:100%;
@@ -189,7 +189,7 @@ DIV.nav
 }
 DIV.groupHeader
-{ 
+{
  padding-top: 30px;
  padding-bottom: 20px;
  background       : none;
@@ -201,23 +201,23 @@ DIV.groupHeader
  color:#0066CC;
 }
-.directory p 
+.directory p
-{ 
+{
-    margin: 0px; 
+    margin: 0px;
-    white-space: nowrap; 
+    white-space: nowrap;
    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
    font-size: 10pt;
    font-weight: normal;
 }
-.directory h3 
+.directory h3
-{ 
+{
    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-    margin: 0px; 
+    margin: 0px;
-    margin-top: 1em; 
+    margin-top: 1em;
    padding-bottom: 20px;
-    font-size: 12pt; 
+    font-size: 12pt;
    font-variant: small-caps;
    text-align: center;
 }
@@ -227,4 +227,3 @@ DIV.groupHeader
    text-decoration: none;
    color:#0066CC
 }
--- a/doc/package.dox.cmake
+++ b/doc/package.dox.cmake
@@ -23,8 +23,8 @@ ABBREVIATE_BRIEF       = "The $name class" \
 ALWAYS_DETAILED_SEC    = YES
 INLINE_INHERITED_MEMB  = NO
 FULL_PATH_NAMES        = NO
-STRIP_FROM_PATH        = 
+STRIP_FROM_PATH        =
-STRIP_FROM_INC_PATH    = 
+STRIP_FROM_INC_PATH    =
 SHORT_NAMES            = NO
 JAVADOC_AUTOBRIEF      = YES
 MULTILINE_CPP_IS_BRIEF = NO
@@ -50,7 +50,7 @@ SORT_MEMBER_DOCS       = YES
 SORT_BRIEF_DOCS        = NO
 SORT_BY_SCOPE_NAME     = NO
 MAX_INITIALIZER_LINES  = 30
-FILE_VERSION_FILTER    = 
+FILE_VERSION_FILTER    =
 #---------------------------------------------------------------------------
 # configuration options related to warning and progress messages
 #---------------------------------------------------------------------------
@@ -60,18 +60,18 @@ WARN_IF_UNDOCUMENTED   = YES
 WARN_IF_DOC_ERROR      = YES
 WARN_NO_PARAMDOC       = NO
 WARN_FORMAT            = "$file:$line: $text"
-WARN_LOGFILE           = 
+WARN_LOGFILE           =
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
 RECURSIVE              = YES
-EXCLUDE                = 
+EXCLUDE                =
 EXCLUDE_SYMLINKS       = NO
-EXAMPLE_PATH           = 
+EXAMPLE_PATH           =
 EXAMPLE_PATTERNS       = *
 EXAMPLE_RECURSIVE      = NO
-INPUT_FILTER           = 
+INPUT_FILTER           =
-FILTER_PATTERNS        = 
+FILTER_PATTERNS        =
 FILTER_SOURCE_FILES    = NO
 #---------------------------------------------------------------------------
 # configuration options related to source browsing
@@ -81,7 +81,7 @@ FILTER_SOURCE_FILES    = NO
 #---------------------------------------------------------------------------
 ALPHABETICAL_INDEX     = NO
 COLS_IN_ALPHA_INDEX    = 5
-IGNORE_PREFIX          = 
+IGNORE_PREFIX          =
 #---------------------------------------------------------------------------
 # configuration options related to the HTML output
 #---------------------------------------------------------------------------
@@ -89,8 +89,8 @@ GENERATE_HTML          = YES
 HTML_FILE_EXTENSION    = .html
 HTML_ALIGN_MEMBERS     = YES
 GENERATE_HTMLHELP      = NO
-CHM_FILE               = 
+CHM_FILE               =
-HHC_LOCATION           = 
+HHC_LOCATION           =
 GENERATE_CHI           = NO
 BINARY_TOC             = NO
 TOC_EXPAND             = YES
@@ -106,8 +106,8 @@ LATEX_CMD_NAME         = latex
 MAKEINDEX_CMD_NAME     = makeindex
 COMPACT_LATEX          = NO
 PAPER_TYPE             = a4wide
-EXTRA_PACKAGES         = 
+EXTRA_PACKAGES         =
-LATEX_HEADER           = 
+LATEX_HEADER           =
 PDF_HYPERLINKS         = NO
 USE_PDFLATEX           = NO
 LATEX_BATCHMODE        = NO
@@ -118,8 +118,8 @@ LATEX_HIDE_INDICES     = NO
 RTF_OUTPUT             = rtf
 COMPACT_RTF            = NO
 RTF_HYPERLINKS         = NO
-RTF_STYLESHEET_FILE    = 
+RTF_STYLESHEET_FILE    =
-RTF_EXTENSIONS_FILE    = 
+RTF_EXTENSIONS_FILE    =
 #---------------------------------------------------------------------------
 # configuration options related to the man page output
 #---------------------------------------------------------------------------
@@ -130,8 +130,8 @@ MAN_LINKS              = NO
 # configuration options related to the XML output
 #---------------------------------------------------------------------------
 XML_OUTPUT             = xml
-XML_SCHEMA             = 
+XML_SCHEMA             =
-XML_DTD                = 
+XML_DTD                =
 XML_PROGRAMLISTING     = YES
 #---------------------------------------------------------------------------
 # configuration options for the AutoGen Definitions output
@@ -142,20 +142,20 @@ GENERATE_AUTOGEN_DEF   = NO
 #---------------------------------------------------------------------------
 PERLMOD_LATEX          = NO
 PERLMOD_PRETTY         = YES
-PERLMOD_MAKEVAR_PREFIX = 
+PERLMOD_MAKEVAR_PREFIX =
 #---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
+# Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
 SEARCH_INCLUDES        = YES
-INCLUDE_PATH           = 
+INCLUDE_PATH           =
-INCLUDE_FILE_PATTERNS  = 
+INCLUDE_FILE_PATTERNS  =
-EXPAND_AS_DEFINED      = 
+EXPAND_AS_DEFINED      =
 SKIP_FUNCTION_MACROS   = YES
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references   
+# Configuration::additions related to external references
 #---------------------------------------------------------------------------
 TAGFILES               = \
 	${DYNAMIC_GRAPH_DOCDIR}/html/dynamic-graph.doxytag=${DYNAMIC_GRAPH_DOCDIR}/html
@@ -164,10 +164,10 @@ ALLEXTERNALS           = NO
 EXTERNAL_GROUPS        = YES
 PERL_PATH              = /usr/bin/perl
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
+# Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 #---------------------------------------------------------------------------
-# Configuration::additions related to the search engine   
+# Configuration::additions related to the search engine
 #---------------------------------------------------------------------------
 SEARCHENGINE           = NO
@@ -196,7 +196,7 @@ GENERATE_TODOLIST      = YES
 GENERATE_TESTLIST      = NO
 GENERATE_BUGLIST       = NO
 GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS       = 
+ENABLED_SECTIONS       =
 SHOW_USED_FILES        = NO
 SHOW_DIRECTORIES       = NO
 #---------------------------------------------------------------------------
@@ -206,7 +206,7 @@ SHOW_DIRECTORIES       = NO
 # configuration options related to the input files
 #---------------------------------------------------------------------------
 FILE_PATTERNS          = *.hh *.idl
-EXCLUDE_PATTERNS       = 
+EXCLUDE_PATTERNS       =
 INPUT                  = ${${PROJECT_NAME}_SOURCE_DIR}/include \
                         ${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc
@@ -260,13 +260,13 @@ GENERATE_AUTOGEN_DEF   = NO
 #---------------------------------------------------------------------------
 GENERATE_PERLMOD       = NO
 #---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
+# Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references   
+# Configuration::additions related to external references
 #---------------------------------------------------------------------------
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
+# Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 CLASS_DIAGRAMS         = YES
 HIDE_UNDOC_RELATIONS   = YES
@@ -282,8 +282,8 @@ CALL_GRAPH             = NO
 GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = YES
 DOT_IMAGE_FORMAT       = png
-DOT_PATH               = 
+DOT_PATH               =
-DOTFILE_DIRS           = 
+DOTFILE_DIRS           =
 MAX_DOT_GRAPH_DEPTH    = 1000
 DOT_TRANSPARENT        = NO
 DOT_MULTI_TARGETS      = YES

--- a/include/dynamic-graph/python/convert-dg-to-py.hh
+++ b/include/dynamic-graph/python/convert-dg-to-py.hh
 // Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
-#include <boost/python.hpp>
 #include <dynamic-graph/linear-algebra.h>
 #include <dynamic-graph/value.h>
+#include <boost/python.hpp>
 namespace dynamicgraph {
 namespace python {
 namespace convert {
-command::Value toValue(boost::python::object o, const command::Value::Type& type);
+command::Value toValue(boost::python::object o,
+                       const command::Value::Type& type);
 boost::python::object fromValue(const command::Value& value);
 }  // namespace convert

--- a/include/dynamic-graph/python/dynamic-graph-py.hh
+++ b/include/dynamic-graph/python/dynamic-graph-py.hh
 #ifndef DYNAMIC_GRAPH_PY
 #define DYNAMIC_GRAPH_PY
-#include <iostream>
-#include <sstream>
-#include <boost/python.hpp>
 #include <dynamic-graph/debug.h>
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/signal-base.h>
+#include <boost/python.hpp>
+#include <boost/python/stl_iterator.hpp>
+#include <iostream>
+#include <sstream>
 #include "dynamic-graph/python/signal-wrapper.hh"
 namespace bp = boost::python;
@@ -32,14 +32,16 @@ inline bp::tuple to_py_tuple(Iterator begin, Iterator end) {
 template <typename T>
 inline std::vector<T> to_std_vector(const bp::object& iterable) {
-  return std::vector<T>(bp::stl_input_iterator<T>(iterable), bp::stl_input_iterator<T>());
+  return std::vector<T>(bp::stl_input_iterator<T>(iterable),
+                        bp::stl_input_iterator<T>());
 }
 void exposeSignals();
 // Declare functions defined in other source files
 namespace signalBase {
-SignalBase<int>* createSignalWrapper(const char* name, const char* type, bp::object object);
+SignalBase<int>* createSignalWrapper(const char* name, const char* type,
+                                     bp::object object);
 }  // namespace signalBase
 namespace entity {

--- a/include/dynamic-graph/python/fwd.hh
+++ b/include/dynamic-graph/python/fwd.hh
+/*
+ * Copyright CNRS 2021
+ *
+ * Author: Florent Lamiraux
+ *
+ * This file is part of sot-core.
+ */
+#ifndef DYNAMIC_GRAPH_PYTHON_FWD_HH
+#define DYNAMIC_GRAPH_PYTHON_FWD_HH
+#include <dynamic-graph/fwd.hh>
+namespace dynamicgraph {
+namespace python {
+class Interpreter;
+typedef shared_ptr<Interpreter> InterpreterPtr_t;
+}  // namespace python
+}  // namespace dynamicgraph
+#endif  // DYNAMIC_GRAPH_PYTHON_FWD_HH
--- a/include/dynamic-graph/python/interpreter.hh
+++ b/include/dynamic-graph/python/interpreter.hh
@@ -6,11 +6,10 @@
 #undef _POSIX_C_SOURCE
 #undef _XOPEN_SOURCE
-#include "dynamic-graph/python/api.hh"
+#include <dynamic-graph/python/fwd.hh>
-#include "dynamic-graph/python/deprecated.hh"
-#include "dynamic-graph/python/python-compat.hh"
 #include "dynamic-graph/python/api.hh"
+#include "dynamic-graph/python/python-compat.hh"
 namespace dynamicgraph {
 namespace python {
@@ -26,11 +25,13 @@ class DYNAMIC_GRAPH_PYTHON_DLLAPI Interpreter {
  /// \brief Method to start python interperter.
  /// \param command string to execute
  /// Method deprecated, you *SHOULD* handle error messages.
-  DYNAMIC_GRAPH_PYTHON_DEPRECATED std::string python(const std::string& command);
+  [[deprecated("you *SHOULD* handle error messages")]] std::string python(
+      const std::string& command);
  /// \brief Method to start python interperter.
  /// \param command string to execute, result, stdout, stderr strings
-  void python(const std::string& command, std::string& result, std::string& out, std::string& err);
+  void python(const std::string& command, std::string& result, std::string& out,
+              std::string& err);
  /// \brief Method to exectue a python script.
  /// \param filename the filename

--- a/include/dynamic-graph/python/module.hh
+++ b/include/dynamic-graph/python/module.hh
@@ -6,10 +6,11 @@
 #include <pinocchio/fwd.hpp>
 #endif
-#include <boost/python.hpp>
-#include <boost/mpl/for_each.hpp>
 #include <dynamic-graph/entity.h>
+#include <boost/mpl/for_each.hpp>
+#include <boost/mpl/vector.hpp>
+#include <boost/python.hpp>
 #include <dynamic-graph/python/dynamic-graph-py.hh>
 namespace dynamicgraph {
@@ -42,14 +43,17 @@ bp::object makeEntity2() {
 ///         If some commands or signals are added or removed dynamiccally, then
 ///         it is better to disable the default behaviour and handle it
 ///         specifically.
-template <typename T, typename bases = boost::python::bases<dynamicgraph::Entity>,
+template <typename T,
+          typename bases = boost::python::bases<dynamicgraph::Entity>,
          int Options = AddCommands | AddSignals>
 inline auto exposeEntity() {
  // std::string hiddenClassName ("_" + T::CLASS_NAME);
  std::string hiddenClassName(T::CLASS_NAME);
  namespace bp = boost::python;
-  bp::class_<T, bases, boost::noncopyable> obj(hiddenClassName.c_str(), bp::init<std::string>());
+  bp::class_<T, bases, boost::noncopyable> obj(hiddenClassName.c_str(),
-  /* TODO at the moment, I couldn't easily find a way to define a Python constructor
+                                               bp::init<std::string>());
+  /* TODO at the moment, I couldn't easily find a way to define a Python
+  constructor
   * that would create the entity via the factory and then populate the
   * python object with its commands.
   * This is achieved with a factory function of the same name.
@@ -63,7 +67,8 @@ inline auto exposeEntity() {
            std::cout << "foo" << std::endl;
          assert(dynamic_cast<T*>(ent) != NULL);
          self = bp::object(bp::ptr(static_cast<T*>(ent)));
-          //dynamicgraph::Entity& unused = bp::extract<dynamicgraph::Entity&>(self);
+          //dynamicgraph::Entity& unused =
+  bp::extract<dynamicgraph::Entity&>(self);
          //entity::addCommands(self);
        })
  ;

--- a/include/dynamic-graph/python/signal-wrapper.hh
+++ b/include/dynamic-graph/python/signal-wrapper.hh
@@ -4,11 +4,13 @@
 #ifndef DGPY_SIGNAL_WRAPPER
 #define DGPY_SIGNAL_WRAPPER
-#include <boost/python.hpp>
+#include <dynamic-graph/entity.h>
 #include <dynamic-graph/linear-algebra.h>
 #include <dynamic-graph/signal.h>
-#include <dynamic-graph/entity.h>
+#include <boost/bind.hpp>
+#include <boost/python.hpp>
 #include "dynamic-graph/python/python-compat.hh"
 namespace dynamicgraph {
@@ -33,7 +35,8 @@ class SignalWrapper : public Signal<T, Time> {
  static bool checkCallable(pyobject c, std::string& error);
-  SignalWrapper(std::string name, pyobject callable) : parent_t(name), callable(callable) {
+  SignalWrapper(std::string name, pyobject callable)
+      : parent_t(name), callable(callable) {
    typedef boost::function2<T&, T&, Time> function_t;
    function_t f = boost::bind(&SignalWrapper::call, this, _1, _2);
    this->setFunction(f);

--- a/include/dynamic-graph/python/signal.hh
+++ b/include/dynamic-graph/python/signal.hh
 // Copyright 2020, Joseph Mirabel, LAAS-CNRS.
-#include <sstream>
-#include <boost/python.hpp>
 #include <dynamic-graph/signal-base.h>
 #include <dynamic-graph/signal-ptr.h>
 #include <dynamic-graph/signal-time-dependent.h>
 #include <dynamic-graph/signal.h>
+#include <boost/python.hpp>
+#include <sstream>
 #include "dynamic-graph/python/signal-wrapper.hh"
 namespace dynamicgraph {

--- a/package.xml
+++ b/package.xml
 <?xml version="1.0"?>
 <package format="3">
  <name>dynamic-graph-python</name>
-  <version>3.5.3</version>
+  <version>4.0.11</version>
-  <description>
+  <description>Dynamic graph library Python bindings</description>
-    Dynamic graph library Python bindings
+  <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
-  </description>
-  <maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
-  <license>BSD</license>
-  <url>http://github.com/stack-of-tasks/dynamic-graph-python</url>
  <author>Nicolas Mansard</author>
  <author>Olivier Stasse</author>
+  <license>BSD</license>
+  <url type="website">https://github.com/stack-of-tasks/dynamic-graph-python</url>
  <build_depend>git</build_depend>
  <build_depend>doxygen</build_depend>
-  <doc_depend>doxygen</doc_depend>
-  <!-- The following tags are recommended by REP-136 -->
+  <!-- The following tag is recommended by REP-136 -->
  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
-  <depend>dynamic-graph</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
-  <depend>roscpp</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <depend>eigen</depend>
  <depend>boost</depend>
  <depend>eigenpy</depend>
+  <depend>dynamic-graph</depend>
  <buildtool_depend>cmake</buildtool_depend>
  <export>
    <build_type>cmake</build_type>
  </export>
 </package>
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