Modified the packaging.

.gitignore

+build/
+release/
+_build/
+_release/
+*~
\ No newline at end of file

.gitmodules

+[submodule "cmake"]
+	path = cmake
+	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git

CMakeLists.txt

-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
-IF(NOT CMAKE_BUILD_TYPE)
-  SET(CMAKE_BUILD_TYPE "DEBUG")
-ENDIF()
+#
+#  Copyright 2014 CNRS
+#
 
-FIND_PACKAGE(Boost 1.45.0)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
-IF(Boost_FOUND)
+INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/boost.cmake)
+INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/eigen.cmake)
+INCLUDE(cmake/python.cmake)
 
-  INCLUDE_DIRECTORIES("${Boost_INCLUDE_DIRS}" "/usr/include/python2.7" "/usr/include/eigen3")
+SET(PROJECT_NAME eigenpy)
+SET(PROJECT_DESCRIPTION "Wrapping Eigen3 -- numpy")
+SET(PROJECT_URL "http://github.com/stac-of-tasks/eigenpy")
 
-  SET(Boost_USE_STATIC_LIBS OFF)
-  SET(Boost_USE_MULTITHREADED ON)
-  SET(Boost_USE_STATIC_RUNTIME OFF)
-  FIND_PACKAGE(Boost 1.45.0 COMPONENTS python)
+# Disable -Werror on Unix for now.
+SET(CXX_DISABLE_WERROR True)
+SET(CMAKE_VERBOSE_MAKEFILE True)
 
-  ADD_LIBRARY(eigenpy SHARED unittest/libeigenpy.cpp)
-  TARGET_LINK_LIBRARIES(eigenpy ${Boost_LIBRARIES})
+project(${PROJECT_NAME})
+SETUP_PROJECT()
 
-ELSEIF(NOT Boost_FOUND)
-  MESSAGE(FATAL_ERROR "Unable to find correct Boost version. Did you set BOOST_ROOT?")
-ENDIF()
+# ----------------------------------------------------
+# --- DEPENDANCIES -----------------------------------
+# ----------------------------------------------------
+SEARCH_FOR_EIGEN()
+SET(BOOST_COMPONENTS python)
+SEARCH_FOR_BOOST()
+set(Python_ADDITIONAL_VERSIONS 2.7)
+FINDPYTHON()
+INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
 
+# ----------------------------------------------------
+# --- INCLUDE ----------------------------------------
+# ----------------------------------------------------
+SET(${PROJECT_NAME}_HEADERS
+  src/eigenpy.hpp
+)
+MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy")
+
+FOREACH(header ${${PROJECT_NAME}_HEADERS})
+  GET_FILENAME_COMPONENT(headerName ${header} NAME)
+  IF(WIN32)
+    execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different
+                    ${${PROJECT_NAME}_SOURCE_DIR}/${header}
+                    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/)
+  ELSE(WIN32)
+    execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
+                    ${${PROJECT_NAME}_SOURCE_DIR}/${header}
+                    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${headerName})
+  ENDIF(WIN32)
+  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/${header}
+	  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}
+          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+ENDFOREACH(header)
+
+# ----------------------------------------------------
+# --- TARGETS ----------------------------------------
+# ----------------------------------------------------
+ADD_LIBRARY(eigenpy SHARED unittest/libeigenpy.cpp)
+TARGET_LINK_LIBRARIES(eigenpy ${Boost_LIBRARIES})
+
+PKG_CONFIG_APPEND_CFLAGS(${_Eigen_CFLAGS})
+PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
+PKG_CONFIG_APPEND_LIBS_RAW(${Boost_LIBRARIES})
+
+SETUP_PROJECT_FINALIZE()
+SETUP_PROJECT_CPACK()
 
-IF(CMAKE_COMPILER_IS_GNUCXX)
-  ADD_DEFINITIONS("-Wall")
-ELSE()
-  MESSAGE(FATAL_ERROR "CMakeLists.txt has not been tested/written for your compiler.")
-ENDIF()

COPYING.LESSER

+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

README.md

+eigenpy
+===========
+
+Setup
+-----
+
+To compile this package, it is recommended to create a separate build
+directory:
+
+    mkdir _build
+    cd _build
+    cmake [OPTIONS] ..
+    make install
+
+Please note that CMake produces a `CMakeCache.txt` file which should
+be deleted to reconfigure a package from scratch.
+
+
+### Dependencies
+
+The matrix abstract layer depends on several packages which
+have to be available on your machine.
+
+ - Libraries:
+   - eigen3
+ - System tools:
+   - CMake (>=2.6)
+   - pkg-config
+   - usual compilation tools (GCC/G++, make, etc.)
+ - Python 2.7
+ - Boost python

cmake @ 2ff6e02f

+Subproject commit 2ff6e02faf16d06d442b87b680a400f083c101e0

doc/Doxyfile.extra.in

+INPUT                  = @CMAKE_SOURCE_DIR@/src \
+                         @CMAKE_SOURCE_DIR@/doc/additionalDoc
+IMAGE_PATH             = @CMAKE_SOURCE_DIR@/doc/pictures
+
+FILE_PATTERNS          = *.cc *.cpp *.h *.hpp *.hxx
+
+TAGFILES               = \

doc/additionalDoc/package.hh

+/*
+ * Copyright 2010,
+ * François Bleibel,
+ * Olivier Stasse,
+ *
+ * CNRS/AIST
+ *
+ * This file is part of sot-dynamic.
+ * sot-dynamic is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * sot-dynamic is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/** \mainpage
+\section soth_section_introduction Introduction
+
+The soth package is ...
+
+**/

doc/footer.html

+ <br><br>
+ <hr>
+ <center>
+ <img src="./pictures/footer.jpg" Height=100>
+ <br>soth library documentation</br>
+ </center>
+ <hr>
+ </center>
+ </body>
+ </head>
+

doc/header.html

+<HTML>
+    <HEAD>
+      <TITLE>soth library documentation</TITLE>
+      <LINK HREF="package.css" REL="stylesheet" TYPE="text/css">
+    </HEAD>
+    <BODY>
+

doc/package.css

+body {
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    color: #5D5D5D;
+}
+
+dl {
+    border: 1.5px #82b6d7 solid;
+    width: 97%;
+    padding: 5px;
+    color: #330077;
+}
+
+code {
+    color: #3C9A35;
+}
+
+td.md {
+    color: #0066CC;
+}
+
+h1 {
+    padding-top: 50px;
+    padding: 0px;
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    font-variant: small-caps;
+    color:#0066CC;
+    text-align: center;
+}
+
+h2,h3,hr {
+    magin-top: 15px;
+    padding: 0px;
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    font-variant: small-caps;
+    color:#0066CC;
+}
+
+h4 {
+    color: #3C9A35;
+}
+
+a:link {
+    font-weight: bold;
+    text-decoration: none;
+    color:#0066CC
+}
+
+a:hover, a:active { 
+	text-decoration: underline; 
+	color: #3C9A35;
+}
+
+a:visited {
+    font-weight: bold;
+    color: #3C9A35;
+    text-decoration: none;
+}
+
+DIV.memitem
+{ 
+  spacing: 10px;
+  width:100%;
+  background:#FFFFFF;
+  font-size:100%;
+  line-height:normal;
+  border-width: 1px;
+  border-style: solid;
+  border-color: #808080;
+  -moz-border-radius: 8px 8px 8px 8px;
+}
+
+DIV.memproto
+{ 
+  width:100%;
+  background:#F0F0F0;
+  font-size:100%;
+  line-height:normal;
+  border-width: 1px;
+  border-style: solid;
+  border-color: #808080;
+  -moz-border-radius: 8px 8px 8px 8px;
+}
+
+DIV.memdoc
+{ 
+  padding: 10px;
+  width:100%;
+  font-size:100%;
+  line-height:normal;
+}
+
+DIV.tabs
+{
+   float            : left;
+   width            : 100%;
+   background       : url("tab_b.gif") repeat-x bottom;
+   margin-bottom    : 4px;
+}
+
+DIV.tabs UL
+{
+   margin           : 0px;
+   padding-left     : 10px;
+   list-style       : none;
+}
+
+DIV.tabs LI, DIV.tabs FORM
+{
+   display          : inline;
+   margin           : 0px;
+   padding          : 0px;
+}
+
+DIV.tabs FORM
+{
+   float            : right;
+}
+
+DIV.tabs A
+{
+   float            : left;
+   background       : url("tab_r.gif") no-repeat right top;
+   border-bottom    : 1px solid #84B0C7;
+   font-size        : x-small;
+   font-weight      : bold;
+   text-decoration  : none;
+}
+
+DIV.tabs A:hover
+{
+   background-position: 100% -150px;
+}
+
+DIV.tabs A:link, DIV.tabs A:visited,
+DIV.tabs A:active, DIV.tabs A:hover
+{
+       color: #1A419D;
+}
+
+DIV.tabs SPAN
+{
+   float            : left;
+   display          : block;
+   background       : url("tab_l.gif") no-repeat left top;
+   padding          : 5px 9px;
+   white-space      : nowrap;
+}
+
+DIV.tabs INPUT
+{
+   float            : right;
+   display          : inline;
+   font-size        : 1em;
+}
+
+DIV.tabs TD
+{
+   font-size        : x-small;
+   font-weight      : bold;
+   text-decoration  : none;
+}
+
+
+
+DIV.tabs SPAN {float : none;}
+
+DIV.tabs A:hover SPAN
+{
+   background-position: 0% -150px;
+}
+
+DIV.tabs LI#current A
+{
+   background-position: 100% -150px;
+   border-width     : 0px;
+}
+
+DIV.tabs LI#current SPAN
+{
+   background-position: 0% -150px;
+   padding-bottom   : 6px;
+}
+
+DIV.nav
+{
+   background       : none;
+   border           : none;
+   border-bottom    : 1px solid #84B0C7;
+}
+
+DIV.groupHeader
+{ 
+  padding-top: 30px;
+  padding-bottom: 20px;
+  background       : none;
+  border           : none;
+  border-bottom    : 1px solid #84B0C7;
+  font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+  font-variant: small-caps;
+  font-size: 14pt;
+  color:#0066CC;
+}
+
+.directory p 
+{ 
+    margin: 0px; 
+    white-space: nowrap; 
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    font-size: 10pt;
+    font-weight: normal;
+}
+
+
+.directory h3 
+{ 
+    font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
+    margin: 0px; 
+    margin-top: 1em; 
+    padding-bottom: 20px;
+    font-size: 12pt; 
+    font-variant: small-caps;
+    text-align: center;
+}
+
+.directory a:visited {
+    font-weight: bold;
+    text-decoration: none;
+    color:#0066CC
+}
+

doc/pictures/footer.txt

+Copy in this directory the image you wish to use in the footer of the documentation or edit file sot-core/doc/footer.html and
+remove this file.

eigenpy.pc.cmake

+prefix=${CMAKE_INSTALL_PREFIX}
+exec_prefix=${install_pkg_prefix}
+libdir=${install_pkg_exec_prefix}/lib
+includedir=${install_pkg_prefix}/include
+datarootdir=${install_pkg_prefix}/share
+docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
+
+Name: ${PROJECT_NAME}
+Description: 
+Version: ${PROJECT_VERSION}
+Requires: ${PACKAGE_REQUIREMENTS}
+Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
+Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}

src/eigenpy.hpp

+/*
+ * Copyright 2014, Nicolas Mansard, LAAS-CNRS
+ *
+ * This file is part of eigenpy.
+ * eigenpy is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * eigenpy is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 #include <Eigen/Core>
 #include <boost/python.hpp>
 #include <numpy/arrayobject.h>
@@ -7,6 +23,7 @@ namespace eigenpy
   template< typename MatType, int IsVector>
   struct MapNumpyTraits {};
  
+  /* Wrap a numpy::array with an Eigen::Map. No memory copy. */
   template< typename MatType >