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# pre-commit run -a (Guilhem Saurel, 2022-07-27)

4af05ec6781f9da65b81af8e3af8d69213f99e85

# pre-commit run -a (Guilhem Saurel, 2024-02-17)

48fb48c83f0456de2fb612ef55df8ad789824d87

# pre-commit run -a (Guilhem Saurel, 2024-02-19)

0bae435330ee475f8dbb11bf5e672284d294d9b3

# pre-commit run -a (ManifoldFR, 2025-04-25)

51b49061575d46e0668eba0da200217cbfd9e883

# GitHub syntax highlighting

pixi.lock linguist-language=YAML

name: CI - Check-changelog

on:

  pull_request:

    types: [assigned, opened, synchronize, reopened, labeled, unlabeled, edited]

    branches:

      - devel

jobs:

  check-changelog:

    name: Check changelog action

    runs-on: ubuntu-latest

    steps:

      - uses: tarides/changelog-check-action@v2

        with:

          changelog: CHANGELOG.md

name: CI - JRL-cmakemodules

on:

  push:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

  pull_request:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

concurrency:

  group: ${{ github.workflow }}-${{ github.ref }}

  cancel-in-progress: true

jobs:

  with-submodules:

    name: Check configuration with git submodules

    runs-on: ubuntu-latest

    steps:

      - uses: actions/checkout@v3

        with:

          submodules: true

      - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy

      - run: cmake .

  without-submodules:

    name: Check configuration without git submodules

    runs-on: ubuntu-latest

    steps:

      - uses: actions/checkout@v3

        with:

          submodules: false

          path: eigenpy

      - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy

      - run: cmake -B build -S eigenpy

      - run: grep -qvz CMAKE_PROJECT_VERSION:STATIC=0.0 build/CMakeCache.txt

name: CI - Linux via APT

on:

  push:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

  pull_request:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

concurrency:

  group: ${{ github.workflow }}-${{ github.ref }}

  cancel-in-progress: true

jobs:

  test:

    name: "Test python ${{ matrix.python }} on ${{ matrix.ubuntu }}.04"

    runs-on: "ubuntu-${{ matrix.ubuntu }}.04"

    strategy:

      matrix:

        python: [3]

        ubuntu: [22, 24]

    steps:

      - uses: actions/checkout@v3

        with:

          submodules: 'true'

      - run: |

          sudo apt-get update

          sudo apt-get install cmake libboost-all-dev libeigen3-dev python*-numpy python*-dev python*-scipy

          echo $(sudo apt list --installed)

          echo $(g++ --version)

      - run: cmake . -DPYTHON_EXECUTABLE=$(which python${{ matrix.python }}) -DBUILD_TESTING_SCIPY=ON

      - run: make -j2

      - run: ctest --output-on-failure

  check:

    if: always()

    name: check-linux

    needs:

    - test

    runs-on: Ubuntu-latest

    steps:

    - name: Decide whether the needed jobs succeeded or failed

      uses: re-actors/alls-green@release/v1

      with:

        jobs: ${{ toJSON(needs) }}

name: CI - MacOS/Linux/Windows via Pixi

on:

  push:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

  pull_request:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

concurrency:

  group: ${{ github.workflow }}-${{ github.ref }}

  cancel-in-progress: true

jobs:

  eigenpy-pixi:

    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }} ${{ matrix.compiler }}

    runs-on: ${{ matrix.os }}

    env:

      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"

      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"

      CCACHE_COMPRESS: true

      CCACHE_COMPRESSLEVEL: 6

    strategy:

      fail-fast: false

      matrix:

        os: [ubuntu-latest, macos-latest, macos-13]

        environment: [all, all-py39]

        build_type: [Release, Debug]

        cxx_options: ['', '-mavx2']

        exclude:

          - os: macos-latest

            cxx_options: '-mavx2'

          - os: macos-13

            cxx_options: '-mavx2'

        include:

          - os: windows-latest

            environment: all

            cxx_options: ''

            build_type: Release

          - os: windows-latest

            environment: all-clang-cl

            cxx_options: ''

            build_type: Release

    steps:

    - uses: actions/checkout@v4

      with:

        submodules: recursive

    - uses: actions/cache@v4

      with:

        path: .ccache

        key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha }}

        restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-

    - uses: prefix-dev/setup-pixi@v0.8.1

      with:

        cache: true

        environments: ${{ matrix.environment }}

    - name: Build EigenPy [MacOS/Linux/Windows]

      env:

        CMAKE_BUILD_PARALLEL_LEVEL: 2

        EIGENPY_BUILD_TYPE: ${{ matrix.build_type }}

        EIGENPY_CXX_FLAGS: ${{ matrix.cxx_options }}

      run: |

        pixi run -e ${{ matrix.environment }} test

  check:

    if: always()

    name: check-macos-linux-windows-pixi

    needs:

    - eigenpy-pixi

    runs-on: Ubuntu-latest

    steps:

    - name: Decide whether the needed jobs succeeded or failed

      uses: re-actors/alls-green@release/v1

      with:

        jobs: ${{ toJSON(needs) }}

name: "CI - Nix"

on:

  push:

jobs:

  nix:

    runs-on: "${{ matrix.os }}-latest"

    strategy:

      matrix:

        os: [ubuntu, macos]

    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

name: CI - Ensure relocatable

on:

  push:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

  pull_request:

    paths-ignore:

      - 'doc/**'

      - '.gitlab-ci.yml'

      - '.gitignore'

      - '*.md'

      - 'LICENSE'

      - 'colcon.pkg'

      - '.pre-commit-config.yaml'

concurrency:

  group: ${{ github.workflow }}-${{ github.ref }}

  cancel-in-progress: true

jobs:

  relocatable:

    name: Ensure relocatable

    runs-on: ubuntu-latest

    env:

      CCACHE_DIR: /github/home/.ccache # Enable ccache

      CMAKE_CXX_COMPILER_LAUNCHER: ccache

    steps:

    - uses: actions/checkout@v3

      with:

        submodules: recursive

    - uses: actions/cache@v3

      with:

        path: ${{ env.CCACHE_DIR }}

        key: reloc

    - name: prepare cache dir

      run: sudo mkdir -p ${CCACHE_DIR}/tmp && sudo chown -R $(id -un) ${CCACHE_DIR}

    - name: prepare work prefix

      run: sudo mkdir -p /RELOC/SRC && sudo chown -R $(id -un) /RELOC

    - name: clone in /RELOC/SRC

      run: git -C /RELOC/SRC clone --recursive $(pwd)

    - name: install dependencies

      run: sudo apt install libboost-all-dev libeigen3-dev python-is-python3 python3-numpy python3-pip python3-scipy ccache

    - name: update CMake

      run: pip install -U pip && pip install -U cmake

    - name: configure in /RELOC/BLD

      run: cmake -S /RELOC/SRC/eigenpy -B /RELOC/BLD -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/RELOC/PFX

    - name: build in /RELOC/BLD

      run: cmake --build /RELOC/BLD -j2

    - name: install in /RELOC/PFX

      run: cmake --build /RELOC/BLD -t install

    - name: check installed package doesn't contain references to RELOC

      run: grep -r RELOC /RELOC/PFX | grep -v Binary | tee references

    - name: exit accordingly

      run: exit $(wc -l references | cut -d " " -f 1)