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# Changelog
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
## [Unreleased]
## [3.10.3] - 2025-02-11
### Added
- Add `BUILDING_ROS2_PACKAGE` to generate ament specific file ([#530](https://github.com/stack-of-tasks/eigenpy/pull/530))
### Changed
- Modernize doxygen documentation ([#533](https://github.com/stack-of-tasks/eigenpy/pull/533))
## [3.10.2] - 2025-01-13
### Fixed
- Fix Python library linkage for Debug build on Windows ([#514](https://github.com/stack-of-tasks/eigenpy/pull/514))
- Fix np.ones when dtype is a custom user type ([#525](https://github.com/stack-of-tasks/eigenpy/pull/525))
## [3.10.1] - 2024-10-30
### Added
- Add Pixi support ([#444](https://github.com/stack-of-tasks/eigenpy/pull/444))
### Fixed
- Don't use C++14 feature ([#510](https://github.com/stack-of-tasks/eigenpy/pull/510))
- Add inline to `deprecationTypeToPyObj` definition to avoid linking error ([#512](https://github.com/stack-of-tasks/eigenpy/pull/512))
## [3.10.0] - 2024-09-26
### Added
- `GenericMapPythonVisitor`/`StdMapPythonVisitor` can now take an extra visitor argument in the `expose()` method, similar to `StdVectorPythonVisitor`
### Changed
- Move `GenericMapPythonVisitor` to its own header `eigenpy/map.hpp`
- Rename `overload_base_get_item_for_std_map` to `overload_base_get_item_for_map`, move out of `eigenpy::details` namespace
- Move `EmptyPythonVisitor` to new header `eigenpy/utils/empty-visitor.hpp`
## [3.9.1] - 2024-09-19
### Added
- Add test returning reference of std::pair ([#503](https://github.com/stack-of-tasks/eigenpy/pull/503))
- Add more general visitor `GenericMapPythonVisitor` for map types test `boost::unordered_map<std::string, int>` ([#504](https://github.com/stack-of-tasks/eigenpy/pull/504))
- Support for non-[default-contructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible) types in map types ([#504](https://github.com/stack-of-tasks/eigenpy/pull/504))
- Add type_info helpers ([#502](https://github.com/stack-of-tasks/eigenpy/pull/502))
- Add NumPy 2 support ([#496](https://github.com/stack-of-tasks/eigenpy/pull/496))
### Changed
- Move `StdMapPythonVisitor` out of `eigenpy::python` namespace, which was a mistake ([#504](https://github.com/stack-of-tasks/eigenpy/pull/504))
## [3.9.0] - 2024-08-31
### Changed
- The `exposeStdVectorEigenSpecificType()` template function now takes the vector allocator as a template parameter ([#500](https://github.com/stack-of-tasks/eigenpy/pull/500))
### Added
- Add bp::dist to std::map converter ([#499](https://github.com/stack-of-tasks/eigenpy/pull/499))
## [3.8.2] - 2024-08-26
### Fixed
- Fix function signature on Windows ([#494](https://github.com/stack-of-tasks/eigenpy/pull/494))
## [3.8.1] - 2024-08-25
### Fixed
- Fix compatibility issue with NumPy 2.x on Windows ([#492](https://github.com/stack-of-tasks/eigenpy/pull/492))
## [3.8.0] - 2024-08-14
### Added
- Add compatibility with jrl-cmakemodules workspace ([#485](https://github.com/stack-of-tasks/eigenpy/pull/485))
- Remove support of Python 3.7 ([#490](https://github.com/stack-of-tasks/eigenpy/pull/490))
### Fixed
- Remove CMake CMP0167 warnings ([#487](https://github.com/stack-of-tasks/eigenpy/pull/487))
- Fix compilation error on armhf ([#488](https://github.com/stack-of-tasks/eigenpy/pull/488))
## [3.7.0] - 2024-06-11
### Added
- Added id() helper to retrieve unique object identifier in Python ([#477](https://github.com/stack-of-tasks/eigenpy/pull/477))
- Expose QR solvers ([#478](https://github.com/stack-of-tasks/eigenpy/pull/478))
## [3.6.0] - 2024-06-05
### Added
- Added a deprecation call policy shortcut ([#466](https://github.com/stack-of-tasks/eigenpy/pull/466))
### Fixed
- Fix register_symbolic_link_to_registered_type() for multiple successive registrations ([#471](https://github.com/stack-of-tasks/eigenpy/pull/471))
## [3.5.1] - 2024-04-25
### Fixed
- Allow EigenToPy/EigenFromPy specialization with CL compiler ([#462](https://github.com/stack-of-tasks/eigenpy/pull/462))
- Fix missing include for boost >= 1.85 ([#464](https://github.com/stack-of-tasks/eigenpy/pull/464))
## [3.5.0] - 2024-04-14
### Added
- Allow use of installed JRL-cmakemodule ([#446](https://github.com/stack-of-tasks/eigenpy/pull/446)
- Support of Numpy 2.0.0b1 ([#448](https://github.com/stack-of-tasks/eigenpy/pull/448))
- Support new primitive type (char, int8_t, uint8_t, int16_t, uint16_t, uint32_t, uint64_t) ([#455]()https://github.com/stack-of-tasks/eigenpy/pull/455)
- Support conversion between signed <-> unsigned integers ([#455](https://github.com/stack-of-tasks/eigenpy/pull/455))
- Support conversion between complex numbers ([#455](https://github.com/stack-of-tasks/eigenpy/pull/455))
### Fixed
- Fix unit test build in C++11 ([#442](https://github.com/stack-of-tasks/eigenpy/pull/442))
- Fix unit test function signature [#443](https://github.com/stack-of-tasks/eigenpy/pull/443))
- Fix CMake export ([#446](https://github.com/stack-of-tasks/eigenpy/pull/446)
- Fix `int` management on Windows ([#455](https://github.com/stack-of-tasks/eigenpy/pull/455))
- Fix `long long` management on Mac ([#455](https://github.com/stack-of-tasks/eigenpy/pull/455))
- Allow to run test in the build directory on Windows ([#457](https://github.com/stack-of-tasks/eigenpy/pull/457))
### Removed
- Remove casting when converting from Eigen scalar to Numpy scalar.
This should not remove any functionality since Numpy array are created from the Eigen scalar type
([#455](https://github.com/stack-of-tasks/eigenpy/pull/455))
## [3.4.0] - 2024-02-26
### Added
- Support for `Eigen::SparseMatrix` types ([#426](https://github.com/stack-of-tasks/eigenpy/pull/426))
- Support for `boost::variant` types with `VariantConverter` ([#430](https://github.com/stack-of-tasks/eigenpy/pull/430))
- Support for `std::variant` types with `VariantConverter` ([#431](https://github.com/stack-of-tasks/eigenpy/pull/431))
- Support for `std::unique_ptr` as a return types with `StdUniquePtrCallPolicies` and `boost::python::default_call_policies` ([#433](https://github.com/stack-of-tasks/eigenpy/pull/433))
- Support for `std::unique_ptr` as an internal reference with `ReturnInternalStdUniquePtr` ([#433](https://github.com/stack-of-tasks/eigenpy/pull/433))
- Support for `Eigen::Simplicial{LLT,LDLT}` and `Eigen::Cholmod{Simplicial,Supernodal}{LLT,LDLT}` Cholesky de compositions ([#438](https://github.com/stack-of-tasks/eigenpy/pull/438))
- Switch to ruff for lints, format, and import sort ([#441](https://github.com/stack-of-tasks/eigenpy/pull/441))
### Fixed
- Fix the issue of missing exposition of Eigen types with __int64 scalar type ([#426](https://github.com/stack-of-tasks/eigenpy/pull/426))
- Fix namespace use in unittest/std_pair.cpp ([#429](https://github.com/stack-of-tasks/eigenpy/pull/429))
- Fix case of zero-size sparse matrices ([#437](https://github.com/stack-of-tasks/eigenpy/pull/437))
## [3.3.0] - 2024-01-23
### Fixed
- Fix potential memory leak when returning a list from an `std::vector` or an `std::array` ([423](https://github.com/stack-of-tasks/eigenpy/pull/423))
## [3.2.0] - 2023-12-12
### Added
- Support for C++11 `std::array` types ([#412](https://github.com/stack-of-tasks/pull/412))
- Support for `std::pair` types ([#417](https://github.com/stack-of-tasks/pull/417))
## [3.1.4] - 2023-11-27
### Added
- Add new helper functions to check Tensor support
### Fixed
- Fix stub generation on Windows
## [3.1.3] - 2023-11-09
### Fixed
- Install `include/eigenpy/registration_class.hpp`
## [3.1.2] - 2023-11-09
### Added
- Support Python 3.12 ([#391](https://github.com/stack-of-tasks/eigenpy/pull/391))
### Fixed
- Add method to `std::vector<MatrixXX>` binding even if another library had registered it ([#393](https://github.com/stack-of-tasks/eigenpy/pull/393))
### Changed
- CMake minimal version is now 3.10 ([#388](https://github.com/stack-of-tasks/eigenpy/pull/388))
## [3.1.1] - 2023-07-31
### What's Changed
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/374
* Fix ROS CI by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/384
* Extended copyable visitor by [@cmastalli](https://github.com/cmastalli) in https://github.com/stack-of-tasks/eigenpy/pull/383
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/382
## [3.1.0] - 2023-06-01
### What's Changed
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/362
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/363
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/366
* WIP: Expose boost::none_t type (and std::nullopt_t when available) by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/367
* optional: check registration of none type and optional type before exposing converter by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/368
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/371
* Sync submodule CMake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/373
## [3.0.0] - 2023-04-22
### What's Changed
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/345
* Clean use of namespace bp:: by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/346
* Add full support of Eigen::Tensor by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/348
* Enable scalar template specialization by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/349
* Tests: add user-struct test by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/350
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/351
* CMake: have python stubs target depend on pywrap target by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/352
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/354
* fix INSTALL_RPATH on ROS & OSX by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/355
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/356
* Add util to expose optional types by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/357
* Fix CI + sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/358
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/359
* Add example showing how to bind virtual classes, passing to overrides… by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/360
* Remove support of numpy.matrix class by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/361
## [2.9.2] - 2023-02-01
### What's Changed
* Fix for Python 3.6 by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/344
## [2.9.1] - 2023-01-31
### What's Changed
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/340
* test python 2/3 ubuntu 18/20/22 by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/341
* Add and expose printEigenVersion by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/342
* Fix issue with Boost.Python < 1.71 by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/343
## [2.9.0] - 2023-01-09
### What's Changed
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/333
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/334
* Move and update license by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/335
* Add full support of vectorization by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/336
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/338
* Simplify alignment procedure by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/337
* Remove deprecated EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/339
## [2.8.1] - 2022-12-07
### What's Changed
* Fix handling of Numpy blocks on vector types by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/332
## [2.8.0] - 2022-12-05
### What's Changed
* Modify stride assertion in `numpy-map.hpp` to be valid for empty vector by [@acmiyaguchi](https://github.com/acmiyaguchi) in https://github.com/stack-of-tasks/eigenpy/pull/321
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/323
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/326
* Fix potential issues related to Boost.Python >= 1.80 by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/327
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/328
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/329
* Copy std-vector and std-map from Pinocchio by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/325
### New Contributors
* [@acmiyaguchi](https://github.com/acmiyaguchi) made their first contribution in https://github.com/stack-of-tasks/eigenpy/pull/321
## [2.7.14] - 2022-09-11
### What's Changed
* Fix Boost.Python export by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/319
## [2.7.13] - 2022-09-08
### What's Changed
* Fix packaging by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/311
* add relocatable test by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/313
* [CI] Always run PRERELEASE tests by [@wxmerkt](https://github.com/wxmerkt) in https://github.com/stack-of-tasks/eigenpy/pull/307
* Test https://github.com/jrl-umi3218/jrl-cmakemodules/pull/547 by [@wxmerkt](https://github.com/wxmerkt) in https://github.com/stack-of-tasks/eigenpy/pull/314
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/315
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/317
* Fix flake8 errors by [@wxmerkt](https://github.com/wxmerkt) in https://github.com/stack-of-tasks/eigenpy/pull/318
## [2.7.12] - 2022-08-24
### What's Changed
* Sync submodule CMake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/306
* define HAVE_SNPRINTF for windows, fix #309 by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/310
* export SEARCH_FOR_BOOST_PYTHON by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/308
## [2.7.11] - 2022-08-11
### What's Changed
* CMake: typo by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/301
* FIx issue related to Python 3.11 by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/304
* Sync submodule Cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/305
## [2.7.10] - 2022-07-27
### What's Changed
* pre-commit / cmake-format by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/300
* ci: test packaging by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/298
## [2.7.9] - 2022-07-27
### What's Changed
* Enhance CI by testing hpp-fcl by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/296
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/297
## [2.7.8] - 2022-07-24
### What's Changed
* Fix cross compilation by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/293
* Fix python numpy linking error by [@wxmerkt](https://github.com/wxmerkt) in https://github.com/stack-of-tasks/eigenpy/pull/295
## [2.7.7] - 2022-07-19
### What's Changed
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/287
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/288
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/289
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/290
* cmake: relocatable package for recent CMake versions by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/291
* ROS2/Colcon integration for AMENT_PREFIX_PATH and PYTHONPATH by [@wxmerkt](https://github.com/wxmerkt) in https://github.com/stack-of-tasks/eigenpy/pull/292
## [2.7.6] - 2022-05-22
### What's Changed
* Allow template specialization of getitem by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/286
## [2.7.5] - 2022-05-20
### What's Changed
* Fix for Refs to dynamic (1, N) blocks by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/284
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/285
## [2.7.4] - 2022-05-06
This release fixes a major bug related to Eigen::Ref when using Row Major matrices.
### What's Changed
* unit tests: fix super() for python 2 by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/281
* test/eigen_ref: test using Eigen::Ref as data member by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/282
* Fix RowMajor case for Eigen::Ref by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/283
## [2.7.3] - 2022-05-02
### What's Changed
* numpy: avoid deprecated header by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/280
## [2.7.2] - 2022-04-22
### What's Changed
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/276
* ci: autoupdate devel instead of master by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/277
* [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) in https://github.com/stack-of-tasks/eigenpy/pull/278
* Test: modify a matrix block through Python subclass by [@ManifoldFR](https://github.com/ManifoldFR) in https://github.com/stack-of-tasks/eigenpy/pull/279
### New Contributors
* [@pre-commit-ci](https://github.com/pre-commit-ci) made their first contribution in https://github.com/stack-of-tasks/eigenpy/pull/276
* [@ManifoldFR](https://github.com/ManifoldFR) made their first contribution in https://github.com/stack-of-tasks/eigenpy/pull/279
## [2.7.1] - 2022-04-09
### What's Changed
* Expose const Eigen::Ref<const ... + update pre-commit + correctly export the project version by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/275
## [2.7.0] - 2022-04-02
### What's Changed
* Export name types by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/273
* Apply pre-commit on all the project by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/274
## [2.6.11] - 2022-02-25
### What's Changed
* Fix quaternion initialisation segfault under -march=native by [@wxmerkt](https://github.com/wxmerkt) in https://github.com/stack-of-tasks/eigenpy/pull/267
* Fix Quaternion constructor by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/269
* Fix memory issue with Quaternion::normalized by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/271
* Remove useless std::cout by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/272
## [2.6.10] - 2022-02-02
This new release enhances portability for ROS2 and fixes issues with Eigen::RowMajor matrix types.
### What's Changed
* Prepare ROS2 release by [@wxmerkt](https://github.com/wxmerkt) in https://github.com/stack-of-tasks/eigenpy/pull/264
* Fix RowMajor issues by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/266
## [2.6.9] - 2021-10-29
Mostly a maintenance release that enhances packaging support and provides fixes for Windows.
### What's Changed
* Fix stubgen by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/260
* Remove useless setup by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/261
* FetchContent on missing submodule by [@nim65s](https://github.com/nim65s) in https://github.com/stack-of-tasks/eigenpy/pull/262
* Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) in https://github.com/stack-of-tasks/eigenpy/pull/263
## [2.6.8] - 2021-09-05
This new release:
- enhances the compatibility with Boost >= 1.77
- fixes Python doc
- adds the support of Python stubs
## [2.6.7] - 2021-08-19
This new release provides additional support in user-type for extracting class objects exposed through boost python.
## [2.6.6] - 2021-08-13
This new release provides:
- extended support of Custom types with Numpy
- extended support of Eigen::{LLT,LDLT} for matrix solution
- MINRES solver support
## [2.6.5] - 2021-07-30
This new release extends the support of custom types registration within NumPy arrays.
## [2.6.4] - 2021-05-25
This new release fixes some bugs when compiling with -march=native.
It also fixes a bug of include orders.
## [2.6.3] - 2021-04-16
This new release enhances the support of EigenPy with Numpy >= 1.2.0
## [2.6.2] - 2021-03-28
Add support of boolean matrices.
## [2.6.1] - 2021-01-20
This new release fixes a bug related to Quaternion initialization in Python.
## [2.6.0] - 2021-01-04
This new release provides extended support for arbitrary scalar types.
## [2.5.0] - 2020-08-25
This new release provides a support of Eigen::Ref to Python with shared memory.
## [2.4.4] - 2020-08-18
This new release fixes a bug encountered when trying to expose non-square matrix.
It also improves the packaging support on Conda.
## [2.4.3] - 2020-07-20
This new release fixes some packaging issues and removes some CMake warnings.
## [2.4.2] - 2020-07-17
This new release provides extended support to NumPy 1.19 and more.
## [2.4.1] - 2020-06-09
This new release improves the packaging of the project by removing any dependency to pkg-config when searching for dependencies. In addition, the Windows compatibility is enhanced.
## [2.4.0] - 2020-05-25
This new release enables:
- the exposition of user types inside NumPy
- a enhance compatibility with Windows
## [2.3.2] - 2020-04-23
This new release enforces the compatibility with:
- ROS and Python3
- Ubuntu 20.04
- Eigen >= 3.3.90
## [2.3.1] - 2020-04-08
This new release fixes some packaging issues for OS X systems.
## [2.3.0] - 2020-04-03
This new release comes with new features:
- the Geometry module has now full shared memory with Python
and comes with additional bug fixes:
- the project can still be used with former CMake style
- the compilations issues with Boost 1.71 has been fixed
- on OS X systems, the project can be relocated
## [2.2.2] - 2020-03-30
This release fixes a packaging with former versions of ROS.
## [2.2.1] - 2020-03-27
This new release of EigenPy:
- removes boring compilation warnings in C++11
- fixes a bug in the Python documentation of the Geometry module
- fixes the CMake export of the project with respect to ROS
## [2.2.0] - 2020-03-18
This new release fully introduces the support of sharing of memory from Eigen to Numpy. This feature can be disabled thanks to "eigenpy.sharedMemory(False)" to recover the previous behavior.
In addition, `eigenpy::Ref`has been removed, as `Eigen::Ref` is now fully supported.
## [2.1.2] - 2020-02-28
This release fixes a packaging bug with older version of CMake.
## [2.1.1] - 2020-02-27
This new release fixes the support with Windows systems and fixes some bugs with the CMake packaging of the project.
## [2.1.0] - 2020-02-25
This new release adds the full support for:
- sharing the memory between Eigen and Numpy
- provides a complete way of exposing Eigen::Ref (with allocation only when needed)
- improves the whole efficiency of the code
## [2.0.3] - 2020-02-20
This new release fixes:
- improve the search of Python
- fix a potential memory leak when using Eigen::MatrixBase objects
## [2.0.2] - 2020-02-06
This new release provides some additional supports on Eigen::Matrix to np.array conversion. It also reduces the memory overload when compiling EigenPy.
## [2.0.1] - 2020-01-31
This new release improves the compatibility of EigenPy with Win32 systems.
## [2.0.0] - 2020-01-30
This is the new release of EigenPy, which some new features:
- full support of np.array which becomes the default conversion format. The end-user is still able to switch to numpy.matrix by calling eigenpy.switchToNumpyMatrix()
- we provide a full exposition of the Eigen decompositions (LLT, LDLT, EigenSolvers, etc.)
- fixes have been done that were appearing in some very particular cases
## [1.6.13] - 2020-01-10
This new release uniformizes the build of unitary tests and also provides a new function to set the random seed of the std random generator.
## [1.6.12] - 2019-12-10
This release fixes the compatibility on Win32 systems and provides a fix for a bug introduced in 1.6.10.
## [1.6.11] - 2019-12-09
This new release fixes an important bug introduced in 1.6.10.
## [1.6.10] - 2019-12-09
This new release:
- makes the project fully compatible with CMake package policy
- improves the documentation of the Python bindings
- fixes the convertibility of Eigen base classes
## [1.6.9] - 2019-11-25
Missing update of the package.xml file.
## [1.6.8] - 2019-11-25
This new release improves the compatibility version between numpy.array and Eigen::Matrix conversions. It also fixes some compilations issues on Win32 systems.
## [1.6.7] - 2019-11-15
This new release fixes some compilations of EigenPy on the ROS build farm.
Thanks to [@wxmerkt](https://github.com/wxmerkt] for the fix.
## [1.6.6] - 2019-11-13
This new patched release improves the packaging of the project with respect to external forges.
## [1.6.5] - 2019-11-08
This new release fixes the export of the Eigen project for CMake targets relying on EigenPy.
It also provides some fixes aroung Geometry classes.
## [1.6.4] - 2019-11-07
This new release improves the packaging of the project with respect to ROS and also fixes some constructors issues with respect to the Quaternion class.
## [1.6.3] - 2019-10-29
This release fix issues introduced recently in the packaging which was preventing the project to correctly export the main library.
## [1.6.2] - 2019-10-24
This is a maintenance release that improves the packaging for Windows and ROS. It also fixes some bugs in the bindings of Quaternion.
## [1.6.1] - 2019-10-16
This new release provides default exposition of Eigen vector and matrix which are common. On the packaging side, the project is now fully compatible with the new CMake rules for defining and calling the `PROJECT` master function.
## [1.6.0] - 2019-09-19
This new release makes a step towards removing the conversion of `Eigen::Matrix` objects into `numpy.matrix` objects. This new release now warms by default, saying that you need to make an explicit choice between `numpy.matrix` and `numpy.array`.
Future major releases will enforce the default case with `numpy.array`.
## [1.5.8] - 2019-09-09
This new release mostly removes a useless print when loading a converter.
## [1.5.7] - 2019-07-19
This new release adds the support of Windows OS (thanks to [@seanyen](https://github.com/seanyen]).
It also provides some fixes with respect to recent versions of Boost.Python (>= 1.70.0).
## [1.5.6] - 2019-07-16
This release fixes some compatibility issues with anaconda.
## [1.5.5] - 2019-07-15
This new release improves the packaging with respect to Boost >= 1.70.0.
This is needed for complete integration inside Anaconda.
## [1.5.4] - 2019-07-13
This new release mostly improves the packaging of the project, also with ROS.
## [1.5.3] - 2019-06-28
This new release fixes a serious bug with duplicates symbols.
## [1.5.2] - 2019-06-26
This new release fixes two important bugs:
- a type already registered by another library will have a symbolic link in the current scope
- when using the array convention, the Eigen vector objects become flatten numpy.array
## [1.5.1] - 2019-04-16
This new release fixes a serious bug related to Python3 which was occurring when exiting the interpreter.
This new release makes also official the new BSD license.
## [1.5.0] - 2018-10-29
This new release allows now to support the conversion from C++ to Python either as numpy.matrix or as numpy.array.
The use can switch between both features by calling in Python
```
eigenpy.switchToNumpyArray()
```
to convert Eigen::Matrix to numpy.array. Or
```
eigenpy.switchToNumpyMatrix()
```
to select conversion from Eigen::Matrix to numpy.matrix.
Thanks to [@jviereck](https://github.com/jviereck] for raising the lost of performances induced by numpy.matrix.
## [1.4.5] - 2018-08-29
Fix compatibility with Eigen 3.3.5
## [1.4.4] - 2018-07-19
This is a minor release.
It allows to register Eigen::MatrixBase\<MatType\> from Python to Eigen converters.
## [1.4.3] - 2018-05-12
This release fixes several compatibility issues at the Cmake level for both Python 3 and recent versions of Boost >= 1.67.0.
## [1.4.2] - 2018-05-02
This new release allows the binding of Eigen::Ref, facilitates the conversion between compatible scalars (eigenpy won't warn if the numpy matrix has integer scalar type).
This new release also improves the compatibility with Python 3.x.
## [1.4.1] - 2018-02-26
This is mostly a maintenance release where some fixes have been done with respect to BSD systems.
We also fixed an issue concerning the catching of exceptions: they are now verbose.
## [1.4.0] - 2018-01-14
This new release introduces an independent eigenpy library that exposes Eigen solvers in Python.
It also allows to use directly NumPy memory through famous Eigen::Ref that are just memory mapping.
## [1.3.3] - 2017-06-09
It is mostly a maintenance release with suppression of warnings and use of correct types.
## [1.3.2] - 2016-11-21
### Summary
This new release allows the check of registration of any class. This allows to not define twice the same symbols. Thanks to the macro defined in memory.hpp, one can now relies on aligned vector and matrices. The unaligned equivalent type is no more required.
This release also improves the exposed API of Quaternions and AngleAxis Eigen classes. The install of documentation can be avoided by setting cmake option INSTALL_DOCUMENTATION to OFF.
### Bug Fix
- the Python function _import_array() must be called first before any class to PyArray functions.
## [1.3.1] - 2016-09-23
### Summary
This new release fixes several bugs encounter in the linkage of EigenPy with other libs integrating Python interpreter. It also improve the packaging of the module by removing the dependencies to the Python lib and making Boost Python defined with undefined symbols (useful for OS X - the library is no more static on OS X).
### Bug Fix
- UnalignedEquivalent struct take now an optional Scalar template
- PyMatrixType is now a singleton, avoiding bad initialisation during dynamic loading of shared lib.
## [1.3.0] - 2016-02-03
### Summary
Alignment of Eigen and Numpy objects is now properly handled.
One can now easily expose C++ struct containing Eigen objects in Python avoiding any unnecessary conversion and data are aligned in memory.
### Bug Fix
- Fix issue in the creation of row and column vectors.
- The library has to be static under OS X to properly expose symbols.
## [1.2.0] - 2014-11-13
## [1.1.0] - 2014-09-16
## [1.0.1] - 2014-07-18
## [1.0.0] - 2014-07-18
[Unreleased]: https://github.com/stack-of-tasks/eigenpy/compare/v3.10.3...HEAD
[3.10.3]: https://github.com/stack-of-tasks/eigenpy/compare/v3.10.2...v3.10.3
[3.10.2]: https://github.com/stack-of-tasks/eigenpy/compare/v3.10.1...v3.10.2
[3.10.1]: https://github.com/stack-of-tasks/eigenpy/compare/v3.10.0...v3.10.1
[3.10.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.9.1...v3.10.0
[3.9.1]: https://github.com/stack-of-tasks/eigenpy/compare/v3.9.0...v3.9.1
[3.9.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.8.2...v3.9.0
[3.8.2]: https://github.com/stack-of-tasks/eigenpy/compare/v3.8.1...v3.8.2
[3.8.1]: https://github.com/stack-of-tasks/eigenpy/compare/v3.8.0...v3.8.1
[3.8.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.7.0...v3.8.0
[3.7.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.6.0...v3.7.0
[3.6.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.5.1...v3.6.0
[3.5.1]: https://github.com/stack-of-tasks/eigenpy/compare/v3.5.0...v3.5.1
[3.5.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.4.0...v3.5.0
[3.4.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.3.0...v3.4.0
[3.3.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.2.0...v3.3.0
[3.2.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.1.4...v3.2.0
[3.1.4]: https://github.com/stack-of-tasks/eigenpy/compare/v3.1.3...v3.1.4
[3.1.3]: https://github.com/stack-of-tasks/eigenpy/compare/v3.1.2...v3.1.3
[3.1.2]: https://github.com/stack-of-tasks/eigenpy/compare/v3.1.1...v3.1.2
[3.1.1]: https://github.com/stack-of-tasks/eigenpy/compare/v3.1.0...v3.1.1
[3.1.0]: https://github.com/stack-of-tasks/eigenpy/compare/v3.0.0...v3.1.0
[3.0.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.9.2...v3.0.0
[2.9.2]: https://github.com/stack-of-tasks/eigenpy/compare/v2.9.1...v2.9.2
[2.9.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.9.0...v2.9.1
[2.9.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.8.1...v2.9.0
[2.8.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.8.0...v2.8.1
[2.8.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.14...v2.8.0
[2.7.14]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.13...v2.7.14
[2.7.13]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.12...v2.7.13
[2.7.12]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.11...v2.7.12
[2.7.11]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.10...v2.7.11
[2.7.10]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.9...v2.7.10
[2.7.9]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.8...v2.7.9
[2.7.8]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.7...v2.7.8
[2.7.7]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.6...v2.7.7
[2.7.6]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.5...v2.7.6
[2.7.5]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.4...v2.7.5
[2.7.4]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.3...v2.7.4
[2.7.3]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.2...v2.7.3
[2.7.2]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.1...v2.7.2
[2.7.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.7.0...v2.7.1
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[2.6.11]: https://github.com/stack-of-tasks/eigenpy/compare/v2.6.10...v2.6.11
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[2.6.5]: https://github.com/stack-of-tasks/eigenpy/compare/v2.6.4...v2.6.5
[2.6.4]: https://github.com/stack-of-tasks/eigenpy/compare/v2.6.3...v2.6.4
[2.6.3]: https://github.com/stack-of-tasks/eigenpy/compare/v2.6.2...v2.6.3
[2.6.2]: https://github.com/stack-of-tasks/eigenpy/compare/v2.6.1...v2.6.2
[2.6.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.6.0...v2.6.1
[2.6.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.5.0...v2.6.0
[2.5.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.4.4...v2.5.0
[2.4.4]: https://github.com/stack-of-tasks/eigenpy/compare/v2.4.3...v2.4.4
[2.4.3]: https://github.com/stack-of-tasks/eigenpy/compare/v2.4.2...v2.4.3
[2.4.2]: https://github.com/stack-of-tasks/eigenpy/compare/v2.4.1...v2.4.2
[2.4.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.4.0...v2.4.1
[2.4.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.3.2...v2.4.0
[2.3.2]: https://github.com/stack-of-tasks/eigenpy/compare/v2.3.1...v2.3.2
[2.3.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.3.0...v2.3.1
[2.3.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.2.2...v2.3.0
[2.2.2]: https://github.com/stack-of-tasks/eigenpy/compare/v2.2.1...v2.2.2
[2.2.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.2.0...v2.2.1
[2.2.0]: https://github.com/stack-of-tasks/eigenpy/compare/v2.1.2...v2.2.0
[2.1.2]: https://github.com/stack-of-tasks/eigenpy/compare/v2.1.1...v2.1.2
[2.1.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.1.0...v2.1.1
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[2.0.3]: https://github.com/stack-of-tasks/eigenpy/compare/v2.0.2...v2.0.3
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[2.0.1]: https://github.com/stack-of-tasks/eigenpy/compare/v2.0.0...v2.0.1
[2.0.0]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.1...v2.0.0
[1.6.13]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.1...v1.6.1
[1.6.12]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.1...v1.6.1
[1.6.11]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.1...v1.6.1
[1.6.10]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.9...v1.6.1
[1.6.9]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.8...v1.6.9
[1.6.8]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.7...v1.6.8
[1.6.7]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.6...v1.6.7
[1.6.6]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.5...v1.6.6
[1.6.5]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.4...v1.6.5
[1.6.4]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.3...v1.6.4
[1.6.3]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.2...v1.6.3
[1.6.2]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.1...v1.6.2
[1.6.1]: https://github.com/stack-of-tasks/eigenpy/compare/v1.6.0...v1.6.1
[1.6.0]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.8...v1.6.0
[1.5.8]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.7...v1.5.8
[1.5.7]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.6...v1.5.7
[1.5.6]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.5...v1.5.6
[1.5.5]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.4...v1.5.5
[1.5.4]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.3...v1.5.4
[1.5.3]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.2...v1.5.3
[1.5.2]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.1...v1.5.2
[1.5.1]: https://github.com/stack-of-tasks/eigenpy/compare/v1.5.0...v1.5.1
[1.5.0]: https://github.com/stack-of-tasks/eigenpy/compare/v1.4.5...v1.5.0
[1.4.5]: https://github.com/stack-of-tasks/eigenpy/compare/v1.4.4...v1.4.5
[1.4.4]: https://github.com/stack-of-tasks/eigenpy/compare/v1.4.3...v1.4.4
[1.4.3]: https://github.com/stack-of-tasks/eigenpy/compare/v1.4.2...v1.4.3
[1.4.2]: https://github.com/stack-of-tasks/eigenpy/compare/v1.4.1...v1.4.2
[1.4.1]: https://github.com/stack-of-tasks/eigenpy/compare/v1.4.0...v1.4.1
[1.4.0]: https://github.com/stack-of-tasks/eigenpy/compare/v1.3.3...v1.4.0
[1.3.3]: https://github.com/stack-of-tasks/eigenpy/compare/v1.3.2...v1.3.3
[1.3.2]: https://github.com/stack-of-tasks/eigenpy/compare/v1.3.1...v1.3.2
[1.3.1]: https://github.com/stack-of-tasks/eigenpy/compare/v1.3.0...v1.3.1
[1.3.0]: https://github.com/stack-of-tasks/eigenpy/compare/v1.2.0...v1.3.0
[1.2.0]: https://github.com/stack-of-tasks/eigenpy/compare/v1.1.0...v1.2.0
[1.1.0]: https://github.com/stack-of-tasks/eigenpy/compare/v1.0.1...v1.1.0
[1.0.1]: https://github.com/stack-of-tasks/eigenpy/compare/v1.0.0...v1.0.1
[1.0.0]: https://github.com/stack-of-tasks/eigenpy/releases/tag/v1.0.0
CMakeLists.txt
View file @ 7102d834
#
# Copyright (c) 2014-2019 CNRS
# Copyright (c) 2018-2021 INRIA
# Copyright (c) 2014-2019 CNRS Copyright (c) 2018-2023 INRIA
#
CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
cmake_minimum_required(VERSION 3.10)
SET(PROJECT_NAME eigenpy)
SET(PROJECT_DESCRIPTION "Bindings between Numpy and Eigen using Boost.Python")
SET(PROJECT_URL "http://github.com/stack-of-tasks/eigenpy")
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
SET(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
set(PROJECT_NAME eigenpy)
set(PROJECT_DESCRIPTION "Bindings between Numpy and Eigen using Boost.Python")
set(PROJECT_URL "http://github.com/stack-of-tasks/eigenpy")
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
# To enable jrl-cmakemodules compatibility with workspace we must define the two
# following lines
set(PROJECT_AUTO_RUN_FINALIZE FALSE)
set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
# Check if the submodule cmake have been initialized
IF(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
ENDIF()
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()
function(set_standard_output_directory target)
set_target_properties(
${target}
PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
endfunction()
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE True)
set(CXX_DISABLE_WERROR True)
set(CMAKE_VERBOSE_MAKEFILE True)
INCLUDE(cmake/base.cmake)
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
# ----------------------------------------------------
# --- OPTIONS ---------------------------------------
# Need to be set before including base.cmake
# ----------------------------------------------------
option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
option(SUFFIX_SO_VERSION "Suffix library name with its version" OFF)
option(BUILD_TESTING_SCIPY
"Build the SciPy tests (scipy should be installed on the machine)" ON)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/ide.cmake)
INCLUDE(cmake/apple.cmake)
# ----------------------------------------------------
# --- Policy -----------------------------------------
# CMake Policy setup
# ----------------------------------------------------
# Policy can be removed when cmake_minimum_required is updated.
STRING(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
# We also set CMAKE_POLICY_DEFAULT_CMPXXXX because CMake modules can reset
# policy and redefine some macros like `find_dependency` that will not use our
# policy.
# If needed, fix CMake policy for APPLE systems
APPLY_DEFAULT_APPLE_CONFIGURATION()
# Use BoostConfig module distributed by boost library instead of using FindBoost
# module distributed by CMake (to remove in 3.30).
if(POLICY CMP0167)
cmake_policy(SET CMP0167 NEW)
set(CMAKE_POLICY_DEFAULT_CMP0167 NEW)
endif()
# install() DESTINATION paths are normalized (to remove in 3.31).
if(POLICY CMP0177)
cmake_policy(SET CMP0177 NEW)
set(CMAKE_POLICY_DEFAULT_CMP0177 NEW)
endif()
include("${JRL_CMAKE_MODULES}/base.cmake")
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
IF(WIN32)
SET(LINK copy_if_different)
ELSE(WIN32)
SET(LINK create_symlink)
ENDIF(WIN32)
include("${JRL_CMAKE_MODULES}/boost.cmake")
include("${JRL_CMAKE_MODULES}/python.cmake")
include("${JRL_CMAKE_MODULES}/ide.cmake")
include("${JRL_CMAKE_MODULES}/apple.cmake")
# ----------------------------------------------------
# --- OPTIONS ---------------------------------------
# ----------------------------------------------------
OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" FALSE)
OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" OFF)
option(GENERATE_PYTHON_STUBS
"Generate the Python stubs associated to the Python library" OFF)
IF(DEFINED BUILD_UNIT_TESTS)
MESSAGE(AUTHOR_WARNING "BUILD_UNIT_TESTS is deprecated. Use BUILD_TESTING instead.\
If you are manually building Pinocchio from source in an existing build folder,\
we suggest that you delete your build folder and make a new one.")
SET(BUILD_TESTING ${BUILD_UNIT_TESTS})
ENDIF(DEFINED BUILD_UNIT_TESTS)
option(BUILD_WITH_CHOLMOD_SUPPORT "Build EigenPy with the Cholmod support" OFF)
FINDPYTHON()
FIND_NUMPY()
if(APPLE)
option(BUILD_WITH_ACCELERATE_SUPPORT
"Build EigenPy with the Accelerate support" OFF)
else(APPLE)
set(BUILD_WITH_ACCELERATE_SUPPORT FALSE)
endif(APPLE)
IF(WIN32)
LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})
ENDIF(WIN32)
string(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
# If needed, fix CMake policy for APPLE systems
apply_default_apple_configuration()
check_minimal_cxx_standard(11 ENFORCE)
if(WIN32)
set(LINK copy_if_different)
else(WIN32)
set(LINK create_symlink)
endif(WIN32)
if(CMAKE_CROSSCOMPILING)
set(PYTHON_COMPONENTS Interpreter NumPy)
else()
set(PYTHON_COMPONENTS Interpreter Development.Module NumPy)
endif()
set(PYTHON_EXPORT_DEPENDENCY ON)
findpython(REQUIRED)
if(${NUMPY_VERSION} VERSION_LESS "1.16.0")
set(NUMPY_WITH_BROKEN_UFUNC_SUPPORT TRUE)
endif()
if(WIN32)
link_directories(${PYTHON_LIBRARY_DIRS})
# # Set default Windows build paths SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY
# ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Single directory for all libraries")
# SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/Bin CACHE PATH
# "Single directory for all executables") SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
# ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Sing$le directory for all archives")
endif(WIN32)
# ----------------------------------------------------
# --- DEPENDENCIES -----------------------------------
# ----------------------------------------------------
ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
SET_BOOST_DEFAULT_OPTIONS()
EXPORT_BOOST_DEFAULT_OPTIONS()
FIND_PACKAGE(Boost REQUIRED)
SEARCH_FOR_BOOST_PYTHON()
set_boost_default_options()
export_boost_default_options()
find_package(Boost REQUIRED)
search_for_boost_python(REQUIRED)
if(BUILD_WITH_CHOLMOD_SUPPORT)
set(CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/CHOLMOD
${CMAKE_MODULE_PATH})
add_project_dependency(CHOLMOD REQUIRED FIND_EXTERNAL "CHOLMOD")
message(
STATUS
"Build with CHOLDOD support (LGPL). See CHOLMOD/Doc/License.txt for further details."
)
add_definitions(-DEIGENPY_WITH_CHOLMOD_SUPPORT)
endif(BUILD_WITH_CHOLMOD_SUPPORT)
if(BUILD_WITH_ACCELERATE_SUPPORT)
if(NOT ${Eigen3_VERSION} VERSION_GREATER_EQUAL "3.4.90")
message(
FATAL_ERROR
"Your version of Eigen is too low. Should be at least 3.4.90. Current version is ${Eigen3_VERSION}."
)
endif()
set(CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/Accelerate
${CMAKE_MODULE_PATH})
find_package(
Accelerate REQUIRED # FIND_EXTERNAL "Accelerate" # We don't export yet as
# there might be an issue on AMR64 platforms
)
message(STATUS "Build with Accelerate support framework.")
add_definitions(-DEIGENPY_WITH_ACCELERATE_SUPPORT)
endif(BUILD_WITH_ACCELERATE_SUPPORT)
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------
SET(${PROJECT_NAME}_UTILS_HEADERS
include/eigenpy/utils/scalar-name.hpp
include/eigenpy/utils/is-approx.hpp
include/eigenpy/utils/is-aligned.hpp
)
set(${PROJECT_NAME}_UTILS_HEADERS
include/eigenpy/utils/scalar-name.hpp
include/eigenpy/utils/is-approx.hpp
include/eigenpy/utils/is-aligned.hpp
include/eigenpy/utils/traits.hpp
include/eigenpy/utils/python-compat.hpp
include/eigenpy/utils/empty-visitor.hpp)
SET(${PROJECT_NAME}_SOLVERS_HEADERS
include/eigenpy/solvers/solvers.hpp
include/eigenpy/solvers/preconditioners.hpp
include/eigenpy/solvers/IterativeSolverBase.hpp
include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp
include/eigenpy/solvers/ConjugateGradient.hpp
include/eigenpy/solvers/SparseSolverBase.hpp
include/eigenpy/solvers/BasicPreconditioners.hpp
include/eigenpy/solvers/BFGSPreconditioners.hpp
)
set(${PROJECT_NAME}_SOLVERS_HEADERS
include/eigenpy/solvers/solvers.hpp
include/eigenpy/solvers/preconditioners.hpp
include/eigenpy/solvers/IterativeSolverBase.hpp
include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp
include/eigenpy/solvers/ConjugateGradient.hpp
include/eigenpy/solvers/SparseSolverBase.hpp
include/eigenpy/solvers/BasicPreconditioners.hpp
include/eigenpy/solvers/BFGSPreconditioners.hpp)
SET(${PROJECT_NAME}_DECOMPOSITIONS_HEADERS
include/eigenpy/decompositions/decompositions.hpp
include/eigenpy/decompositions/EigenSolver.hpp
include/eigenpy/decompositions/LDLT.hpp
include/eigenpy/decompositions/LLT.hpp
include/eigenpy/decompositions/SelfAdjointEigenSolver.hpp
include/eigenpy/decompositions/minres.hpp
)
set(${PROJECT_NAME}_EIGEN_HEADERS include/eigenpy/eigen/EigenBase.hpp)
set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_CHOLMOD_HEADERS
include/eigenpy/decompositions/sparse/cholmod/CholmodBase.hpp
include/eigenpy/decompositions/sparse/cholmod/CholmodDecomposition.hpp
include/eigenpy/decompositions/sparse/cholmod/CholmodSimplicialLDLT.hpp
include/eigenpy/decompositions/sparse/cholmod/CholmodSimplicialLLT.hpp
include/eigenpy/decompositions/sparse/cholmod/CholmodSupernodalLLT.hpp)
set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_ACCELERATE_HEADERS
include/eigenpy/decompositions/sparse/accelerate/accelerate.hpp)
set(${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS
include/eigenpy/decompositions/sparse/LLT.hpp
include/eigenpy/decompositions/sparse/LDLT.hpp
include/eigenpy/decompositions/sparse/SimplicialCholesky.hpp
include/eigenpy/decompositions/sparse/SparseSolverBase.hpp)
SET(${PROJECT_NAME}_HEADERS
${${PROJECT_NAME}_UTILS_HEADERS}
${${PROJECT_NAME}_SOLVERS_HEADERS}
${${PROJECT_NAME}_DECOMPOSITIONS_HEADERS}
include/eigenpy/computation-info.hpp
include/eigenpy/eigenpy.hpp
include/eigenpy/exception.hpp
include/eigenpy/scalar-conversion.hpp
include/eigenpy/expose.hpp
include/eigenpy/details.hpp
include/eigenpy/fwd.hpp
include/eigenpy/eigen-allocator.hpp
include/eigenpy/eigen-to-python.hpp
include/eigenpy/eigen-from-python.hpp
include/eigenpy/eigen-typedef.hpp
include/eigenpy/numpy-map.hpp
include/eigenpy/geometry.hpp
include/eigenpy/geometry-conversion.hpp
include/eigenpy/memory.hpp
include/eigenpy/numpy.hpp
include/eigenpy/numpy-allocator.hpp
include/eigenpy/numpy-type.hpp
include/eigenpy/registration.hpp
include/eigenpy/angle-axis.hpp
include/eigenpy/quaternion.hpp
include/eigenpy/user-type.hpp
include/eigenpy/ufunc.hpp
include/eigenpy/register.hpp
include/eigenpy/stride.hpp
include/eigenpy/swig.hpp
include/eigenpy/version.hpp
)
LIST(APPEND ${PROJECT_NAME}_HEADERS
if(BUILD_WITH_CHOLMOD_SUPPORT)
list(APPEND ${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS
${${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_CHOLMOD_HEADERS})
endif(BUILD_WITH_CHOLMOD_SUPPORT)
if(BUILD_WITH_ACCELERATE_SUPPORT)
list(APPEND ${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS
${${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_ACCELERATE_HEADERS})
endif(BUILD_WITH_ACCELERATE_SUPPORT)
set(${PROJECT_NAME}_DECOMPOSITIONS_HEADERS
${${PROJECT_NAME}_DECOMPOSITIONS_SPARSE_HEADERS}
include/eigenpy/decompositions/decompositions.hpp
include/eigenpy/decompositions/EigenSolver.hpp
include/eigenpy/decompositions/PermutationMatrix.hpp
include/eigenpy/decompositions/LDLT.hpp
include/eigenpy/decompositions/LLT.hpp
include/eigenpy/decompositions/QR.hpp
include/eigenpy/decompositions/HouseholderQR.hpp
include/eigenpy/decompositions/ColPivHouseholderQR.hpp
include/eigenpy/decompositions/CompleteOrthogonalDecomposition.hpp
include/eigenpy/decompositions/FullPivHouseholderQR.hpp
include/eigenpy/decompositions/SelfAdjointEigenSolver.hpp
include/eigenpy/decompositions/minres.hpp)
set(${PROJECT_NAME}_HEADERS
${${PROJECT_NAME}_UTILS_HEADERS}
${${PROJECT_NAME}_SOLVERS_HEADERS}
${${PROJECT_NAME}_EIGEN_HEADERS}
${${PROJECT_NAME}_DECOMPOSITIONS_HEADERS}
include/eigenpy/alignment.hpp
include/eigenpy/computation-info.hpp
include/eigenpy/deprecation-policy.hpp
include/eigenpy/eigenpy.hpp
include/eigenpy/exception.hpp
include/eigenpy/scalar-conversion.hpp
include/eigenpy/expose.hpp
include/eigenpy/copyable.hpp
include/eigenpy/details.hpp
include/eigenpy/fwd.hpp
include/eigenpy/eigen-allocator.hpp
include/eigenpy/eigen-to-python.hpp
include/eigenpy/eigen-from-python.hpp
include/eigenpy/eigen-typedef.hpp
include/eigenpy/id.hpp
include/eigenpy/numpy-map.hpp
include/eigenpy/geometry.hpp
include/eigenpy/geometry-conversion.hpp
include/eigenpy/map.hpp
include/eigenpy/memory.hpp
include/eigenpy/numpy.hpp
include/eigenpy/numpy-allocator.hpp
include/eigenpy/numpy-type.hpp
include/eigenpy/registration.hpp
include/eigenpy/registration_class.hpp
include/eigenpy/angle-axis.hpp
include/eigenpy/quaternion.hpp
include/eigenpy/user-type.hpp
include/eigenpy/ufunc.hpp
include/eigenpy/register.hpp
include/eigenpy/std-array.hpp
include/eigenpy/std-map.hpp
include/eigenpy/std-pair.hpp
include/eigenpy/std-vector.hpp
include/eigenpy/optional.hpp
include/eigenpy/pickle-vector.hpp
include/eigenpy/stride.hpp
include/eigenpy/tensor/eigen-from-python.hpp
include/eigenpy/sparse/eigen-from-python.hpp
include/eigenpy/scipy-allocator.hpp
include/eigenpy/scipy-type.hpp
include/eigenpy/variant.hpp
include/eigenpy/std-unique-ptr.hpp
include/eigenpy/swig.hpp
include/eigenpy/type_info.hpp
include/eigenpy/version.hpp)
list(
APPEND
${PROJECT_NAME}_HEADERS
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/config.hpp
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/deprecated.hpp
${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/warning.hpp)
......@@ -141,69 +308,140 @@ LIST(APPEND ${PROJECT_NAME}_HEADERS
# ----------------------------------------------------
# --- TARGETS ----------------------------------------
# ----------------------------------------------------
SET(${PROJECT_NAME}_SOLVERS_SOURCES
src/solvers/preconditioners.cpp
src/solvers/solvers.cpp
)
set(${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/preconditioners.cpp
src/solvers/solvers.cpp)
SET(${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
src/decompositions/decompositions.cpp
)
SET(${PROJECT_NAME}_SOURCES
${${PROJECT_NAME}_SOLVERS_SOURCES}
${${PROJECT_NAME}_DECOMPOSITIONS_SOURCES}
src/exception.cpp
src/eigenpy.cpp
src/numpy.cpp
src/numpy-type.cpp
src/matrix-float.cpp
src/matrix-complex-float.cpp
src/matrix-complex-double.cpp
src/register.cpp
src/matrix-double.cpp
src/matrix-long-double.cpp
src/matrix-complex-long-double.cpp
src/matrix-bool.cpp
src/matrix-int.cpp
src/matrix-long.cpp
src/angle-axis.cpp
src/quaternion.cpp
src/geometry-conversion.cpp
src/version.cpp
)
ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME}
SYSTEM PUBLIC
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${PYTHON_INCLUDE_DIRS}
set(${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
src/decompositions/decompositions.cpp
src/decompositions/eigen-solver.cpp
src/decompositions/llt-solver.cpp
src/decompositions/ldlt-solver.cpp
src/decompositions/minres-solver.cpp
src/decompositions/qr-solvers.cpp
src/decompositions/eigen-solver.cpp
src/decompositions/self-adjoint-eigen-solver.cpp
src/decompositions/permutation-matrix.cpp
src/decompositions/simplicial-llt-solver.cpp
src/decompositions/simplicial-ldlt-solver.cpp)
if(BUILD_WITH_CHOLMOD_SUPPORT)
list(APPEND ${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
src/decompositions/cholmod.cpp)
endif(BUILD_WITH_CHOLMOD_SUPPORT)
if(BUILD_WITH_ACCELERATE_SUPPORT)
list(APPEND ${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
src/decompositions/accelerate.cpp)
endif(BUILD_WITH_ACCELERATE_SUPPORT)
set(${PROJECT_NAME}_SOURCES
${${PROJECT_NAME}_SOLVERS_SOURCES}
${${PROJECT_NAME}_DECOMPOSITIONS_SOURCES}
src/exception.cpp
src/eigenpy.cpp
src/numpy.cpp
src/numpy-type.cpp
src/matrix-float.cpp
src/matrix-complex-float.cpp
src/matrix-complex-double.cpp
src/register.cpp
src/matrix-double.cpp
src/matrix-long-double.cpp
src/matrix-complex-long-double.cpp
src/matrix-bool.cpp
src/matrix-char.cpp
src/matrix-int8.cpp
src/matrix-uint8.cpp
src/matrix-int16.cpp
src/matrix-uint16.cpp
src/matrix-int32.cpp
src/matrix-uint32.cpp
src/matrix-windows-long.cpp
src/matrix-windows-ulong.cpp
src/matrix-mac-long.cpp
src/matrix-mac-ulong.cpp
src/matrix-int64.cpp
src/matrix-uint64.cpp
src/matrix-linux-long-long.cpp
src/matrix-linux-ulong-long.cpp
src/angle-axis.cpp
src/quaternion.cpp
src/geometry-conversion.cpp
src/scipy-type.cpp
src/std-vector.cpp
src/optional.cpp
src/type_info.cpp
src/version.cpp)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
set_standard_output_directory(${PROJECT_NAME})
target_include_directories(
${PROJECT_NAME} SYSTEM
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
modernize_target_link_libraries(
${PROJECT_NAME}
SCOPE
PUBLIC
TARGETS
Eigen3::Eigen
INCLUDE_DIRS
${EIGEN3_INCLUDE_DIR})
modernize_target_link_libraries(
${PROJECT_NAME}
SCOPE
PUBLIC
TARGETS
Python${PYTHON_VERSION_MAJOR}::NumPy
INCLUDE_DIRS
${NUMPY_INCLUDE_DIRS}
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<INSTALL_INTERFACE:include>)
${PYTHON_INCLUDE_DIR})
# Links against CholMod
if(BUILD_WITH_CHOLMOD_SUPPORT)
modernize_target_link_libraries(${PROJECT_NAME} SCOPE PUBLIC TARGETS
CHOLMOD::CHOLMOD)
endif(BUILD_WITH_CHOLMOD_SUPPORT)
IF(SUFFIX_SO_VERSION)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF(SUFFIX_SO_VERSION)
# Links against accelerate
if(BUILD_WITH_ACCELERATE_SUPPORT)
# modernize_target_link_libraries(${PROJECT_NAME} SCOPE PUBLIC TARGETS
# Accelerate)
target_link_libraries(${PROJECT_NAME} PRIVATE "-framework accelerate")
endif(BUILD_WITH_ACCELERATE_SUPPORT)
IF(NOT WIN32)
TARGET_COMPILE_OPTIONS(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj> "-Wno-conversion")
ELSE()
TARGET_COMPILE_OPTIONS(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj>)
ENDIF()
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME} PUBLIC)
INSTALL(TARGETS ${PROJECT_NAME}
if(NOT WIN32)
target_compile_options(
${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj -MP>
"-Wno-conversion")
else()
target_compile_options(${PROJECT_NAME}
PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj -MP>)
target_compile_definitions(${PROJECT_NAME} PUBLIC "HAVE_SNPRINTF")
endif()
target_link_boost_python(${PROJECT_NAME} PUBLIC)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
INCLUDES DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
INCLUDES
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
ADD_HEADER_GROUP(${PROJECT_NAME}_HEADERS)
ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
add_header_group(${PROJECT_NAME}_HEADERS)
add_source_group(${PROJECT_NAME}_SOURCES)
# Install package for ROS
install(FILES package.xml DESTINATION share/eigenpy)
......@@ -211,14 +449,16 @@ install(FILES package.xml DESTINATION share/eigenpy)
# ----------------------------------------------------
# --- PYTHON LIBRARY ---------------------------------
# ----------------------------------------------------
ADD_SUBDIRECTORY(python)
add_subdirectory(python)
# ----------------------------------------------------
# --- UNIT TEST --------------------------------------
# ----------------------------------------------------
ADD_SUBDIRECTORY(unittest)
add_subdirectory(unittest)
pkg_config_append_libs(${PROJECT_NAME})
pkg_config_append_cflags("-I${PYTHON_INCLUDE_DIRS}")
pkg_config_append_cflags("-I${NUMPY_INCLUDE_DIRS}")
pkg_config_append_boost_libs(${BOOST_COMPONENTS})
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
PKG_CONFIG_APPEND_CFLAGS("-I${NUMPY_INCLUDE_DIRS}")
PKG_CONFIG_APPEND_BOOST_LIBS(${BOOST_COMPONENTS})
setup_project_finalize()
COPYING.LESSER → LICENSE
View file @ 7102d834
BSD 2-Clause License
Copyright (c) 2014-2020, CNRS
Copyright (c) 2018-2020, INRIA
Copyright (c) 2018-2025, INRIA
All rights reserved.
Redistribution and use in source and binary forms, with or without
......
README.md
View file @ 7102d834
EigenPy — Efficient Python bindings between Numpy/Eigen
EigenPy — Versatile and efficient Python bindings between Numpy and Eigen
======
<p align="center">
<a href="https://opensource.org/licenses/BSD-2-Clause"><img src="https://img.shields.io/badge/License-BSD%202--Clause-green.svg" alt="License"/></a>
<a href="https://travis-ci.org/stack-of-tasks/eigenpy"><img src="https://travis-ci.org/stack-of-tasks/eigenpy.svg?branch=master" alt="Build Status"/></a>
<a href="https://github.com/stack-of-tasks/eigenpy/workflows/linux.yml"><img alt="Build Status" src="https://github.com/stack-of-tasks/eigenpy/actions/workflows/linux.yml/badge.svg?branch=devel" /></a>
<a href="https://anaconda.org/conda-forge/eigenpy"><img src="https://img.shields.io/conda/dn/conda-forge/eigenpy.svg" alt="Conda Downloads"/></a>
<a href="https://anaconda.org/conda-forge/eigenpy"><img src="https://img.shields.io/conda/vn/conda-forge/eigenpy.svg" alt="Conda Version"/></a>
<a href="https://conda.anaconda.org/conda-forge"><img src="https://anaconda.org/conda-forge/eigenpy/badges/installer/conda.svg" alt="Anaconda-Server Badge"/></a>
<a href="https://badge.fury.io/py/eigenpy"><img src="https://badge.fury.io/py/eigenpy.svg" alt="PyPI version"></a>
<a href="https://github.com/psf/black"><img src="https://img.shields.io/badge/code%20style-black-000000.svg" alt="Code style: black"></a>
<a href="https://github.com/astral-sh/ruff"><img src="https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json" alt="Linter: ruff"></a>
</p>
**EigenPy** is an open source framework which allows to bind the famous [Eigen](http://eigen.tuxfamily.org) C++ library in Python.
**EigenPy** is an open-source framework that allows the binding of the famous [Eigen](http://eigen.tuxfamily.org) C++ library in Python via Boost.Python.
**EigenPy** provides:
- full memory sharing between Numpy and Eigen avoiding memory allocation
- full support Eigen::Ref avoiding memory allocation
- exposition of the Geometry module of Eigen for easy code prototyping
- standard matrix decomposion routines of Eigen such as the Cholesky decomposition, SVD decomposition, QR decomposition, and etc.
- full support of SWIG objects
**EigenPy** provides:
## Setup
- full memory sharing between Numpy and Eigen, avoiding memory allocation
- full support Eigen::Ref avoiding memory allocation
- full support of the Eigen::Tensor module
- exposition of the Geometry module of Eigen for easy code prototyping
- standard matrix decomposion routines of Eigen such as the Cholesky decomposition (SVD and QR decompositions [can be added](#contributing))
- full support of SWIG objects
- full support of runtime declaration of Numpy scalar types
- extended API to expose several STL types and some of their Boost equivalents: `optional` types, `std::pair`, maps, variants...
- full support of vectorization between C++ and Python (all the hold objects are properly aligned in memory)
The installation of **EigenPy** on your computer is made easy for Linux/BSD, Mac OS X and Windows environments.
## Installation
### The Conda approach
The installation of **EigenPy** on your computer is made easy for Linux/BSD, Mac OS X, and Windows environments.
### Conda
You simply need this simple line:
```
```bash
conda install eigenpy -c conda-forge
```
### Ubuntu
You can easily install **EigenPy** from binairies.
You can easily install **EigenPy** from binaries.
#### Add robotpkg apt repository
1. Add robotpkg as source repository to apt:
```
sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg' >> /etc/apt/sources.list.d/robotpkg.list"
......@@ -41,27 +50,24 @@ sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debia
```
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
```
3. You need to run at least once apt update to fetch the package descriptions:
```
3. You need to run at least one apt update to fetch the package descriptions:
```bash
sudo apt-get update
```
#### Install EigenPy
4. The installation of **EigenPy** and its dependencies is made through the line:
For Python 2.7
```
sudo apt install robotpkg-py27-eigenpy
```
or for Python 3.{5,6,7}
```
```bash
sudo apt install robotpkg-py35-eigenpy
```
where 35 should be replaced by the python 3 you want to work this (e.g. `robotpkg-py36-eigenpy` to work with Python 3.6).
where 35 should be replaced by the Python 3, you want to work this (e.g., `robotpkg-py36-eigenpy` to work with Python 3.6).
### Mac OS X
The installation of **EigenPy** on Mac OS X is made via [HomeBrew](https://brew.sh/).
You just need to register the tap of the sofware repository.
The installation of **EigenPy** on Mac OS X is made via [HomeBrew](https://brew.sh/).
You just need to register the tap of the software repository.
```
brew tap gepetto/homebrew-gepetto
......@@ -71,17 +77,23 @@ and then install **EigenPy** for Python 3.x with:
brew install eigenpy
```
## Build
Build instruction can be found [here](./development/build.md)
## Credits
The following people have been involved in the development of **EigenPy**:
- [Justin Carpentier](https://jcarpent.github.io) (INRIA): main developer and manager of the project
- [Justin Carpentier](https://jcarpent.github.io) (Inria): main developer and manager of the project
- [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): initial project instructor
- [Wolfgang Merkt](http://www.wolfgangmerkt.com/) (University of Edinburgh): ROS integration and support
- [Sean Yen](https://www.linkedin.com/in/seanyentw) (Microsoft): Windows integration
- [Loïc Estève](https://github.com/lesteve) (INRIA): Conda integration
- [Loïc Estève](https://github.com/lesteve) (Inria): Conda integration
- [Wilson Jallet](https://manifoldfr.github.io/) (Inria/LAAS-CNRS): core developer
- [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and manager of the project
If you have taken part to the development of **EigenPy**, feel free to add your name and contribution here.
If you have taken part in the development of **EigenPy**, feel free to add your name and contribution here.
## Acknowledgments
......
benchmarks/bench-switch.py
View file @ 7102d834
from __future__ import print_function
import time # noqa
import timeit # noqa
import eigenpy
import numpy as np
from IPython import get_ipython
import time
import timeit
import eigenpy
from IPython import get_ipython
ipython = get_ipython()
quat = eigenpy.Quaternion()
a = [0., 0., 0.]
a = [0.0, 0.0, 0.0]
cmd1 = "timeit np.array(a)"
print("\n")
......@@ -23,23 +22,6 @@ print(cmd2)
ipython.magic(cmd2)
print("\n")
eigenpy.switchToNumpyMatrix()
print("----------------------")
print("switch to numpy matrix")
print("----------------------")
print("\n")
cmd3 = "timeit quat.coeffs()"
print(cmd3)
ipython.magic(cmd3)
print("\n")
eigenpy.switchToNumpyArray()
print("---------------------")
print("switch to numpy array")
print("---------------------")
print("\n")
cmd4 = "timeit quat.coeffs()"
print(cmd4)
ipython.magic(cmd4)
......@@ -50,7 +32,7 @@ print(cmd5)
ipython.magic(cmd5)
print("\n")
a_matrix = np.matrix(a);
a_matrix = np.matrix(a)
cmd6 = "timeit np.asarray(a_matrix)"
print(cmd6)
ipython.magic(cmd6)
......
cmake @ 2ede15d1
Compare b65eb53f...2ede15d1
Subproject commit b65eb53f07339035bfe27b6149228059ebc62c97
Subproject commit 2ede15d1cb9d66401ba96788444ad64c44ffccd8
colcon.pkg 0 → 100644
View file @ 7102d834
{
"hooks": [
"share/eigenpy/hook/ament_prefix_path.dsv",
"share/eigenpy/hook/python_path.dsv"
]
}
\ No newline at end of file
development/build.md 0 → 100644
View file @ 7102d834
# Build and install from source with Pixi
To build **EigenPy** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation).
[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that
will install all required dependencies in `.pixi` directory.
It's used by our CI agent so you have the guarantee to get the right dependencies.
Run the following command to install dependencies, configure, build and test the project:
```bash
pixi run test
```
The project will be built in the `build` directory.
You can run `pixi shell` and build the project with `cmake` and `ninja` manually.
development/contributing.md 0 → 100644
View file @ 7102d834
# Contributing
Standard matrix decomposion routines of Eigen such as the SVD and QR decompositions
can be readily added to **EigenPy** following the example of the Cholesky decomposition
that is already implemented.
Feel free to open a PR if you wrap them for your use case.
development/release.md 0 → 100644
View file @ 7102d834
# Release with Pixi
To create a release with Pixi run the following commands on the **devel** branch:
```bash
EIGENPY_VERSION=X.Y.Z pixi run release_new_version
git push origin
git push origin vX.Y.Z
git push origin devel:master
```
Where `X.Y.Z` is the new version.
Be careful to follow the [Semantic Versioning](https://semver.org/spec/v2.0.0.html) rules.
You will find the following assets:
- `./build_new_version/eigenpy-X.Y.Z.tar.gz`
- `./build_new_version/eigenpy-X.Y.Z.tar.gz.sig`
Then, create a new release on [GitHub](https://github.com/stack-of-tasks/eigenpy/releases/new) with:
* Tag: vX.Y.Z
* Title: EigenPy X.Y.Z
* Body:
```
## What's Changed
CHANGELOG CONTENT
**Full Changelog**: https://github.com/stack-of-tasks/eigenpy/compare/vXX.YY.ZZ...vX.Y.Z
```
Where `XX.YY.ZZ` is the last release version.
Then upload `eigenpy-X.Y.Z.tar.gz` and `eigenpy-X.Y.Z.tar.gz.sig` and publish the release.
development/scripts/pixi/activation.bat 0 → 100644
View file @ 7102d834
:: Setup ccache
set CMAKE_CXX_COMPILER_LAUNCHER=ccache
:: Create compile_commands.json for language server
set CMAKE_EXPORT_COMPILE_COMMANDS=1
:: Activate color output with Ninja
set CMAKE_COLOR_DIAGNOSTICS=1
:: Set default build value only if not previously set
if not defined EIGENPY_BUILD_TYPE (set EIGENPY_BUILD_TYPE=Release)
if not defined EIGENPY_PYTHON_STUBS (set EIGENPY_PYTHON_STUBS=ON)
if not defined EIGENPY_CHOLMOD_SUPPORT (set EIGENPY_CHOLMOD_SUPPORT=OFF)
if not defined EIGENPY_ACCELERATE_SUPPORT (set EIGENPY_ACCELERATE_SUPPORT=OFF)
development/scripts/pixi/activation.sh 0 → 100644
View file @ 7102d834
#! /bin/bash
# Activation script
# Remove flags setup from cxx-compiler
unset CFLAGS
unset CPPFLAGS
unset CXXFLAGS
unset DEBUG_CFLAGS
unset DEBUG_CPPFLAGS
unset DEBUG_CXXFLAGS
unset LDFLAGS
if [[ $host_alias == *"apple"* ]];
then
# On OSX setting the rpath and -L it's important to use the conda libc++ instead of the system one.
# If conda-forge use install_name_tool to package some libs, -headerpad_max_install_names is then mandatory
export LDFLAGS="-Wl,-headerpad_max_install_names -Wl,-rpath,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib"
elif [[ $host_alias == *"linux"* ]];
then
# On GNU/Linux, I don't know if these flags are mandatory with g++ but
# it allow to use clang++ as compiler
export LDFLAGS="-Wl,-rpath,$CONDA_PREFIX/lib -Wl,-rpath-link,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib"
fi
# Setup ccache
export CMAKE_CXX_COMPILER_LAUNCHER=ccache
# Create compile_commands.json for language server
export CMAKE_EXPORT_COMPILE_COMMANDS=1
# Activate color output with Ninja
export CMAKE_COLOR_DIAGNOSTICS=1
# Set default build value only if not previously set
export EIGENPY_BUILD_TYPE=${EIGENPY_BUILD_TYPE:=Release}
export EIGENPY_PYTHON_STUBS=${EIGENPY_PYTHON_STUBS:=ON}
export EIGENPY_CHOLMOD_SUPPORT=${EIGENPY_CHOLMOD_SUPPORT:=OFF}
export EIGENPY_ACCELERATE_SUPPORT=${EIGENPY_ACCELERATE_SUPPORT:=OFF}
development/scripts/pixi/activation_clang.sh 0 → 100644
View file @ 7102d834
#! /bin/bash
# Clang activation script
export CC="clang"
export CXX="clang++"
development/scripts/pixi/activation_clang_cl.bat 0 → 100644
View file @ 7102d834
:: Setup clang-cl compiler
set CC=clang-cl
set CXX=clang-cl
doc/Doxyfile.extra.in
View file @ 7102d834
INPUT = @CMAKE_SOURCE_DIR@/src \
@CMAKE_SOURCE_DIR@/doc/additionalDoc
IMAGE_PATH = @CMAKE_SOURCE_DIR@/doc/pictures
INPUT = @PROJECT_SOURCE_DIR@/doc \
@PROJECT_SOURCE_DIR@/include \
@PROJECT_SOURCE_DIR@/README.md
FILE_PATTERNS = *.cc *.cpp *.h *.hpp *.hxx
RECURSIVE = YES
TAGFILES = \
FILE_PATTERNS = *.cpp *.h *.hpp *.hxx
EXTRACT_ALL = NO
EXTRACT_ANON_NSPACES = NO
ENABLE_PREPROCESSING = YES
MACRO_EXPANSION = YES
FULL_PATH_NAMES = YES
EXCLUDE_SYMBOLS = std, *::internal, internal::*, *::internal::*
INCLUDE_PATH = @PROJECT_SOURCE_DIR@/include
GENERATE_TREEVIEW = YES
VERBATIM_HEADERS = YES
SHOW_FILES = YES
SHOW_NAMESPACES = YES
SOURCE_BROWSER = YES
ALPHABETICAL_INDEX = YES
USE_MDFILE_AS_MAINPAGE = README.md
BUILTIN_STL_SUPPORT = YES
HAVE_DOT = YES
DOT_IMAGE_FORMAT = SVG
doc/additionalDoc/package.hh deleted 100644 → 0
View file @ 2733b4cb
/*
* 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 deleted 100644 → 0
View file @ 2733b4cb
<br><br>
<hr>
<center>
<img src="./pictures/footer.jpg" Height=100>
<br>soth library documentation</br>
</center>
<hr>
</center>
</body>
</head>
doc/header.html deleted 100644 → 0
View file @ 2733b4cb
<HTML>
<HEAD>
<TITLE>soth library documentation</TITLE>
<LINK HREF="package.css" REL="stylesheet" TYPE="text/css">
</HEAD>
<BODY>
doc/package.css deleted 100644 → 0
View file @ 2733b4cb
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
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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;
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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;
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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
}
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doc/pictures/HRP2.jpg

23.1 KiB