.clang-format

+BasedOnStyle: Google
+SortIncludes: false
+Standard: Cpp03

.git-blame-ignore-revs

+# 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

.gitattributes

+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML
+

.github/workflows/check-changelog.yml

+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

.github/workflows/conda/environment.yml

-name: eigenpy
-channels:
-  - conda-forge
-  - defaults
-dependencies:
-  - eigen
-  - cmake
-  - numpy
-  - pkg-config
-  - boost

.github/workflows/jrl-cmakemodules.yml

+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

.github/workflows/linux.yml

+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: [20, 22]
+    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) }}

.github/workflows/macos-linux-conda.yml

-name: CI - EigenPy for Mac OS X/Linux via Conda
-
-on: [push,pull_request]
-
-jobs:
-  eigenpy-conda:
-    name: CI on ${{ matrix.os }} via Conda
-    runs-on: ${{ matrix.os }}
-    env:
-      CCACHE_DIR: /github/home/.ccache # Enable ccache
-
-    strategy:
-      fail-fast: false
-      matrix:
-        os: ["ubuntu-latest", "macos-latest"]
-
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: recursive
-
-    - uses: conda-incubator/setup-miniconda@v2
-      with:
-        activate-environment: eigenpy
-        auto-update-conda: true
-        environment-file: .github/workflows/conda/environment.yml
-        python-version: 3.8
-
-    - uses: actions/cache@v2
-      with:
-        path: ${{ env.CCACHE_DIR }}
-        key: ccache-${{ matrix.os }}
-
-    - name: Install cmake and update conda
-      shell: bash -l {0}
-      run: |
-        conda activate eigenpy
-        conda install cmake -c main
-
-    - name: Build EigenPy
-      shell: bash -l {0}
-      run: |
-        conda activate eigenpy
-        echo $CONDA_PREFIX
-
-        mkdir build
-        cd build
-
-        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) -DGENERATE_PYTHON_STUBS=ON
-        make
-        make build_tests
-        export CTEST_OUTPUT_ON_FAILURE=1
-        make test
-        make install
-
-    - name: Uninstall EigenPy
-      shell: bash -l {0}
-      run: |
-        cd build
-        make uninstall

.github/workflows/macos-linux-windows-pixi.yml

+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) }}

.github/workflows/nix.yml

+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

.github/workflows/reloc.yml

+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)

.github/workflows/ros_ci.yml

 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: ROS-CI
+name: CI - Linux via ROS
 
 # This determines when this workflow is run
-on: [push, pull_request] # on all pushes and PRs
+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:
   CI:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: melodic}
+          # ROS1
           - {ROS_DISTRO: noetic}
+          # ROS2
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
+          - {ROS_DISTRO: jazzy}
+          - {ROS_DISTRO: rolling}
     env:
-      CCACHE_DIR: /github/home/.ccache # Enable ccache
-      BUILDER: catkin_tools
+      # PRERELEASE: true  # Fails due to issues in the underlying Docker image
+      BUILDER: colcon
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
-      # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@master'
+      - uses: 'ros-industrial/industrial_ci@875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e'
         env: ${{ matrix.env }}
+
+  check:
+    if: always()
+    name: check-ros-ci
+
+    needs:
+    - CI
+
+    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) }}

.github/workflows/update-flake-lock.yml

+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 15 3 * *'
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Install Nix
+        uses: DeterminateSystems/nix-installer-action@main
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@main
+        with:
+          pr-labels: "no changelog"
+          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}

.github/workflows/update_pixi_lockfile.yml

+name: CI - Update Pixi lockfile
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: 0 5 1 * *
+
+jobs:
+  pixi-update:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/create-github-app-token@v1
+        id: generate-token
+        with:
+          app-id: ${{ secrets.APP_ID }}
+          private-key: ${{ secrets.APP_PRIVATE_KEY }}
+
+      - uses: actions/checkout@v4
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          ref: devel
+          # Make sure the value of GITHUB_TOKEN will not be persisted in repo's config
+          persist-credentials: false
+
+      - name: Set up pixi
+        uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          run-install: false
+
+      - name: Update lockfile
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v7
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          commit-message: 'pixi: Update pixi lockfile'
+          title: Update pixi lockfile
+          body-path: diff.md
+          branch: topic/update-pixi
+          base: devel
+          labels: |
+            pixi
+            no changelog
+          delete-branch: true
+          add-paths: pixi.lock

.github/workflows/windows-conda.yml

-name: Build Eigenpy on Windows via Conda
-on: [push,pull_request]
-
-jobs:
-  build:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-          os: [windows-latest]
-    steps:
-    - uses: actions/checkout@v2
-    - name: Checkout submodules
-      run: |
-        git submodule update --init
-    - uses: goanpeca/setup-miniconda@v1
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      with:
-        activate-environment: eigenpy
-        environment-file: .github/workflows/conda/environment.yml
-        python-version: 3.7
-    - name: Build Eigenpy
-      shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      run: |
-        :: unset extra Boost envs
-        set Boost_ROOT=
-        set BOOST_ROOT_1_69_0=
-        set BOOST_ROOT_1_72_0=
-        set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=%
-
-        :: start building
-        call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
-        mkdir build
-        pushd build
-        cmake ^
-          -G "NMake Makefiles" ^
-          -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
-          -DCMAKE_BUILD_TYPE=Release ^
-          -DGENERATE_PYTHON_STUBS=ON ^
-          -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
-          -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
-          ..
-
-        :: Build and Install
-        cmake --build . --config Release --target install
-
-        :: Build stubs
-        git clone https://github.com/jcarpent/pybind11-stubgen.git
-        python "%CD%\pybind11-stubgen\pybind11_stubgen\__init__.py" -o %CONDA_PREFIX%\Lib\site-packages\eigenpy eigenpy --boost-python --ignore-invalid signature --no-setup-py --root-module-suffix ""
-
-        :: Testing
-        ctest --output-on-failure -C Release -V
-
-        :: Test Python import
-        cd ..
-        python -c "import eigenpy"

.gitignore

 *~
-*build*
+*build*/
+# pixi environments
+.pixi

.pre-commit-config.yaml

+ci:
+  autoupdate_branch: devel
+  autofix_prs: false
+  autoupdate_schedule: quarterly
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.8.6
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+    - --ignore
+    - UP036
+  - id: ruff-format
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.24.2
+  hooks:
+  - id: toml-sort-fix
+    exclude: pixi.toml
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v19.1.6
+  hooks:
+  - id: clang-format
+    args:
+    - '--style={BasedOnStyle: Google, SortIncludes: false, Standard: Cpp03}'
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v5.0.0
+  hooks:
+  - id: trailing-whitespace

COPYING.LESSER → LICENSE

 BSD 2-Clause License
 
 Copyright (c) 2014-2020, CNRS
-Copyright (c) 2018-2021, INRIA
+Copyright (c) 2018-2025, INRIA
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without