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  • jcarpent/eigenpy
  • gsaurel/eigenpy
  • stack-of-tasks/eigenpy
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BasedOnStyle: Google
SortIncludes: false
Standard: Cpp03
# 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
# GitHub syntax highlighting
pixi.lock linguist-language=YAML
name: CI - Check-changelog
on:
pull_request:
types: [assigned, opened, synchronize, reopened, labeled, unlabeled, edited]
branches:
- devel
jobs:
check-changelog:
name: Check changelog action
runs-on: ubuntu-latest
steps:
- uses: tarides/changelog-check-action@v2
with:
changelog: CHANGELOG.md
name: eigenpy
channels:
- conda-forge
- defaults
dependencies:
- eigen
- cmake
- numpy
- pkg-config
- boost
name: CI - JRL-cmakemodules
on:
push:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
pull_request:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
jobs:
with-submodules:
name: Check configuration with git submodules
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v3
with:
submodules: true
- run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy
- run: cmake .
without-submodules:
name: Check configuration without git submodules
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v3
with:
submodules: false
path: eigenpy
- run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy
- run: cmake -B build -S eigenpy
- run: grep -qvz CMAKE_PROJECT_VERSION:STATIC=0.0 build/CMakeCache.txt
name: CI - Linux via APT
on:
push:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
pull_request:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
jobs:
test:
name: "Test python ${{ matrix.python }} on ${{ matrix.ubuntu }}.04"
runs-on: "ubuntu-${{ matrix.ubuntu }}.04"
strategy:
matrix:
python: [3]
ubuntu: [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) }}
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
name: CI - MacOS/Linux/Windows via Pixi
on:
push:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
pull_request:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
jobs:
eigenpy-pixi:
name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }} ${{ matrix.compiler }}
runs-on: ${{ matrix.os }}
env:
CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
CCACHE_COMPRESS: true
CCACHE_COMPRESSLEVEL: 6
strategy:
fail-fast: false
matrix:
os: [ubuntu-latest, macos-latest, macos-13]
environment: [all, all-py39]
build_type: [Release, Debug]
cxx_options: ['', '-mavx2']
exclude:
- os: macos-latest
cxx_options: '-mavx2'
- os: macos-13
cxx_options: '-mavx2'
include:
- os: windows-latest
environment: all
cxx_options: ''
build_type: Release
- os: windows-latest
environment: all-clang-cl
cxx_options: ''
build_type: Release
steps:
- uses: actions/checkout@v4
with:
submodules: recursive
- uses: actions/cache@v4
with:
path: .ccache
key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha }}
restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-
- uses: prefix-dev/setup-pixi@v0.8.1
with:
cache: true
environments: ${{ matrix.environment }}
- name: Build EigenPy [MacOS/Linux/Windows]
env:
CMAKE_BUILD_PARALLEL_LEVEL: 2
EIGENPY_BUILD_TYPE: ${{ matrix.build_type }}
EIGENPY_CXX_FLAGS: ${{ matrix.cxx_options }}
run: |
pixi run -e ${{ matrix.environment }} test
check:
if: always()
name: check-macos-linux-windows-pixi
needs:
- eigenpy-pixi
runs-on: Ubuntu-latest
steps:
- name: Decide whether the needed jobs succeeded or failed
uses: re-actors/alls-green@release/v1
with:
jobs: ${{ toJSON(needs) }}
name: "CI - Nix"
on:
push:
jobs:
nix:
runs-on: "${{ matrix.os }}-latest"
strategy:
matrix:
os: [ubuntu, macos]
steps:
- uses: actions/checkout@v4
- uses: cachix/install-nix-action@v27
- uses: cachix/cachix-action@v15
with:
name: gepetto
authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
- run: nix build -L
name: CI - Ensure relocatable
on:
push:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
pull_request:
paths-ignore:
- 'doc/**'
- '.gitlab-ci.yml'
- '.gitignore'
- '*.md'
- 'LICENSE'
- 'colcon.pkg'
- '.pre-commit-config.yaml'
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
jobs:
relocatable:
name: Ensure relocatable
runs-on: ubuntu-latest
env:
CCACHE_DIR: /github/home/.ccache # Enable ccache
CMAKE_CXX_COMPILER_LAUNCHER: ccache
steps:
- uses: actions/checkout@v3
with:
submodules: recursive
- uses: actions/cache@v3
with:
path: ${{ env.CCACHE_DIR }}
key: reloc
- name: prepare cache dir
run: sudo mkdir -p ${CCACHE_DIR}/tmp && sudo chown -R $(id -un) ${CCACHE_DIR}
- name: prepare work prefix
run: sudo mkdir -p /RELOC/SRC && sudo chown -R $(id -un) /RELOC
- name: clone in /RELOC/SRC
run: git -C /RELOC/SRC clone --recursive $(pwd)
- name: install dependencies
run: sudo apt install libboost-all-dev libeigen3-dev python-is-python3 python3-numpy python3-pip python3-scipy ccache
- name: update CMake
run: pip install -U pip && pip install -U cmake
- name: configure in /RELOC/BLD
run: cmake -S /RELOC/SRC/eigenpy -B /RELOC/BLD -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/RELOC/PFX
- name: build in /RELOC/BLD
run: cmake --build /RELOC/BLD -j2
- name: install in /RELOC/PFX
run: cmake --build /RELOC/BLD -t install
- name: check installed package doesn't contain references to RELOC
run: grep -r RELOC /RELOC/PFX | grep -v Binary | tee references
- name: exit accordingly
run: exit $(wc -l references | cut -d " " -f 1)
# 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) }}
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 }}
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
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"
*~
*build*
*build*/
# pixi environments
.pixi
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
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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
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