README.md

-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://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
 
-## 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"
@@ -42,27 +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.
+You just need to register the tap of the software repository.
 
 ```
 brew tap gepetto/homebrew-gepetto
@@ -72,17 +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

-from __future__ import print_function
-
-import eigenpy
-import numpy as np
-
 import time  # noqa
 import timeit  # noqa
 
+import numpy as np
 from IPython import get_ipython
 
+import eigenpy
+
 ipython = get_ipython()
 
 quat = eigenpy.Quaternion()
@@ -24,23 +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)

cmake @ 2ede15d1

-Subproject commit 110a0188d45b0cd01ab0a7c92a2b22e8452d16ea
+Subproject commit 2ede15d1cb9d66401ba96788444ad64c44ffccd8

development/build.md

+# 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

+# 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

+# 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

+:: 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

+#! /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

+#! /bin/bash
+# Clang activation script
+
+export CC="clang"
+export CXX="clang++"

development/scripts/pixi/activation_clang_cl.bat

+:: Setup clang-cl compiler
+set CC=clang-cl
+set CXX=clang-cl

doc/Doxyfile.extra.in

-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

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

doc/footer.html

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

doc/header.html

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

doc/package.css

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

doc/pictures/footer.txt

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

flake.lock

+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": "nixpkgs-lib"
+      },
+      "locked": {
+        "lastModified": 1738453229,
+        "narHash": "sha256-7H9XgNiGLKN1G1CgRh0vUL4AheZSYzPm+zmZ7vxbJdo=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "32ea77a06711b758da0ad9bd6a844c5740a87abd",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1738410390,
+        "narHash": "sha256-xvTo0Aw0+veek7hvEVLzErmJyQkEcRk6PSR4zsRQFEc=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "3a228057f5b619feb3186e986dbe76278d707b6e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs-lib": {
+      "locked": {
+        "lastModified": 1738452942,
+        "narHash": "sha256-vJzFZGaCpnmo7I6i416HaBLpC+hvcURh/BQwROcGIp8=",
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/072a6db25e947df2f31aab9eccd0ab75d5b2da11.tar.gz"
+      },
+      "original": {
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/072a6db25e947df2f31aab9eccd0ab75d5b2da11.tar.gz"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-parts": "flake-parts",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}