.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/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-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: CI - Linux via ROS
+
+# This determines when this workflow is run
+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:
+          # ROS1
+          - {ROS_DISTRO: noetic}
+          # ROS2
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
+          - {ROS_DISTRO: jazzy}
+          - {ROS_DISTRO: rolling}
+    env:
+      # PRERELEASE: true  # Fails due to issues in the underlying Docker image
+      BUILDER: colcon
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      # Run industrial_ci
+      - 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

.gitignore

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

.gitlab-ci.yml

-variables:
-  GIT_SUBMODULE_STRATEGY: "recursive"
-  GIT_DEPTH: "3"
-  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
-  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
-
-cache:
-  paths:
-    - ccache
-
-.robotpkg-py-eigenpy: &robotpkg-py-eigenpy
-  except:
-    - gh-pages
-  script:
-    - mkdir -p ccache
-    - cd /root/robotpkg/math/py-eigenpy
-    - git pull
-    - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
-    - make install
-    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
-    - make test
-
-robotpkg-py-eigenpy-dubnium-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:dubnium
-
-robotpkg-py-eigenpy-16.04-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:16.04
-
-robotpkg-py-eigenpy-18.04-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:18.04
-
-robotpkg-py-eigenpy-py3-dubnium-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:dubnium
-
-robotpkg-py-eigenpy-py3-16.04-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:16.04
-
-robotpkg-py-eigenpy-py3-18.04-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:18.04
-
-robotpkg-py-eigenpy-14.04-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:14.04
-
-robotpkg-py-eigenpy-14.04-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:14.04
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
-robotpkg-py-eigenpy-py3-14.04-release:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:14.04
-
-robotpkg-py-eigenpy-py3-14.04-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:14.04
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
-robotpkg-py-eigenpy-dubnium-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:dubnium
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
-robotpkg-py-eigenpy-py3-dubnium-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:dubnium
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
-robotpkg-py-eigenpy-16.04-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:16.04
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
-robotpkg-py-eigenpy-py3-16.04-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:16.04
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
-robotpkg-py-eigenpy-18.04-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:18.04
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
-robotpkg-py-eigenpy-py3-18.04-debug:
-  <<: *robotpkg-py-eigenpy
-  image: eur0c.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:18.04
-  before_script:
-    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf
-
+include: https://rainboard.laas.fr/project/eigenpy/.gitlab-ci.yml

.gitmodules

 [submodule "cmake"]
 	path = cmake
 	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
-[submodule ".travis"]
-	path = .travis
-	url = https://github.com/jrl-umi3218/jrl-travis.git

.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

.travis @ 0f12f18e

-Subproject commit 0f12f18e62a504278ef31f0118f1da48607a524e

.travis.yml

-language: python
-sudo: required
-compiler:
-  - gcc
-# - clang
-env:
-  global:
-    - secure: "SnIBG/xLIHX3CSvUbqqsX8xTVqIqQ7fFS6HWO6KZQVBsT6yugTwYHbyhNiU531JejYJ/I3ZrDhXfYH3qFZiYxnH1sifvwV+fnTtMXpPN7qPZwIymkjcmm6gJF51e0C7VOfUbvKFv0ngwj+ul21rgZSMuoEvxPK0WxtE3/ZSfn9c="
-    - APT_DEPENDENCIES="doxygen libeigen3-dev libboost-test-dev libboost-python-dev"
-    - DEBSIGN_KEYID=5AE5CD75
-    - CC=gcc
-    - DO_COVERAGE_ON_BRANCH="master;release"
-    - DO_CPPCHECK_ON_BRANCH=""
-    - DO_INSTALL_DOC_EXCEPT_ON_BRANCH=""
-    - BUILD_WITH_CATKIN_SUPPORT=false
-    - MAKEFLAGS="-j2"
-
-jobs:
-  include:
-    - dist: bionic
-      env: BUILDTYPE=Release
-      python: 2.7
-    - dist: bionic
-      env: BUILDTYPE=Release
-      python: 3.6
-    - dist: bionic
-      env: BUILDTYPE=Debug
-      python: 2.7
-    - dist: bionic
-      env: BUILDTYPE=Debug
-      python: 3.6
-    - dist: xenial
-      env: BUILDTYPE=Release
-      python: 2.7
-    - dist: xenial
-      env: BUILDTYPE=Release
-      python: 3.5
-    - dist: trusty 
-      env: BUILDTYPE=Release
-      python: 2.7
-    - dist: trusty 
-      env: BUILDTYPE=Release
-      python: 3.4
-
-notifications:
-  email:
-    - pinocchio-build@laas.fr
-branches:
-  only:
-    - master
-    - debian
-    - devel
-before_install: ./.travis/run before_install
-install: pip install coveralls numpy
-script:
-  - export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE}"
-  - sudo free -m -t
-  - ls -l /usr/lib/x86_64-linux-gnu/libboost_python*
-  - ./.travis/run ../travis_custom/custom_build
-after_failure: ./.travis/run after_failure
-after_success: ./.travis/run after_success