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# 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

# pre-commit run -a (ManifoldFR, 2025-04-25)

51b49061575d46e0668eba0da200217cbfd9e883

# 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: 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: [22, 24]

    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 - 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: 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:

          - {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@3e67ec54d63496e076267392148a26229740befc'

        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

*~

*~

*build*

*build*/

# pixi environments

.pixi

variables:

include: https://rainboard.laas.fr/project/eigenpy/.gitlab-ci.yml

  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

    - make uninstall

robotpkg-py-eigenpy-16.04-release:

  <<: *robotpkg-py-eigenpy

  image: memmos.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:16.04

robotpkg-py-eigenpy-18.04-release:

  <<: *robotpkg-py-eigenpy

  image: memmos.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:18.04

robotpkg-py-eigenpy-py3-16.04-release:

  <<: *robotpkg-py-eigenpy

  image: memmos.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:16.04

robotpkg-py-eigenpy-py3-18.04-release:

  <<: *robotpkg-py-eigenpy

  image: memmos.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:18.04

robotpkg-py-eigenpy-14.04-release:

  <<: *robotpkg-py-eigenpy

  image: memmos.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:14.04

robotpkg-py-eigenpy-14.04-debug:

  <<: *robotpkg-py-eigenpy

  image: memmos.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: memmos.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy-py3:14.04

robotpkg-py-eigenpy-py3-14.04-debug:

  <<: *robotpkg-py-eigenpy

  image: memmos.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-16.04-debug:

  <<: *robotpkg-py-eigenpy

  image: memmos.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: memmos.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: memmos.laas.fr:5000/stack-of-tasks/eigenpy/py-eigenpy:18.04

  before_script:

    - echo PKG_OPTIONS.py-eigenpy=debug >> /opt/openrobots/etc/robotpkg.conf