COPYING.LESSER → LICENSE

 BSD 2-Clause License
 
-Copyright (c) 2014-2019, CNRS
-Copyright (c) 2018-2019, INRIA
+Copyright (c) 2014-2020, CNRS
+Copyright (c) 2018-2025, INRIA
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

-EigenPy
+EigenPy — Versatile and efficient Python bindings between Numpy and Eigen
 ======
 
-[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
-[![Build Status](https://travis-ci.org/stack-of-tasks/eigenpy.svg?branch=devel)](https://travis-ci.org/stack-of-tasks/eigenpy)
-[![Conda Downloads](https://img.shields.io/conda/dn/conda-forge/eigenpy.svg)](https://anaconda.org/conda-forge/eigenpy)[![Conda Version](https://img.shields.io/conda/vn/conda-forge/eigenpy.svg)](https://anaconda.org/conda-forge/eigenpy)
-[![Anaconda-Server Badge](https://anaconda.org/conda-forge/eigenpy/badges/installer/conda.svg)](https://conda.anaconda.org/conda-forge)
+<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://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 that allows the binding of the famous [Eigen](http://eigen.tuxfamily.org) C++ library in Python via Boost.Python.
 
-**EigenPy** is an open source framework which allows to bind the famous [Eigen](http://eigen.tuxfamily.org) in Python as NumPy object (as matrix or array).
-**EigenPy** also exposes the Geometry module of Eigen for easy code prototyping.
-**EigenPy** also supports the basic matrix decomposion routines of Eigen such as the Cholesky decomposition, SVD decomposition, QR decomposition, and etc.
+**EigenPy** provides:
 
-## 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 and Mac OS X environments.
+## Installation
+
+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. Check your distribution codename in a terminal with the following command:
+1. Add robotpkg as source repository to apt:
 ```
-$ lsb_release -c
-Codename:       xenial
+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"
 ```
-2. Add robotpkg as source repository to apt:
-```
-sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub xenial robotpkg' >> /etc/apt/sources.list.d/robotpkg.list"
-```
-3. Register the authentication certificate of robotpkg:
+2. Register the authentication certificate of robotpkg:
 ```
 curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
 ```
-4. 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
-5. 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}
-```
+4. The installation of **EigenPy** and its dependencies is made through the line:
+
+```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.
+The installation of **EigenPy** on Mac OS X is made via [HomeBrew](https://brew.sh/).
+You just need to register the tap of the software repository.
 
 ```
 brew tap gepetto/homebrew-gepetto
 ```
-and then install **EigenPy** with:
+and then install **EigenPy** for Python 3.x with:
 ```
 brew install eigenpy
 ```
-for Python 2.7 or:
-```
-brew install eigenpy-python3
-```
-for Python 3 support.
+
+## 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 time  # noqa
+import timeit  # noqa
 
-import eigenpy
 import numpy as np
+from IPython import get_ipython
 
-import time
-import timeit
+import eigenpy
 
-from IPython import get_ipython
 ipython = get_ipython()
 
 quat = eigenpy.Quaternion()
-a = [0., 0., 0.]
+a = [0.0, 0.0, 0.0]
 
 cmd1 = "timeit np.array(a)"
 print("\n")
@@ -23,23 +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)
@@ -50,7 +32,7 @@ print(cmd5)
 ipython.magic(cmd5)
 print("\n")
 
-a_matrix = np.matrix(a);
+a_matrix = np.matrix(a)
 cmd6 = "timeit np.asarray(a_matrix)"
 print(cmd6)
 ipython.magic(cmd6)

cmake @ 2ede15d1

-Subproject commit 46dc4a57521bde14ea75c959b6b4f887af50c65d
+Subproject commit 2ede15d1cb9d66401ba96788444ad64c44ffccd8

colcon.pkg

+{
+    "hooks": [
+        "share/eigenpy/hook/ament_prefix_path.dsv",
+        "share/eigenpy/hook/python_path.dsv"
+    ]
+}
\ No newline at end of file

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

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-/*
- * Copyright 2010,
- * François Bleibel,
- * Olivier Stasse,
- *
- * CNRS/AIST
- *
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- * sot-dynamic is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
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- * 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/>.
- */
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-
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