hpp-toppra 9.0.0__tar.gz

hpp_toppra-9.0.0/.bumpversion.cfg

@@ -0,0 +1,7 @@
+[bumpversion]
+current_version = 0.1.4
+commit = True
+tag = True
+message = chore: Bump hpp-toppra version: '{current_version}' --> '{new_version}'
+
+[bumpversion:file:package.xml]

hpp_toppra-9.0.0/.github/dependabot.yml

@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "monthly"

hpp_toppra-9.0.0/.github/workflows/ci_ros2.yml

@@ -0,0 +1,41 @@
+name: ROS2 Continuous Integration
+on:
+  push:
+    branches:
+      - devel
+      - main
+  pull_request:
+jobs:
+  build:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling}
+    env:
+      NOT_TEST_BUILD: true # TODO
+      UPSTREAM_WORKSPACE: |
+        github:gepetto/example-robot-data#devel
+        github:humanoid-path-planner/hpp-constraints#devel
+        github:humanoid-path-planner/hpp-core#devel
+        github:humanoid-path-planner/hpp-environments#devel
+        github:humanoid-path-planner/hpp-manipulation#devel
+        github:humanoid-path-planner/hpp-manipulation-urdf#devel
+        github:humanoid-path-planner/hpp-pinocchio#devel
+        github:humanoid-path-planner/hpp-python#devel
+        github:humanoid-path-planner/hpp-statistics#devel
+        github:humanoid-path-planner/hpp-util#devel
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+      - uses: 'ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6'
+        env: ${{ matrix.env }}
+  check:
+    if: always()
+    name: check-ros-ci
+    runs-on: ubuntu-latest
+    needs:
+      - build
+    steps:
+      - uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

hpp_toppra-9.0.0/.github/workflows/dockgen.yml

@@ -0,0 +1,53 @@
+name: "Publish docker image"
+
+on:
+  push:
+    branches:
+      - devel
+    tags:
+      - "v*"
+
+jobs:
+  dockgen:
+    runs-on: "ubuntu-latest"
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write
+    steps:
+      - uses: actions/checkout@v6
+
+      - uses: astral-sh/setup-uv@v7
+      - run: uvx dockgen
+
+      # https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v6
+        with:
+          images: ghcr.io/${{ github.repository }}
+
+      - name: Build and push Docker image
+        id: push
+        uses: docker/build-push-action@v7
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+
+      - name: Generate artifact attestation
+        uses: actions/attest-build-provenance@v4
+        with:
+          subject-name: ghcr.io/${{ github.repository }}
+          subject-digest: ${{ steps.push.outputs.digest }}
+          push-to-registry: true

hpp_toppra-9.0.0/.github/workflows/nix.yml

@@ -0,0 +1,38 @@
+name: "CI - Nix"
+on:
+  push:
+    branches:
+      - devel
+      - master
+      - main
+  pull_request:
+    branches:
+      - devel
+      - master
+      - main
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu]
+    steps:
+      - uses: actions/checkout@v7
+      - uses: cachix/install-nix-action@v31
+      - uses: cachix/cachix-action@v17
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix flake check -L
+      - run: nix build -L
+  check:
+    if: always()
+    name: check-macos-linux-nix
+    runs-on: ubuntu-latest
+    needs:
+      - nix
+    steps:
+      - uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

hpp_toppra-9.0.0/.github/workflows/release.yml

@@ -0,0 +1,159 @@
+name: Release on GitHub & PyPI
+
+on:
+  push:
+    tags:
+      - "v*"
+    branches:
+      - cmeel
+  pull_request:
+    branches:
+      - cmeel
+
+env:
+  CMEEL_LOG_LEVEL: DEBUG
+  DEPS: cmeel-boost[build] cmeel-toppra[build] hpp-python[build]
+  PROJECT: hpp-toppra
+
+jobs:
+  wheel:
+    name: "Build ${{ matrix.python }} ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-24.04", "ubuntu-24.04-arm"]
+        python: ["cp310", "cp311", "cp312", "cp313", "cp314"]
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: 'true'
+      - run: pipx install cibuildwheel
+      - run: echo "OPENMP=OFF" >> $GITHUB_ENV
+        if: ${{ startsWith(matrix.os, 'macos') }}
+      - run: echo "OPENMP=ON" >> $GITHUB_ENV
+        if: ${{ startsWith(matrix.os, 'ubuntu') }}
+      - run: cibuildwheel
+        env:
+          CIBW_BUILD: "${{ matrix.python }}-*"
+          CIBW_SKIP: "*-musllinux* *i686"
+          CIBW_MANYLINUX_X86_64_IMAGE: "quay.io/pypa/manylinux_2_28_x86_64"
+          CIBW_MANYLINUX_AARCH64_IMAGE: "quay.io/pypa/manylinux_2_28_aarch64"
+          CIBW_REPAIR_WHEEL_COMMAND: ""
+          CIBW_ENVIRONMENT: CMEEL_LOG_LEVEL="DEBUG" CMEEL_JOBS="1" CMEEL_TEST_JOBS="1" CMEEL_RUN_TESTS="false" CMEEL_CMAKE_ARGS="-DBUILD_WITH_OPENMP_SUPPORT=${{
+            env.OPENMP }}"
+      - uses: actions/upload-artifact@v7
+        with:
+          name: "artifact-${{ matrix.os }}-${{ matrix.python }}"
+          path: wheelhouse
+
+  test-wheel:
+    needs: ["wheel"]
+    name: "Test ${{ matrix.python }} ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-24.04", "ubuntu-24.04-arm"]
+        python: ["cp310", "cp311", "cp312", "cp313", "cp314"]
+    steps:
+      - uses: actions/download-artifact@v8
+        with:
+          name: "artifact-${{ matrix.os }}-${{ matrix.python }}"
+          path: wheelhouse
+      - run: echo "${{ matrix.python }}" | sed "s/cp3/PYTHON_VERSION=3./" >> "${GITHUB_ENV}"
+      - uses: actions/setup-python@v6
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: index
+        run: |
+          python -m pip install -U pip
+          python -m pip install wheel simple503
+          python -m simple503 --base-url ${{ github.workspace }}/wheelhouse ${{ github.workspace }}/wheelhouse
+      - name: install deps
+        run: python -m pip install cmeel $DEPS
+      - name: install wheel
+        run: python -m pip install -i "file://${{ github.workspace }}/wheelhouse" $PROJECT
+
+  sdist:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v6
+        with:
+          python-version: 3.13
+      - name: setup
+        run: |
+          python -m pip install -U pip
+          python -m pip install build cmeel[build] $DEPS
+      - name: build sdist
+        run: python -m build -nso dist .
+      - uses: actions/upload-artifact@v7
+        with:
+          name: artifact-sdist
+          path: dist
+
+  test-sdist:
+    runs-on: ubuntu-24.04
+    needs: ["sdist"]
+    name: "Test sdist"
+    steps:
+      - uses: actions/download-artifact@v8
+        with:
+          name: "artifact-sdist"
+          path: dist
+      - uses: actions/setup-python@v6
+        with:
+          python-version: 3.13
+      - name: setup
+        run: |
+          python -m pip install -U pip
+          python -m pip install build cmeel[build] $DEPS
+      - name: install sdist
+        run: python -m pip install dist/$(echo "$PROJECT" | tr - _)*.tar.gz
+
+  release:
+    needs: ["test-wheel", "test-sdist"]
+    if: ${{ startsWith(github.ref, 'refs/tags/v') }}
+    runs-on: ubuntu-24.04
+    environment: release
+    permissions:
+      id-token: write
+      contents: write
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          ref: ${{ github.ref_name }}
+      - run: curl https://github.com/nim65s.gpg | gpg --import
+      - name: validate signature
+        run: >
+          git verify-tag --raw ${{ github.ref_name }} 2>&1
+          | grep -q 'VALIDSIG 9B1A79065D2F2B806C8A5A1C7D2ACDAF4653CF28'
+      - uses: actions/download-artifact@v8
+        with:
+          merge-multiple: true
+          path: dist
+      - run: echo "TAG=${GITHUB_REF#refs/tags/}" >> $GITHUB_ENV
+      - run: gh release create -t "Release ${{ env.TAG}}" "${{ env.TAG }}" dist/$(echo $PROJECT | tr - _)*.{whl,tar.gz}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Publish package distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          skip-existing: true
+
+  check:
+    if: always()
+    name: check-macos-linux
+
+    needs:
+      - test-wheel
+      - test-sdist
+
+    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) }}

hpp_toppra-9.0.0/.github/workflows/update-flake-lock.yml

@@ -0,0 +1,31 @@
+name: update-flake-lock
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 6 24 * *'
+jobs:
+  update-flake-inputs:
+    runs-on: ubuntu-slim
+    permissions:
+      contents: write
+      pull-requests: write
+    steps:
+      - name: Generate GitHub App Token
+        id: app-token
+        uses: actions/create-github-app-token@v3
+        with:
+          app-id: ${{ secrets.GEPETTO_NIX_APP_ID }}
+          private-key: ${{ secrets.GEPETTO_NIX_APP_PRIVATE_KEY }}
+      - name: Checkout repository
+        uses: actions/checkout@v7
+        with:
+          token: ${{ steps.app-token.outputs.token }}
+      - name: Setup Nix
+        uses: cachix/install-nix-action@v31
+      - name: Update flake inputs
+        uses: mic92/update-flake-inputs@v1
+        with:
+          github-token: ${{ steps.app-token.outputs.token }}
+          pr-labels: 'no-changelog'
+          git-author-name: 'hrp2-14'
+          git-author-email: '40568249+hrp2-14@users.noreply.github.com'

hpp_toppra-9.0.0/.mergify.yml

@@ -0,0 +1,14 @@
+pull_request_rules:
+  - name: merge [bot] PRs when CI pass
+    conditions:
+      - check-success = "check-macos-linux-nix"
+      - check-success = "check-ros-ci"
+      - check-success = "pre-commit.ci - pr"
+      - or:
+          - author = dependabot[bot]
+          - author = gepetto-flake-updater[bot]
+          - author = github-actions[bot]
+          - author = hrp2-14
+          - author = pre-commit-ci[bot]
+    actions:
+      merge:

hpp_toppra-9.0.0/.pre-commit-config.yaml

@@ -0,0 +1,40 @@
+ci:
+  autoupdate_schedule: quarterly
+repos:
+  - repo: https://github.com/BlankSpruce/gersemi-pre-commit
+    rev: 0.27.7
+    hooks:
+      - id: gersemi
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.15.20
+    hooks:
+      - id: ruff-check
+      - id: ruff-format
+  - repo: https://github.com/pappasam/toml-sort
+    rev: v0.24.4
+    hooks:
+      - id: toml-sort-fix
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v22.1.5
+    hooks:
+      - id: clang-format
+        args:
+          - --style=Google
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: mixed-line-ending
+      - id: trailing-whitespace

hpp_toppra-9.0.0/CMakeLists.txt

@@ -0,0 +1,94 @@
+#
+# Copyright (c) 2022 Eureka Robotics
+# Authors: Joseph Mirabel
+#
+#
+
+cmake_minimum_required(VERSION 3.22)
+
+set(CXX_DISABLE_WERROR TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+
+set(PROJECT_NAME hpp-toppra)
+set(PROJECT_DESCRIPTION "Bridge between HPP and TOPPRA.")
+
+find_package(jrl-cmakemodules QUIET CONFIG)
+if(jrl-cmakemodules_FOUND)
+    get_property(
+        JRL_CMAKE_MODULES
+        TARGET jrl-cmakemodules::jrl-cmakemodules
+        PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+    )
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+        "jrl-cmakemodules"
+        GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
+    )
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+endif()
+
+include("${JRL_CMAKE_MODULES}/hpp.cmake")
+include("${JRL_CMAKE_MODULES}/boost.cmake")
+
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+
+add_project_dependency(eigenpy REQUIRED)
+add_project_dependency(hpp-core REQUIRED)
+add_project_dependency(hpp-python REQUIRED)
+add_project_dependency(toppra 0.6.2 REQUIRED)
+if(BUILD_TESTING)
+    find_package(Catch2 QUIET)
+    if(NOT Catch2_FOUND)
+        include(FetchContent)
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG v3.15.2
+        )
+        FetchContent_MakeAvailable(Catch2)
+    endif()
+endif()
+
+include(${HPP_CORE_CMAKE_PLUGIN})
+
+set(${PROJECT_NAME}_HEADERS include/hpp/toppra/toppra.hh)
+
+add_library(
+    ${PROJECT_NAME}
+    SHARED
+    src/toppra.cc
+    src/piecewise-polynomial.hh
+    src/piecewise-polynomial.hh
+    src/serialization.hh
+    ${${PROJECT_NAME}_HEADERS}
+)
+target_link_libraries(
+    hpp-toppra
+    PUBLIC hpp-python::hpp-python hpp-core::hpp-core toppra::toppra
+)
+target_include_directories(hpp-toppra PUBLIC $<INSTALL_INTERFACE:include>)
+install(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+
+add_subdirectory(python)
+
+if(BUILD_TESTING)
+    add_executable(
+        unittests
+        tests/tests.cc
+        tests/test-ill-formed-paths.cc
+        tests/test-path-serialization.cc
+    )
+    add_test(unittests unittests)
+    target_link_libraries(
+        unittests
+        hpp-manipulation::hpp-manipulation
+        toppra::toppra
+        hpp-toppra
+        Catch2::Catch2WithMain
+    )
+endif()

hpp_toppra-9.0.0/LICENSE

@@ -0,0 +1,29 @@
+Copyright (c) 2020, LAAS-CNRS
+Copyright (c) 2022, Eureka Robotics
+Authors: Joseph Mirabel (jmirabel@eurekarobotics.com)
+         Olivier Roussel (olivier.roussel@laas.fr)
+
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+notice, this list of conditions and the following disclaimer in the
+documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGE.

hpp_toppra-9.0.0/PKG-INFO

@@ -0,0 +1,32 @@
+Metadata-Version: 2.4
+Name: hpp-toppra
+Version: 9.0.0
+Summary: Bridge between HPP and TOPPRA
+Requires-Python: >=3.9
+License-Expression: LGPL-3.0-or-later
+License-File: LICENSE
+Requires-Dist: cmeel
+Requires-Dist: cmeel-boost ~= 1.90.0
+Requires-Dist: cmeel-toppra
+Requires-Dist: hpp-python
+Provides-Extra: build
+Requires-Dist: cmeel-boost[build] ~= 1.90.0; extra == "build"
+Requires-Dist: cmeel-toppra[build]; extra == "build"
+Requires-Dist: hpp-python[build]; extra == "build"
+Description-Content-Type: text/markdown
+
+# Integration of TOPPRA in HPP
+
+This package was kick-started from the [TOPPRA plugin](https://github.com/humanoid-path-planner/hpp-core/tree/master/plugins) in [hpp-core](https://github.com/humanoid-path-planner/hpp-core).
+
+## Instruction for developers
+
+### Unit tests
+
+At the moment, there is no CI pipeline so developpers should make sure the unit test passes
+before submitting a PR.
+
+### Increase the version number
+
+Inreasing the version number is done with `bump2version`.
+Run `bump2version (major|minor|patch)` depending on the version number you wish to increase.

hpp_toppra-9.0.0/README.md

@@ -0,0 +1,15 @@
+# Integration of TOPPRA in HPP
+
+This package was kick-started from the [TOPPRA plugin](https://github.com/humanoid-path-planner/hpp-core/tree/master/plugins) in [hpp-core](https://github.com/humanoid-path-planner/hpp-core).
+
+## Instruction for developers
+
+### Unit tests
+
+At the moment, there is no CI pipeline so developpers should make sure the unit test passes
+before submitting a PR.
+
+### Increase the version number
+
+Inreasing the version number is done with `bump2version`.
+Run `bump2version (major|minor|patch)` depending on the version number you wish to increase.

hpp_toppra-9.0.0/dockgen.toml

@@ -0,0 +1,12 @@
+[hpp-python]
+url = "github:humanoid-path-planner"
+
+[hpp-toppra]
+src_deps = ["hpp-python", "toppra"]
+url = "."
+
+[toppra]
+apt_deps = ["python3-pybind11"]
+configure_args = ["-S", "cpp"]
+url = "github:hungpham2511"
+version = "0.6.8"