libcrocoddyl 3.1.0__tar.gz

libcrocoddyl-3.1.0/.git-blame-ignore-revs

@@ -0,0 +1,3 @@
+795904c1d65999f19d4a00166430be727573e165
+547f26140f609b6e8a32a7e5c7900209cfd3312e
+bbf44fa6543f64227d1ec7e4d0e3b2b894879031

libcrocoddyl-3.1.0/.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,53 @@
+---
+name: "\U0001F41E Bug report"
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+## Bug description
+
+A clear and concise description of what the bug is.
+
+## Expected behavior
+
+A clear and concise description of what you expected to happen.
+
+## Reproduction steps
+
+Steps to reproduce the behavior:
+1. Load to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+### Docker image
+
+If this is an installation issue, a Docker image to reproduce it
+
+```dockerfile
+...
+```
+
+### Code
+
+If this is a runtime issue, provide some minimal code to reproduce it:
+
+```
+...
+```
+
+## Additional context
+
+Add any other context about the problem here.
+
+### Screenshots
+
+If applicable, add screenshots to help explain your problem.
+
+### System
+
+- OS: [e.g. Ubuntu]
+- Crocoddyl version: [e.g. 2.0.0]

libcrocoddyl-3.1.0/.github/ISSUE_TEMPLATE/feature-request.md

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+---
+name: 💡 Feature request
+about: Suggest an idea for this project
+title: ''
+labels: feature proposal
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

libcrocoddyl-3.1.0/.github/dependabot.yml

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+version: 2
+updates:
+- package-ecosystem: "github-actions"
+  directory: "/"
+  target-branch: "devel"
+  schedule:
+      interval: "weekly"

libcrocoddyl-3.1.0/.github/workflows/changelog.yaml

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+name: CHANGELOG
+
+on:
+  pull_request:
+    types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
+    branches:
+      - devel
+
+jobs:
+  check-changelog:
+    name: Check changelog action
+    runs-on: ubuntu-latest
+    steps:
+      - uses: tarides/changelog-check-action@v3
+        with:
+          changelog: CHANGELOG.md

libcrocoddyl-3.1.0/.github/workflows/conda/conda-env.yml

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+name: crocoddyl
+channels:
+  - conda-forge
+  - nodefaults
+dependencies:
+  - libboost-devel
+  - libboost-python-devel
+  - numpy
+  - scipy
+  - python
+  - eigen
+  - eigenpy
+  - hpp-fcl
+  - urdfdom
+  - cppad
+  - cppadcodegen
+  - pycppad
+  - pinocchio>=3.1.0
+  - ipopt
+  - nbformat
+  - nbconvert
+  - ipykernel
+  - matplotlib
+  - cxx-compiler

libcrocoddyl-3.1.0/.github/workflows/conda-ci.yml

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+name: CONDA
+
+# This determines when this workflow is run
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+  pull_request:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  crocoddyl-conda:
+    name: (${{ matrix.os }}, ${{ matrix.compiler }}, codegen ${{ matrix.codegen_support }}, multi-threading, ipopt, ${{ matrix.build_type }})
+    runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 5
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            compiler: gcc
+            build_type: Release
+            codegen_support: ON
+          - os: ubuntu-latest
+            compiler: gcc
+            build_type: Debug
+            codegen_support: OFF
+          - os: macos-latest
+            compiler: clang
+            build_type: Release
+            codegen_support: ON
+          - os: macos-latest
+            compiler: clang
+            build_type: Debug
+            codegen_support: OFF
+
+    steps:
+    - uses: actions/checkout@v5
+      with:
+        submodules: recursive
+
+    - uses: actions/cache@v4
+      with:
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.run_id }}
+        restore-keys: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
+
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        activate-environment: crocoddyl
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/conda-env.yml
+        python-version: ${{ matrix.python-version }}
+        auto-activate-base: false
+
+    - name: Install conda dependencies
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        conda install cmake ccache -c conda-forge
+        conda install llvm-openmp libcxx -c conda-forge
+        conda install ffmpeg -c conda-forge
+        conda list
+
+    - name: Install example-robot-data
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        mkdir third-party && cd third-party
+        git clone --recursive https://github.com/Gepetto/example-robot-data.git
+        cd example-robot-data && mkdir build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
+        make install
+
+    - name: Build Crocoddyl
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        echo $CONDA_PREFIX
+        mkdir build
+        cd build
+        cmake .. \
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_CXX_FLAGS_DEBUG="" \
+          -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          -DBUILD_WITH_CODEGEN_SUPPORT=${{ matrix.codegen_support }} -DPYTHON_EXECUTABLE=$(which python3) \
+          -DBUILD_WITH_MULTITHREADS=ON -DINSTALL_DOCUMENTATION=ON -DGENERATE_PYTHON_STUBS=ON \
+          -DOpenMP_ROOT=$CONDA_PREFIX
+        make
+        make VERBOSE=1
+
+    - name: Run unit tests
+      shell: bash -l {0}
+      run: |
+        conda activate crocoddyl
+        cd build
+        export CTEST_OUTPUT_ON_FAILURE=1
+        ctest --output-on-failure
+
+    - name:  Install Crocoddyl
+      shell: bash -l {0}
+      run: |
+        cd build
+        make install
+
+    - name: Uninstall Crocoddyl
+      shell: bash -l {0}
+      run: |
+        cd build
+        make uninstall

libcrocoddyl-3.1.0/.github/workflows/macos-linux-pip.yml

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+name: Build crocoddyl for Mac OS X/Linux via pip
+
+on: [push, pull_request]
+
+env:
+    CTEST_OUTPUT_ON_FAILURE: 1
+    CTEST_PARALLEL_LEVEL: 4
+
+jobs:
+  crocoddyl-pip:
+    name: "CI on ${{ matrix.os }} / python ${{ matrix.python-version }} with pip"
+    runs-on: "${{ matrix.os }}"
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ["ubuntu-latest", "macos-latest"]
+        python-version: ["3.8", "3.9", "3.10", "3.11"]
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: python -m pip install -U pip
+      - run: python -m pip install example-robot-data[build] scipy
+      - run: echo "CMAKE_PREFIX_PATH=$(python -m cmeel cmake)" >> $GITHUB_ENV
+      - run: echo "LD_LIBRARY_PATH=$(python -m cmeel lib)" >> $GITHUB_ENV
+      - run: cmake -B build -S .
+      - run: cmake --build build
+      - run: cmake --build build -t test

libcrocoddyl-3.1.0/.github/workflows/nix-ci.yml

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+name: "NIX"
+
+# This determines when this workflow is run
+on:
+  push:
+    branches:
+      - master
+      - devel
+  pull_request:
+    branches:
+      - master
+      - devel
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    name: (${{ matrix.os }})
+    steps:
+      - uses: actions/checkout@v5
+      - uses: cachix/install-nix-action@v31
+      - uses: cachix/cachix-action@v16
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L

libcrocoddyl-3.1.0/.github/workflows/release.yml

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+name: Release on GitHub & PyPI
+
+on:
+  push:
+    tags:
+      - "v*"
+    branches:
+      - cmeel
+  pull_request:
+    branches:
+      - cmeel
+
+env:
+  CMEEL_LOG_LEVEL: DEBUG
+  DEPS: example-robot-data[build] libpinocchio[build] scipy
+  PROJECT: libcrocoddyl
+
+jobs:
+  wheel:
+    name: "Build ${{ matrix.python }} ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-24.04", "ubuntu-24.04-arm", "macos-15-intel", "macos-15"]
+        python: ["cp313"]
+    steps:
+      - uses: actions/checkout@v5
+        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_RUN_TESTS="false" CMEEL_CMAKE_ARGS="-DBUILD_WITH_MULTITHREADS=$OPENMP"
+      - uses: actions/upload-artifact@v4
+        with:
+          name: "artifact-${{ 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", "macos-15-intel", "macos-15"]
+        python: ["cp313"]
+    steps:
+      - uses: actions/download-artifact@v5
+        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@v5
+        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@v4
+        with:
+          name: artifact-sdist
+          path: dist
+
+  test-sdist:
+    runs-on: ubuntu-24.04
+    needs: ["sdist"]
+    name: "Test sdist"
+    steps:
+      - uses: actions/download-artifact@v5
+        with:
+          name: "artifact-sdist"
+          path: dist
+      - uses: actions/setup-python@v5
+        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@v5
+        with:
+          ref: ${{ github.ref_name }}
+      - run: curl https://github.com/nim65s.gpg | gpg --import
+      - name: validate signature
+        run: >
+          git verify-tag --raw ${{ github.ref_name }} 2>&1
+          | grep -q 'VALIDSIG 9B1A79065D2F2B806C8A5A1C7D2ACDAF4653CF28'
+      - uses: actions/download-artifact@v5
+        with:
+          merge-multiple: true
+          path: dist
+      - run: echo "TAG=${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) }}

libcrocoddyl-3.1.0/.github/workflows/ros2-ci.yaml

@@ -0,0 +1,71 @@
+name: ROS
+
+# This determines when this workflow is run
+on:
+  push:
+    branches:
+      - devel
+      - master
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+  pull_request:
+    branches:
+      - devel
+      - master
+    paths-ignore:
+      - 'doc/**'
+      - '.gitlab-ci.yml'
+      - '.gitignore'
+      - '.pre-commit-config.yaml'
+      - '*.md'
+      - 'LICENSE'
+      - 'pyproject.toml'
+      - 'package.xml'
+      - 'dependencies.rosintall'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  CI:
+    if: github.event_name == 'push' || (github.event_name == 'pull_request' && !contains(join(github.event.pull_request.labels.*.name, ','), 'no ros'))
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - {name: "(humble, Release)", ROS_DISTRO: humble}
+          - {name: "(jazzy, Release)", ROS_DISTRO: jazzy}
+          - {name: "(rolling, Release)", ROS_DISTRO: rolling}
+          # - {name: "(humble, clang, multi-threading, Release)", ROS_DISTRO: humble, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          # - {name: "(rolling, clang, multi-threading, Release)", ROS_DISTRO: rolling, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          # - {name: "(iron, clang, multi-threading, Release)", ROS_DISTRO: iron, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          # - {name: "(humble, Debug)", ROS_DISTRO: noetic, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+          # - {name: "(rolling, Debug)", ROS_DISTRO: rolling, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+    name: ${{ matrix.env.name }}
+    env:
+      CCACHE_DIR: /github/home/.ccache             # Enable ccache
+      UPSTREAM_WORKSPACE: dependencies.rosinstall  # to build example-robot-data from source as it's not released via the ROS buildfarm
+      CTEST_OUTPUT_ON_FAILURE: 1
+      BUILDER: colcon
+    runs-on: ubuntu-latest
+    continue-on-error: true
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          submodules: recursive
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v4
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
+          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@eb3ea328ff056aa2435d5b3493e7e2929c310f8e'
+        env: ${{ matrix.env }}

libcrocoddyl-3.1.0/.github/workflows/update-flake-lock.yml

@@ -0,0 +1,20 @@
+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 21 12 * *'
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v5
+      - name: Install Nix
+        uses: DeterminateSystems/nix-installer-action@main
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@main
+        with:
+          pr-title: "Update flake.lock"
+          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}

libcrocoddyl-3.1.0/.gitignore

@@ -0,0 +1,17 @@
+*.pyc
+*.pyd
+*.pyo
+*.so
+*.dylib
+*~
+*.orig
+*.ipynb_checkpoints
+build*/*
+_build*
+*.aux
+*.log
+*.pdf
+.clang-format
+.vscode/
+*#*#
+.cache/

libcrocoddyl-3.1.0/.gitlab-ci.yml

@@ -0,0 +1 @@
+include: https://rainboard.laas.fr/project/crocoddyl/.gitlab-ci.yml

libcrocoddyl-3.1.0/.mergify.yml

@@ -0,0 +1,14 @@
+pull_request_rules:
+  - name: merge [bot] PRs when CI pass
+    conditions:
+      - check-success = "check-macos-linux"
+      - check-success = "pre-commit.ci - pr"
+      - or:
+          - approved-reviews-by = nim65s
+          - author = dependabot[bot]
+          - author = github-actions[bot]
+          - author = nim65s
+          - author = hrp2-14
+          - author = pre-commit-ci[bot]
+    actions:
+      merge:

libcrocoddyl-3.1.0/.pre-commit-config.yaml

@@ -0,0 +1,44 @@
+ci:
+  autoupdate_branch: devel
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.13.1
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+  - 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: v0.24.3
+  hooks:
+  - id: toml-sort-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v21.1.1
+  hooks:
+  - id: clang-format
+    args:
+    - --style=Google
+    exclude: '^.*\.ipynb$'
+- 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

libcrocoddyl-3.1.0/.yapfignore

@@ -0,0 +1 @@
+cmake