Merge pull request #96 from gergondet/topic/MeshScaleVector

Author: gergondet

.clang-format

@@ -103,4 +103,3 @@ Standard:        Cpp11
 TabWidth:        2
 UseTab:          Never
 ...
-

.clang-format-check.sh

@@ -9,25 +9,11 @@ on:
       - '**'
 
 jobs:
-
-  clang-format:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v2
-    - name: Install clang-format-10
-      run: |
-        sudo apt-get -qq update
-        sudo apt-get -qq install clang-format-10
-    - name: Run clang-format-check
-      run: |
-        ./.clang-format-check.sh
-
   build:
-    needs: clang-format
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-18.04, ubuntu-20.04, macos-latest, windows-latest]
+        os: [ubuntu-20.04, macos-latest, windows-latest]
         build-type: [Debug, RelWithDebInfo]
         compiler: [gcc, clang]
         exclude:
@@ -68,6 +54,8 @@ jobs:
               ref: 7.1.0
             - path: jbeder/yaml-cpp
               ref: 29dcf92f870ee51cce8d68f8fcfe228942e8dfe1
+        macos-options: -DPYTHON_BINDING:BOOL=OFF
+        windows-options: -DPYTHON_BINDING:BOOL=OFF
         github: |
           - path: jrl-umi3218/Eigen3ToPython
           - path: jrl-umi3218/SpaceVecAlg
@@ -76,6 +64,8 @@ jobs:
       with:
         compiler: ${{ matrix.compiler }}
         build-type: ${{ matrix.build-type }}
+        macos-options: -DPYTHON_BINDING:BOOL=OFF
+        windows-options: -DPYTHON_BINDING:BOOL=OFF
     - name: Upload documentation
       # Only run on master branch and for one configuration
       if: matrix.os == 'ubuntu-18.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master'

.clang-format-common.sh

@@ -21,6 +21,7 @@ jobs:
     uses: jrl-umi3218/github-actions/.github/workflows/package-project.yml@master
     with:
       deps: '["jrl-umi3218/Tasks"]'
+      latest-cmake: true
     secrets:
       CLOUDSMITH_API_KEY: ${{ secrets.CLOUDSMITH_API_KEY }}
       GH_TOKEN: ${{ secrets.GH_PAGES_TOKEN }}

.clang-format-fix.sh

@@ -0,0 +1,44 @@
+repos:
+- repo: meta
+  hooks:
+  - id: check-useless-excludes
+  - id: check-hooks-apply
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v16.0.2
+  hooks:
+  - id: clang-format
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.4.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-executables-have-shebangs
+  - id: check-merge-conflict
+  - 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
+- repo: https://github.com/psf/black
+  rev: 23.3.0
+  hooks:
+  - id: black
+- repo: https://github.com/MarcoGorelli/cython-lint
+  rev: v0.15.0
+  hooks:
+  - id: cython-lint
+  - id: double-quote-cython-strings
+- repo: https://github.com/PyCQA/flake8
+  rev: 6.0.0
+  hooks:
+  - id: flake8
+    exclude: ^binding/python/rbdyn/.*__init__.py
+    args:
+      - "--max-line-length=88"
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format

.github/workflows/build.yml

@@ -24,7 +24,10 @@ include(cmake/base.cmake)
 include(cmake/cython/cython.cmake)
 include(cmake/msvc-specific.cmake)
 
-project(RBDyn LANGUAGES C CXX VERSION "${PROJECT_VERSION}")
+project(
+  RBDyn
+  LANGUAGES C CXX
+  VERSION "${PROJECT_VERSION}")
 
 option(BENCHMARKS "Generate benchmarks." OFF)
 
@@ -35,22 +38,25 @@ if(BUILD_RBDYN_PARSERS)
 
   find_package(tinyxml2 QUIET NO_MODULE)
   if(NOT ${tinyxml2_FOUND})
-    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules")
+    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+                          "${PROJECT_SOURCE_DIR}/CMakeModules")
     find_package(RBDyn_TinyXML2 REQUIRED)
     install(FILES "${PROJECT_SOURCE_DIR}/CMakeModules/FindRBDyn_TinyXML2.cmake"
             DESTINATION "${CONFIG_INSTALL_DIR}")
-    set(PACKAGE_EXTRA_MACROS "include(\${CMAKE_CURRENT_LIST_DIR}/FindRBDyn_TinyXML2.cmake)" CACHE INTERNAL "")
+    set(PACKAGE_EXTRA_MACROS
+        "include(\${CMAKE_CURRENT_LIST_DIR}/FindRBDyn_TinyXML2.cmake)"
+        CACHE INTERNAL "")
   else()
     add_project_dependency(tinyxml2 REQUIRED NO_MODULE)
   endif()
 
-  # Note: technically we don't need system but it is likely to be here and
-  # CMake <= 3.5.0 needs at least one component to define Boost::boost
+  # Note: technically we don't need system but it is likely to be here and CMake
+  # <= 3.5.0 needs at least one component to define Boost::boost
   add_project_dependency(Boost REQUIRED COMPONENTS system)
 endif()
 
-# For MSVC, set local environment variable to enable finding the built dll
-# of the main library when launching ctest with RUN_TESTS
+# For MSVC, set local environment variable to enable finding the built dll of
+# the main library when launching ctest with RUN_TESTS
 if(MSVC)
   set(CMAKE_MSVCIDE_RUN_PATH "\$(SolutionDir)/src/\$(Configuration)")
 endif()

.github/workflows/conan.yml

@@ -2,35 +2,33 @@
 # Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
-# Try to find TinyXML2
-# in standard prefixes and in ${TinyXML2_PREFIX}
-# Once done this will define
-#  TinyXML2_FOUND - System has TinyXML
-#  TinyXML2_INCLUDE_DIRS - The TinyXML include directories
-#  TinyXML2_LIBRARIES - The libraries needed to use TinyXML
-#  TinyXML2_DEFINITIONS - Compiler switches required for using TinyXML
-# Define TinyXML2::TinyXML2 if needed
+# Try to find TinyXML2 in standard prefixes and in ${TinyXML2_PREFIX} Once done
+# this will define TinyXML2_FOUND - System has TinyXML TinyXML2_INCLUDE_DIRS -
+# The TinyXML include directories TinyXML2_LIBRARIES - The libraries needed to
+# use TinyXML TinyXML2_DEFINITIONS - Compiler switches required for using
+# TinyXML Define TinyXML2::TinyXML2 if needed
 
-find_path(TinyXML2_INCLUDE_DIR
+find_path(
+  TinyXML2_INCLUDE_DIR
   NAMES tinyxml2.h
   PATHS ${TinyXML2_PREFIX}
-  PATH_SUFFIXES include/tinyxml2
-  )
-find_library(TinyXML2_LIBRARY
+  PATH_SUFFIXES include/tinyxml2)
+find_library(
+  TinyXML2_LIBRARY
   NAMES tinyxml2
-  PATHS ${TinyXML2_PREFIX}
-  )
+  PATHS ${TinyXML2_PREFIX})
 
 set(TinyXML2_LIBRARIES ${TinyXML2_LIBRARY})
 set(TinyXML2_INCLUDE_DIRS ${TinyXML2_INCLUDE_DIR})
 
 include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TinyXML2_LIBRARY TinyXML2_INCLUDE_DIR)
+find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TinyXML2_LIBRARY
+                                  TinyXML2_INCLUDE_DIR)
 mark_as_advanced(TinyXML2_INCLUDE_DIR TinyXML2_LIBRARY)
 if(TinyXML2_FOUND AND NOT TARGET tinyxml2::tinyxml2)
   add_library(tinyxml2::tinyxml2 UNKNOWN IMPORTED)
-  set_target_properties(tinyxml2::tinyxml2 PROPERTIES
-    INTERFACE_INCLUDE_DIRECTORIES ${TinyXML2_INCLUDE_DIRS}
-    IMPORTED_LOCATION ${TinyXML2_LIBRARY}
-    )
+  set_target_properties(
+    tinyxml2::tinyxml2
+    PROPERTIES INTERFACE_INCLUDE_DIRECTORIES ${TinyXML2_INCLUDE_DIRS}
+               IMPORTED_LOCATION ${TinyXML2_LIBRARY})
 endif()

.github/workflows/package.yml

@@ -4,23 +4,33 @@
 
 set(RBDYN_BINDINGS_MODULES rbdyn.rbdyn)
 set(RBDYN_BINDINGS_EXPORT_SOURCES rbdyn/c_rbdyn.pxd rbdyn/rbdyn.pxd)
-set(RBDYN_BINDINGS_PRIVATE_SOURCES include/rbdyn_wrapper.hpp rbdyn/rbdyn.pyx rbdyn/c_rbdyn_private.pxd tests/test_rbdyn_pickle.py)
+set(RBDYN_BINDINGS_PRIVATE_SOURCES
+    include/rbdyn_wrapper.hpp rbdyn/rbdyn.pyx rbdyn/c_rbdyn_private.pxd
+    tests/test_rbdyn_pickle.py)
 set(RBDYN_BINDINGS_TARGETS RBDyn)
 
 if(${BUILD_RBDYN_PARSERS})
   list(APPEND RBDYN_BINDINGS_MODULES rbdyn.parsers.parsers)
-  list(APPEND RBDYN_BINDINGS_EXPORT_SOURCES rbdyn/parsers/c_parsers.pxd rbdyn/parsers/parsers.pxd rbdyn/parsers/__init__.py)
-  list(APPEND RBDYN_BINDINGS_PRIVATE_SOURCES include/rbdyn_parsers_wrapper.hpp rbdyn/parsers/parsers.pyx rbdyn/parsers/c_parsers_private.pxd tests/test_rbdyn_parsers.py)
+  list(APPEND RBDYN_BINDINGS_EXPORT_SOURCES rbdyn/parsers/c_parsers.pxd
+       rbdyn/parsers/parsers.pxd rbdyn/parsers/__init__.py)
+  list(APPEND RBDYN_BINDINGS_PRIVATE_SOURCES include/rbdyn_parsers_wrapper.hpp
+       rbdyn/parsers/parsers.pyx rbdyn/parsers/c_parsers_private.pxd
+       tests/test_rbdyn_parsers.py)
   list(APPEND RBDYN_BINDINGS_TARGETS RBDyn::Parsers)
   if(NOT BUILD_SHARED_LIBS)
     list(APPEND RBDYN_BINDINGS_TARGETS yaml-cpp tinyxml2::tinyxml2)
   endif()
 endif()
 
-ADD_CYTHON_BINDINGS(rbdyn
-  TARGETS ${RBDYN_BINDINGS_TARGETS}
-  MODULES ${RBDYN_BINDINGS_MODULES}
-  EXPORT_SOURCES ${RBDYN_BINDINGS_EXPORT_SOURCES}
-  PRIVATE_SOURCES ${RBDYN_BINDINGS_PRIVATE_SOURCES}
-  GENERATE_SOURCES rbdyn/__init__.py
-)
+make_cython_bindings(
+  rbdyn
+  TARGETS
+  ${RBDYN_BINDINGS_TARGETS}
+  MODULES
+  ${RBDYN_BINDINGS_MODULES}
+  EXPORT_SOURCES
+  ${RBDYN_BINDINGS_EXPORT_SOURCES}
+  PRIVATE_SOURCES
+  ${RBDYN_BINDINGS_PRIVATE_SOURCES}
+  GENERATE_SOURCES
+  rbdyn/__init__.py)

.pre-commit-config.yaml

@@ -4,7 +4,6 @@
  * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
  */
 
-
 #include <RBDyn/Body.h>
 #include <RBDyn/Joint.h>
 #include <RBDyn/MultiBodyConfig.h>
@@ -37,24 +36,24 @@ std::vector<double> ZeroDof(Joint::Type t)
   return Joint::ZeroDof(t);
 }
 
-ConfigConverter* ConfigConverterConstructor(const MultiBody& mb1, const MultiBody& mb2)
+ConfigConverter * ConfigConverterConstructor(const MultiBody & mb1, const MultiBody & mb2)
 {
   return rbd::ConfigConverter::sConstructor(mb1, mb2);
 }
 
 MultiBody & const_cast_mb(const MultiBody & mb)
 {
-  return const_cast<MultiBody&>(mb);
+  return const_cast<MultiBody &>(mb);
 }
 
-MultiBodyConfig& const_cast_mbc(const MultiBodyConfig& mbc)
+MultiBodyConfig & const_cast_mbc(const MultiBodyConfig & mbc)
 {
-  return const_cast<MultiBodyConfig&>(mbc);
+  return const_cast<MultiBodyConfig &>(mbc);
 }
 
 MultiBodyGraph & const_cast_mbg(const MultiBodyGraph & mbg)
 {
-  return const_cast<MultiBodyGraph&>(mbg);
+  return const_cast<MultiBodyGraph &>(mbg);
 }
 
 void dv_set_item(std::vector<double> & v, unsigned int idx, double value)
@@ -72,4 +71,4 @@ void mbcv_set_item(std::vector<MultiBodyConfig> & v, unsigned int idx, const Mul
   v[idx] = mbc;
 }
 
-}
+} // namespace rbd

CMakeLists.txt

@@ -1,6 +1,7 @@
 import os
-if hasattr(os, 'add_dll_directory'):
-  os.add_dll_directory("@CMAKE_INSTALL_PREFIX@/bin")
 
-from . rbdyn import *
+if hasattr(os, "add_dll_directory"):
+    os.add_dll_directory("@CMAKE_INSTALL_PREFIX@/bin")
+
+from .rbdyn import *
 from . import parsers