Release/5.2.0

.github/workflows/nix.yml

@@ -1,6 +1,7 @@
-name: "Nix CI"
+name: "CI - Nix"
 
-on: [pull_request, push]
+on:
+  push:
 
 jobs:
   tests:
@@ -11,9 +12,9 @@ jobs:
         os: [ubuntu]
     steps:
       - uses: actions/checkout@v4
-      - uses: DeterminateSystems/nix-installer-action@main
-      - uses: DeterminateSystems/magic-nix-cache-action@main
-      - run: nix --accept-flake-config build -L
-      - run: nix --accept-flake-config run .#cachix push gepetto $(readlink result)
-        env:
-          CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L

.gitlab-ci.yml

@@ -1 +1 @@
-include: http://rainboard.laas.fr/project/hpp-pinocchio/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/hpp-pinocchio/.gitlab-ci.yml

.mergify.yml

@@ -0,0 +1,11 @@
+pull_request_rules:
+  - name: merge automatically when CI passes and PR is approved
+    conditions:
+      - check-success = "gitlab-ci"
+      - check-success = "Nix build on ubuntu"
+      - check-success = "pre-commit.ci - pr"
+      - or:
+        - author = pre-commit-ci[bot]
+        - author = dependabot[bot]
+    actions:
+      merge:

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.5.0
+  rev: v0.6.9
   hooks:
   - id: ruff
     args:
@@ -19,13 +19,13 @@ repos:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v18.1.7
+  rev: v19.1.1
   hooks:
   - id: clang-format
     args:
     - --style=Google
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.6.0
+  rev: v5.0.0
   hooks:
   - id: check-added-large-files
   - id: check-ast

flake.nix

@@ -1,55 +1,43 @@
 {
   description = "Wrapping of Pinocchio library into HPP";
 
-  nixConfig = {
-    extra-substituters = [ "https://gepetto.cachix.org" ];
-    extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
-  };
-
   inputs = {
-    nixpkgs.url = "github:nim65s/nixpkgs/gepetto";
+    nixpkgs.url = "github:gepetto/nixpkgs";
     flake-parts = {
       url = "github:hercules-ci/flake-parts";
       inputs.nixpkgs-lib.follows = "nixpkgs";
     };
-    hpp-environments = {
-      url = "github:humanoid-path-planner/hpp-environments/release/5.1.0";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-    };
-    hpp-util = {
-      url = "github:humanoid-path-planner/hpp-util/release/5.1.0";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-    };
   };
 
   outputs =
-    inputs@{ flake-parts, ... }:
-    flake-parts.lib.mkFlake { inherit inputs; } {
-      imports = [ ];
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
       systems = [
         "x86_64-linux"
         "aarch64-linux"
         "aarch64-darwin"
         "x86_64-darwin"
       ];
       perSystem =
+        { pkgs, self', ... }:
         {
-          self',
-          pkgs,
-          system,
-          ...
-        }:
-        {
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
           packages = {
-            inherit (pkgs) cachix;
-            default = pkgs.callPackage ./. {
-              hpp-environments = inputs.hpp-environments.packages.${system}.default;
-              hpp-util = inputs.hpp-util.packages.${system}.default;
-            };
+            default = self'.packages.hpp-pinocchio;
+            hpp-pinocchio = pkgs.hpp-pinocchio.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./doc
+                  ./include
+                  ./package.xml
+                  ./src
+                  ./tests
+                ];
+              };
+            });
           };
-          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
         };
     };
 }

include/hpp/pinocchio/util.hh

@@ -126,32 +126,32 @@ std::ostream& operator<<(std::ostream& os, const PrettyPrint<T, Option> pp) {
 
 /// Generic implementation for Eigen objects
 template <typename Derived, int Option>
-struct HPP_PINOCCHIO_DLLAPI prettyPrintEigen {
-  static inline std::ostream& run(std::ostream& os, const Derived& M) {
-    enum {
-      Condensed = ((Option & OutputFormatBits) == OneLineOutput) ||
-                  ((Option & OutputFormatBits) == CondensedOutput)
-    };
-    static const Eigen::IOFormat mfmt_py =
-        eigen_format<Condensed, true, false>::run();
-    static const Eigen::IOFormat vfmt_py =
-        eigen_format<Condensed, true, true>::run();
-    static const Eigen::IOFormat mfmt_raw =
-        eigen_format<Condensed, false, false>::run();
-    static const Eigen::IOFormat vfmt_raw =
-        eigen_format<Condensed, false, true>::run();
-    bool use_py_fmt = (getpythonformat(os) != 0);
-    const Eigen::IOFormat& fmt =
-        (Derived::IsVectorAtCompileTime ? (use_py_fmt ? vfmt_py : vfmt_raw)
-                                        : (use_py_fmt ? mfmt_py : mfmt_raw));
-    bool transpose = (Derived::ColsAtCompileTime == 1);
-
-    if (transpose)
-      return os << M.transpose().format(fmt);
-    else
-      return os << M.format(fmt);
-  }
-};
+struct HPP_PINOCCHIO_DLLAPI prettyPrintEigen{
+    static inline std::ostream &
+    run(std::ostream & os, const Derived& M){
+        enum {Condensed = ((Option & OutputFormatBits) == OneLineOutput) ||
+                          ((Option & OutputFormatBits) == CondensedOutput)};
+static const Eigen::IOFormat mfmt_py =
+    eigen_format<Condensed, true, false>::run();
+static const Eigen::IOFormat vfmt_py =
+    eigen_format<Condensed, true, true>::run();
+static const Eigen::IOFormat mfmt_raw =
+    eigen_format<Condensed, false, false>::run();
+static const Eigen::IOFormat vfmt_raw =
+    eigen_format<Condensed, false, true>::run();
+bool use_py_fmt = (getpythonformat(os) != 0);
+const Eigen::IOFormat& fmt =
+    (Derived::IsVectorAtCompileTime ? (use_py_fmt ? vfmt_py : vfmt_raw)
+                                    : (use_py_fmt ? mfmt_py : mfmt_raw));
+bool transpose = (Derived::ColsAtCompileTime == 1);
+
+if (transpose)
+  return os << M.transpose().format(fmt);
+else
+  return os << M.format(fmt);
+}  // namespace hpp
+}
+;
 /// FIXME All eigen object must be manually specialized as follow...
 
 /// Pretty printer for Eigen::Matrix

src/joint.cc

@@ -277,10 +277,11 @@ value_type computeMaximalDistanceToParent(
     const Model& model,
     const ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis>& jmodel,
     const SE3& jointPlacement) {
-  return computeMaximalDistanceToParentForAlignedTranslation<
-      Axis == 0, Axis == 1, Axis == 2>(
-      model.lowerPositionLimit.segment<1>(jmodel.idx_q()),
-      model.upperPositionLimit.segment<1>(jmodel.idx_q()), jointPlacement);
+  return computeMaximalDistanceToParentForAlignedTranslation < Axis == 0,
+         Axis == 1,
+         Axis == 2 > (model.lowerPositionLimit.segment<1>(jmodel.idx_q()),
+                      model.upperPositionLimit.segment<1>(jmodel.idx_q()),
+                      jointPlacement);
 }
 
 template <typename Scalar, int Options>