Merge pull request #100 from hungpham2511/release-v0.3.0

Release v0.3.0

.circleci/README.md

@@ -0,0 +1,28 @@
+# CI
+
+We have the following CI workflows in CirclCI.
+
+## integrate
+
+The main workflow for new commits. The following jobs are done:
+- Check project codestyle.
+- Build and test toppra on Python 3.
+- Build and test toppra (C++).
+
+## release
+
+Check release branch for proper version.
+
+
+## publish
+
+Publish source code to venues (PyPI). NOTE: This is currently not done.
+
+
+# Github Action
+Some tasks are done directly with Github Action. 
+
+- Linting for C++ code with clang-tidy.
+
+  Note: `cppcoreguidelines-pro-bounds-array-to-pointer-decay` leads to false reported error, thus disabled.
+

.circleci/config.yml

@@ -1,4 +1,5 @@
 version: 2
+
 jobs:
   check-codestyle:
     docker:
@@ -34,7 +35,7 @@ jobs:
           path: test-reports
           destination: test-reports
 
-  test-python-3:
+  build-python-3:
     docker:
       - image: hungpham2511/toppra-dep:0.0.3
 
@@ -51,7 +52,7 @@ jobs:
       - run:
           name: install dependencies
           command: |
-            python3 -m virtualenv --python python3 venv3 && . venv3/bin/activate
+            virtualenv --python python3.7 venv3 && . venv3/bin/activate
             pip install invoke pathlib2 numpy cython
             invoke install-solvers
             pip install -e .[dev]
@@ -66,53 +67,45 @@ jobs:
           command: |
             . venv3/bin/activate
             mkdir test-reports
-            pytest -q tests --durations=3 --junitxml=test-reports/junit.xml
+            python --version
+            python -m pytest -q tests --durations=3 --junitxml=test-reports/junit.xml
 
       - store_test_results:
           path: test-reports
 
-  test-python-2:
+  build-cpp:
     docker:
       - image: hungpham2511/toppra-dep:0.0.3
 
     working_directory: ~/repo
 
     steps:
       - checkout
-      - restore_cache:
-          keys:
-            - v1-dependencies2-{{ checksum "requirements.txt" }}
-
       - run:
-          name: install dependencies
+          name: dependencies
           command: |
-            python -m pip install virtualenv --user
-            python -m virtualenv venv && . venv/bin/activate
-            python -m pip install invoke pathlib2 numpy cython
-            python -m invoke install-solvers
-            pip install -e .[dev]
-
-      - save_cache:
-          paths:
-            - ./venv
-          key: v1-dependencies2-{{ checksum "requirements.txt" }}
+            sudo apt install -y curl
+            echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \
+              | sudo tee /etc/apt/sources.list.d/robotpkg.list
+            curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
+              | sudo apt-key add -
+            sudo apt update
+            sudo apt install -y clang-tidy libeigen3-dev robotpkg-pinocchio robotpkg-qpoases libglpk-dev
 
       - run:
-          name: test
+          name: build
           command: |
-            . venv/bin/activate
-            export PYTHONPATH=$PYTHONPATH:`openrave-config --python-dir`
-            mkdir test-reports
-            pytest --durations=3 --junitxml=test-reports/junit.xml
+            export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
+            export CMAKE_PREFIX_PATH=/opt/openrobots
+            mkdir build && cd build && cmake -DBUILD_WITH_PINOCCHIO=ON -DBUILD_WITH_qpOASES=ON -DBUILD_WITH_GLPK=ON ..
+            make -j4
+          working_directory: ~/repo/cpp
 
       - run:
-          name: Collect log data
+          name: test
           command: |
-            cp /tmp/toppra.log ~/repo/test-reports/
-
-      - store_test_results:
-          path: test-reports
-          destination: test-reports
+            ./tests/all_tests
+          working_directory: ~/repo/cpp/build
 
   pre-release:
     docker:
@@ -147,11 +140,14 @@ jobs:
 
 workflows:
   version: 2
-  test-and-lint:
+  integrate:
     jobs:
-      - test-python-2
-      - test-python-3
+      - build-cpp
       - check-codestyle
+      - build-python-3:
+          requires:
+            - check-codestyle
+
   release:
     jobs:
       - pre-release:
@@ -160,6 +156,9 @@ workflows:
               only:
               - fix-ci
               - /release-.*/
+
+  publish:
+    jobs:
       - release:
           filters:
             branches:

.clang-format

@@ -0,0 +1,117 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:   
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     88
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:   
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories: 
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats: 
+  - Delimiter:       pb
+    Language:        TextProto
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+TabWidth:        8
+UseTab:          Never
+...
+

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,25 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: 'Type: bug'
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. 
+2. 
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Version**
+Branch, commit, version?

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+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.

.github/pull_request_template.md

@@ -0,0 +1,8 @@
+Fixes #
+
+Changes in this PRs:
+- 
+- 
+
+Checklists:
+- [ ] Update CHANGELOG.md with a single line describing this PR

.github/workflows/main.yml

@@ -0,0 +1,35 @@
+name: Lint (C++, clang-tidy)
+
+on:
+  push:
+    branches: [ develop ]
+  pull_request:
+    branches: [ develop ]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v2
+
+    - name: Install deps
+      run: |
+        sudo apt install -y curl
+        echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \
+          | sudo tee /etc/apt/sources.list.d/robotpkg.list
+        curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
+          | sudo apt-key add -
+        sudo apt update
+        sudo apt install -y clang-tidy libeigen3-dev robotpkg-pinocchio robotpkg-qpoases
+
+    - name: Lint
+      run: |
+        cd $GITHUB_WORKSPACE/cpp
+        export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
+        export CMAKE_PREFIX_PATH=/opt/openrobots
+        mkdir build && cd build && cmake -DBUILD_WITH_PINOCCHIO=ON -DBUILD_WITH_qpOASES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=1 ..
+        clang-tidy  src/**/*.cpp \
+          -checks=clang-analyzer-*,clang-analyzer-cplusplus*,cppcoreguidelines-*,performance-*,modernize-*,readability-,-cppcoreguidelines-pro-bounds-array-to-pointer-decay\
+          -warnings-as-errors=clang-analyzer-*,clang-analyzer-cplusplus*,cppcoreguidelines-*,modernize-*

.pylintrc

@@ -142,6 +142,7 @@ disable=
         xrange-builtin,
         xreadlines-attribute,
         zip-builtin-not-iterating,
+	bad-continuation
 
 # Enable the message, report, category or checker with the given id(s). You can
 # either give multiple identifier separated by comma (,) or put this option