diff --git a/multicontact-api/Makefile b/multicontact-api/Makefile
index 55b5039d975346b3326033a7a971d6569e76c2e1..ba9f52e587bebada9accc783266de12c4c67b6de 100644
--- a/multicontact-api/Makefile
+++ b/multicontact-api/Makefile
@@ -5,6 +5,7 @@
ORG= loco-3d
NAME= multicontact-api
VERSION= 2.1.0
+PKGREVISION= 1
CATEGORIES= wip
COMMENT= Multi-contact locomotion for multi-body systems
@@ -14,7 +15,7 @@ MAINTAINER= gepetto-soft@laas.fr
CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../math/curves/depend.mk
+include ../../math/ndcurves/depend.mk
include ../../graphics/assimp/depend.mk
include ../../graphics/urdfdom/depend.mk
include ../../mapping/octomap/depend.mk
diff --git a/multicontact-api/distinfo b/multicontact-api/distinfo
index 51a16359e3aa403b0b8360e1139a5fb2f58047a7..3a8c5be8e507fdc446ad62acc05536114429652c 100644
--- a/multicontact-api/distinfo
+++ b/multicontact-api/distinfo
@@ -1,3 +1,5 @@
SHA1 (multicontact-api-2.1.0.tar.gz) = 7639cefdb28c5eb0f992b6bb604f97a4cf82dec6
RMD160 (multicontact-api-2.1.0.tar.gz) = 6ae2f6c5214a1da4c4680ed80c7b2c27de32b43d
Size (multicontact-api-2.1.0.tar.gz) = 82404503 bytes
+SHA1 (patch-21) = 4948a8981ed94c766bf440371f4bd8074042894d
+SHA1 (patch-aa) = 0eaa23c5ef1e463afe91d8b6302f2dd1ef9caecc
diff --git a/multicontact-api/patches/patch-21 b/multicontact-api/patches/patch-21
new file mode 100644
index 0000000000000000000000000000000000000000..3d4ad0d3075c2bb21da7819e5cb24a1130fb3183
--- /dev/null
+++ b/multicontact-api/patches/patch-21
@@ -0,0 +1,633 @@
+From 017a69a2932c08c5515c4d5f46d9d6a25026c6f3 Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Tue, 16 Mar 2021 17:25:23 +0100
+Subject: [PATCH] =?UTF-8?q?curves=20=E2=86=92=20ndcurves?=
+MIME-Version: 1.0
+Content-Type: text/plain; charset=UTF-8
+Content-Transfer-Encoding: 8bit
+
+ref. https://github.com/loco-3d/ndcurves/pull/58
+---
+ CMakeLists.txt | 4 +-
+ bindings/python/scenario/contact-phase.cpp | 16 ++--
+ bindings/python/scenario/contact-sequence.cpp | 16 ++--
+ examples/display_gepetto_gui.py | 2 +-
+ .../python/scenario/contact-phase.hpp | 32 ++++----
+ .../multicontact-api/geometry/curve-map.hpp | 4 +-
+ .../scenario/contact-phase.hpp | 62 +++++++--------
+ .../scenario/contact-sequence.hpp | 26 +++----
+ unittest/examples.cpp | 16 ++--
+ unittest/python/scenario.py | 2 +-
+ unittest/python/serialization_examples.py | 2 +-
+ unittest/scenario.cpp | 75 ++++++++++---------
+ unittest/serialization_versionning.cpp | 17 ++---
+ 13 files changed, 137 insertions(+), 137 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d687991..1f8ff44 100644
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -36,7 +36,7 @@ SET(CMAKE_CXX_STANDARD 11)
+
+ # Project dependencies
+ ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.0.0")
+-ADD_PROJECT_DEPENDENCY(curves 0.5.1 REQUIRED PKG_CONFIG_REQUIRES "curves >= 0.5.1")
++ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED PKG_CONFIG_REQUIRES "ndcurves >= 0.5.1")
+ IF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
+ MESSAGE(FATAL_ERROR "you need to use a curves version compiled with pinocchio support")
+ ENDIF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
+@@ -59,7 +59,7 @@ INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
+
+ ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
+ TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include>)
+-TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio curves::curves)
++TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio ndcurves::ndcurves)
+
+ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+ INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+diff --git a/bindings/python/scenario/contact-phase.cpp b/bindings/python/scenario/contact-phase.cpp
+index 84edd71..cb5a712 100644
+--- bindings/python/scenario/contact-phase.cpp
++++ bindings/python/scenario/contact-phase.cpp
+@@ -5,14 +5,14 @@
+ #include "multicontact-api/bindings/python/scenario/contact-phase.hpp"
+
+ // required because of the serialization of the curves pointer :
+-#include <curves/fwd.h>
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ namespace multicontact_api {
+ namespace python {
+diff --git a/bindings/python/scenario/contact-sequence.cpp b/bindings/python/scenario/contact-sequence.cpp
+index c046bb6..411636f 100644
+--- bindings/python/scenario/contact-sequence.cpp
++++ bindings/python/scenario/contact-sequence.cpp
+@@ -5,14 +5,14 @@
+ #include "multicontact-api/bindings/python/scenario/contact-sequence.hpp"
+
+ // required because of the serialization of the curves pointer :
+-#include <curves/fwd.h>
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ namespace multicontact_api {
+ namespace python {
+diff --git a/include/multicontact-api/bindings/python/scenario/contact-phase.hpp b/include/multicontact-api/bindings/python/scenario/contact-phase.hpp
+index bf559e8..3004c46 100644
+--- include/multicontact-api/bindings/python/scenario/contact-phase.hpp
++++ include/multicontact-api/bindings/python/scenario/contact-phase.hpp
+@@ -11,7 +11,7 @@
+ #include "multicontact-api/scenario/contact-phase.hpp"
+ #include "multicontact-api/bindings/python/serialization/archive.hpp"
+ #include "multicontact-api/bindings/python/utils/printable.hpp"
+-#include <curves/python/python_definitions.h>
++#include <ndcurves/python/python_definitions.h>
+ #include <boost/python/suite/indexing/map_indexing_suite.hpp>
+ #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+
+@@ -31,10 +31,10 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+ typedef typename ContactPhase::point3_t point3_t;
+ typedef typename ContactPhase::point6_t point6_t;
+ typedef typename ContactPhase::pointX_t pointX_t;
+- typedef curves::t_pointX_t t_pointX_t;
+- typedef curves::t_time_t t_time_t;
+- typedef curves::pointX_list_t pointX_list_t;
+- typedef curves::time_waypoints_t time_waypoints_t;
++ typedef ndcurves::t_pointX_t t_pointX_t;
++ typedef ndcurves::t_time_t t_time_t;
++ typedef ndcurves::pointX_list_t pointX_list_t;
++ typedef ndcurves::time_waypoints_t time_waypoints_t;
+
+ // call macro for all ContactPhase methods that can be overloaded
+ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(isConsistent_overloads, ContactPhase::isConsistent, 0, 1)
+@@ -291,11 +291,11 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+ const pointX_list_t& points_derivative,
+ const pointX_list_t& points_second_derivative,
+ const time_waypoints_t& time_points) {
+- t_pointX_t points_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
+- t_pointX_t points_derivative_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
++ t_pointX_t points_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
++ t_pointX_t points_derivative_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
+ t_pointX_t points_second_derivative_list =
+- curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
+- t_time_t time_points_list = curves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
++ ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
++ t_time_t time_points_list = ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
+ self.setCOMtrajectoryFromPoints(points_list, points_derivative_list, points_second_derivative_list,
+ time_points_list);
+ return;
+@@ -305,11 +305,11 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+ const pointX_list_t& points_derivative,
+ const pointX_list_t& points_second_derivative,
+ const time_waypoints_t& time_points) {
+- t_pointX_t points_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
+- t_pointX_t points_derivative_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
++ t_pointX_t points_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
++ t_pointX_t points_derivative_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
+ t_pointX_t points_second_derivative_list =
+- curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
+- t_time_t time_points_list = curves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
++ ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
++ t_time_t time_points_list = ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
+ self.setJointsTrajectoryFromPoints(points_list, points_derivative_list, points_second_derivative_list,
+ time_points_list);
+ return;
+@@ -317,9 +317,9 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+
+ static void setAMtrajectoryFromPoints(ContactPhase& self, const pointX_list_t& points,
+ const pointX_list_t& points_derivative, const time_waypoints_t& time_points) {
+- t_pointX_t points_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
+- t_pointX_t points_derivative_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
+- t_time_t time_points_list = curves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
++ t_pointX_t points_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
++ t_pointX_t points_derivative_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
++ t_time_t time_points_list = ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
+ self.setAMtrajectoryFromPoints(points_list, points_derivative_list, time_points_list);
+ return;
+ }
+diff --git a/include/multicontact-api/geometry/curve-map.hpp b/include/multicontact-api/geometry/curve-map.hpp
+index 9dcb7e3..f3db303 100644
+--- include/multicontact-api/geometry/curve-map.hpp
++++ include/multicontact-api/geometry/curve-map.hpp
+@@ -4,7 +4,7 @@
+ #ifndef __multicontact_api_geometry_curve_map_hpp__
+ #define __multicontact_api_geometry_curve_map_hpp__
+
+-#include <curves/curve_abc.h>
++#include <ndcurves/curve_abc.h>
+ #include <map>
+ #include <string>
+
+@@ -15,7 +15,7 @@
+ #include <boost/serialization/string.hpp>
+ #include <boost/serialization/map.hpp>
+ #include <boost/serialization/base_object.hpp>
+-#include <curves/serialization/registeration.hpp>
++#include <ndcurves/serialization/registeration.hpp>
+
+ template <typename Curve>
+ struct CurveMap : public std::map<std::string, Curve> {
+diff --git a/include/multicontact-api/scenario/contact-phase.hpp b/include/multicontact-api/scenario/contact-phase.hpp
+index 3a1b4d1..da2bfea 100644
+--- include/multicontact-api/scenario/contact-phase.hpp
++++ include/multicontact-api/scenario/contact-phase.hpp
+@@ -9,9 +9,9 @@
+ #include "multicontact-api/serialization/eigen-matrix.hpp"
+ #include "multicontact-api/serialization/spatial.hpp"
+
+-#include <curves/fwd.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/serialization/curves.hpp>
++#include <ndcurves/fwd.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/serialization/curves.hpp>
+ #include <map>
+ #include <vector>
+ #include <set>
+@@ -31,22 +31,22 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ typedef _Scalar Scalar;
+
+ // Eigen types
+- typedef curves::pointX_t pointX_t;
+- typedef curves::point3_t point3_t;
+- typedef curves::point6_t point6_t;
+- typedef curves::t_point3_t t_point3_t;
+- typedef curves::t_pointX_t t_pointX_t;
+- typedef curves::transform_t transform_t;
++ typedef ndcurves::pointX_t pointX_t;
++ typedef ndcurves::point3_t point3_t;
++ typedef ndcurves::point6_t point6_t;
++ typedef ndcurves::t_point3_t t_point3_t;
++ typedef ndcurves::t_pointX_t t_pointX_t;
++ typedef ndcurves::transform_t transform_t;
+
+ // Curves types
+- typedef curves::curve_abc_t curve_t;
+- // typedef curves::curve_abc<Scalar, Scalar, true, point3_t> curve_3_t;
+- typedef curves::curve_SE3_t curve_SE3_t;
+- typedef curves::curve_ptr_t curve_ptr;
++ typedef ndcurves::curve_abc_t curve_t;
++ // typedef ndcurves::curve_abc<Scalar, Scalar, true, point3_t> curve_3_t;
++ typedef ndcurves::curve_SE3_t curve_SE3_t;
++ typedef ndcurves::curve_ptr_t curve_ptr;
+ // typedef boost::shared_ptr<curve_3_t> curve_3_ptr;
+- typedef curves::curve_SE3_ptr_t curve_SE3_ptr;
+- typedef curves::piecewise3_t piecewise3_t;
+- typedef curves::piecewise_t piecewise_t;
++ typedef ndcurves::curve_SE3_ptr_t curve_SE3_ptr;
++ typedef ndcurves::piecewise3_t piecewise3_t;
++ typedef ndcurves::piecewise_t piecewise_t;
+ typedef piecewise_t::t_time_t t_time_t;
+
+ typedef std::vector<std::string> t_strings;
+@@ -452,7 +452,7 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ void setCOMtrajectoryFromPoints(const t_pointX_t& points, const t_pointX_t& points_derivative,
+ const t_pointX_t& points_second_derivative, const t_time_t& time_points) {
+ /*
+- piecewise_t c_t = piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t c_t = piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, points_second_derivative, time_points);
+ if (c_t.dim() != 3) throw std::invalid_argument("Dimension of the points must be 3.");
+ m_c = curve_ptr(new piecewise_t(c_t));
+@@ -460,10 +460,10 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ m_ddc = curve_ptr(c_t.compute_derivate_ptr(2));
+ */
+ m_c = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points, time_points)));
+ m_dc = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points_derivative, time_points)));
+- m_ddc = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points_derivative, time_points)));
++ m_ddc = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points_second_derivative, time_points)));
+ if (m_c->dim() != 3 || m_dc->dim() != 3 || m_ddc->dim() != 3)
+ throw std::invalid_argument("Dimension of the points must be 3.");
+@@ -489,16 +489,16 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ void setAMtrajectoryFromPoints(const t_pointX_t& points, const t_pointX_t& points_derivative,
+ const t_time_t& time_points) {
+ /*
+- piecewise_t L_t = piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t L_t = piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, time_points);
+ if (L_t.dim() != 3) throw std::invalid_argument("Dimension of the points must be 3.");
+ m_L = curve_ptr(new piecewise_t(L_t));
+ m_dL = curve_ptr(L_t.compute_derivate_ptr(1));
+ */
+ m_L = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points, time_points)));
+ m_dL = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points_derivative, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points_derivative, time_points)));
+ if (m_L->dim() != 3 || m_dL->dim() != 3) throw std::invalid_argument("Dimension of the points must be 3.");
+
+ m_L_init = point3_t(points.front());
+@@ -521,17 +521,17 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ void setJointsTrajectoryFromPoints(const t_pointX_t& points, const t_pointX_t& points_derivative,
+ const t_pointX_t& points_second_derivative, const t_time_t& time_points) {
+ /*
+- piecewise_t q_t = piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t q_t = piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, points_second_derivative, time_points);
+ m_q = curve_ptr(new piecewise_t(q_t));
+ m_dq = curve_ptr(q_t.compute_derivate_ptr(1));
+ m_ddq = curve_ptr(q_t.compute_derivate_ptr(2));
+ */
+ m_q = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points, time_points)));
+ m_dq = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points_derivative, time_points)));
+- m_ddq = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points_derivative, time_points)));
++ m_ddq = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points_second_derivative, time_points)));
+ m_q_init = points.front();
+ m_q_final = points.back();
+@@ -660,13 +660,13 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ template <class Archive>
+ void serialize(Archive& ar, const unsigned int version) {
+ // ar& boost::serialization::make_nvp("placement", m_placement);
+- unsigned int curve_version; // Curves API version related to the archive multicontact-api API version
+- if(version <2){
++ unsigned int curve_version; // Curves API version related to the archive multicontact-api API version
++ if (version < 2) {
+ curve_version = 0;
+- }else{
++ } else {
+ curve_version = 1;
+ }
+- curves::serialization::register_types<Archive>(ar, curve_version);
++ ndcurves::serialization::register_types<Archive>(ar, curve_version);
+ ar& boost::serialization::make_nvp("c_init", m_c_init);
+ ar& boost::serialization::make_nvp("dc_init", m_dc_init);
+ ar& boost::serialization::make_nvp("ddc_init", m_ddc_init);
+diff --git a/include/multicontact-api/scenario/contact-sequence.hpp b/include/multicontact-api/scenario/contact-sequence.hpp
+index 21a5022..690aea0 100644
+--- include/multicontact-api/scenario/contact-sequence.hpp
++++ include/multicontact-api/scenario/contact-sequence.hpp
+@@ -3,11 +3,11 @@
+
+ #include "multicontact-api/scenario/fwd.hpp"
+ #include "multicontact-api/scenario/contact-phase.hpp"
+-#include <curves/fwd.h>
+-#include <curves/curve_abc.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/se3_curve.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/curve_abc.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/se3_curve.h>
+ #include "multicontact-api/serialization/archive.hpp"
+
+ #include <vector>
+@@ -25,16 +25,16 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
+ typedef typename ContactPhase::SE3 SE3;
+ typedef std::vector<ContactPhase> ContactPhaseVector;
+
+- typedef curves::pointX_t pointX_t;
+- typedef curves::transform_t transform_t;
+- typedef curves::curve_abc_t curve_t;
+- typedef curves::curve_SE3_t curve_SE3_t;
++ typedef ndcurves::pointX_t pointX_t;
++ typedef ndcurves::transform_t transform_t;
++ typedef ndcurves::curve_abc_t curve_t;
++ typedef ndcurves::curve_SE3_t curve_SE3_t;
+ typedef boost::shared_ptr<curve_t> curve_ptr;
+ typedef boost::shared_ptr<curve_SE3_t> curve_SE3_ptr;
+- typedef curves::piecewise_t piecewise_t;
+- typedef curves::piecewise_SE3_t piecewise_SE3_t;
+- typedef curves::SE3Curve_t SE3Curve_t;
+- typedef curves::polynomial_t polynomial_t;
++ typedef ndcurves::piecewise_t piecewise_t;
++ typedef ndcurves::piecewise_SE3_t piecewise_SE3_t;
++ typedef ndcurves::SE3Curve_t SE3Curve_t;
++ typedef ndcurves::polynomial_t polynomial_t;
+
+ ContactSequenceTpl(const size_t size = 0) : m_contact_phases(size) {}
+
+diff --git a/unittest/examples.cpp b/unittest/examples.cpp
+index 4db65e2..37698ca 100644
+--- unittest/examples.cpp
++++ unittest/examples.cpp
+@@ -9,14 +9,14 @@
+
+ #include "multicontact-api/scenario/contact-sequence.hpp"
+ #include "multicontact-api/scenario/fwd.hpp"
+-#include "curves/fwd.h"
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ /**
+ * This unit test try to deserialize the ContactSequences in the examples folder
+diff --git a/unittest/python/scenario.py b/unittest/python/scenario.py
+index 32162f1..4b46cd9 100644
+--- unittest/python/scenario.py
++++ unittest/python/scenario.py
+@@ -5,7 +5,7 @@
+ from random import uniform
+
+ import numpy as np
+-from curves import SE3Curve, bezier, piecewise, piecewise_SE3, polynomial
++from ndcurves import SE3Curve, bezier, piecewise, piecewise_SE3, polynomial
+ from numpy import array, array_equal, isclose, random
+
+ import pinocchio as pin
+diff --git a/unittest/python/serialization_examples.py b/unittest/python/serialization_examples.py
+index d0158b2..956f4a4 100644
+--- unittest/python/serialization_examples.py
++++ unittest/python/serialization_examples.py
+@@ -1,7 +1,7 @@
+ import pathlib
+ import unittest
+
+-import curves # noqa: requiered to get C++ type exposition
++import ndcurves # noqa: requiered to get C++ type exposition
+
+ import pinocchio as pin
+ from multicontact_api import ContactSequence
+diff --git a/unittest/scenario.cpp b/unittest/scenario.cpp
+index 6df4481..c5fc643 100644
+--- unittest/scenario.cpp
++++ unittest/scenario.cpp
+@@ -12,25 +12,25 @@
+ #include "multicontact-api/scenario/contact-phase.hpp"
+ #include "multicontact-api/scenario/contact-sequence.hpp"
+
+-#include <curves/fwd.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
+
+ typedef Eigen::Matrix<double, 1, 1> point1_t;
+-using curves::point3_t;
+-using curves::point6_t;
++using ndcurves::point3_t;
++using ndcurves::point6_t;
+ typedef Eigen::Matrix<double, 12, 1> point12_t;
+-using curves::curve_ptr_t;
+-using curves::curve_SE3_ptr_t;
+-using curves::matrix3_t;
+-using curves::piecewise_SE3_t;
+-using curves::piecewise_t;
+-using curves::pointX_t;
+-using curves::quaternion_t;
+-using curves::t_point3_t;
+-using curves::t_pointX_t;
++using ndcurves::curve_ptr_t;
++using ndcurves::curve_SE3_ptr_t;
++using ndcurves::matrix3_t;
++using ndcurves::piecewise_SE3_t;
++using ndcurves::piecewise_t;
++using ndcurves::pointX_t;
++using ndcurves::quaternion_t;
++using ndcurves::t_point3_t;
++using ndcurves::t_pointX_t;
+ using namespace multicontact_api::scenario;
+ typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
+ typedef ContactModel::Matrix3X Matrix3X;
+@@ -76,9 +76,9 @@ curve_ptr_t buildPiecewisePolynomialC2() {
+ time_points.push_back(t2);
+ time_points.push_back(t3);
+
+- curves::piecewise_t ppc_C2 = curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ ndcurves::piecewise_t ppc_C2 = ndcurves::piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, points_second_derivative, time_points);
+- curve_ptr_t res(new curves::piecewise_t(ppc_C2));
++ curve_ptr_t res(new ndcurves::piecewise_t(ppc_C2));
+ return res;
+ }
+
+@@ -99,7 +99,7 @@ curve_ptr_t buildRandomPolynomial(double min = -1, double max = -1) {
+ vec.push_back(b);
+ vec.push_back(c);
+ vec.push_back(d);
+- curve_ptr_t res(new curves::polynomial_t(vec.begin(), vec.end(), min, max));
++ curve_ptr_t res(new ndcurves::polynomial_t(vec.begin(), vec.end(), min, max));
+ return res;
+ }
+
+@@ -123,7 +123,7 @@ curve_SE3_ptr_t buildPiecewiseSE3() {
+ quaternion_t q1(0., 1., 0, 0);
+ pointX_t p0 = point3_t(1., 1.5, -2.);
+ pointX_t p1 = point3_t(3., 0, 1.);
+- curve_SE3_ptr_t cLinear(new curves::SE3Curve_t(p0, p1, q0, q1, min, mid));
++ curve_SE3_ptr_t cLinear(new ndcurves::SE3Curve_t(p0, p1, q0, q1, min, mid));
+ point3_t a(1, 2, 3);
+ point3_t b(2, 3, 4);
+ point3_t c(3, 4, 5);
+@@ -133,12 +133,13 @@ curve_SE3_ptr_t buildPiecewiseSE3() {
+ params.push_back(b);
+ params.push_back(c);
+ params.push_back(d);
+- boost::shared_ptr<curves::bezier_t> translation_bezier(new curves::bezier_t(params.begin(), params.end(), mid, max));
+- curve_SE3_ptr_t cBezier(new curves::SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q1.toRotationMatrix()));
++ boost::shared_ptr<ndcurves::bezier_t> translation_bezier(
++ new ndcurves::bezier_t(params.begin(), params.end(), mid, max));
++ curve_SE3_ptr_t cBezier(new ndcurves::SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q1.toRotationMatrix()));
+
+- curves::piecewise_SE3_t piecewiseSE3(cLinear);
++ ndcurves::piecewise_SE3_t piecewiseSE3(cLinear);
+ piecewiseSE3.add_curve_ptr(cBezier);
+- curve_SE3_ptr_t res = boost::make_shared<curves::piecewise_SE3_t>(piecewiseSE3);
++ curve_SE3_ptr_t res = boost::make_shared<ndcurves::piecewise_SE3_t>(piecewiseSE3);
+ return res;
+ }
+
+@@ -157,7 +158,7 @@ curve_SE3_ptr_t buildRandomSE3LinearTraj(const double min, const double max) {
+ pointX_t p0 = point3_t::Random();
+ pointX_t p1 = point3_t::Random();
+
+- curve_SE3_ptr_t res(new curves::SE3Curve_t(p0, p1, q0, q1, min, max));
++ curve_SE3_ptr_t res(new ndcurves::SE3Curve_t(p0, p1, q0, q1, min, max));
+ return res;
+ }
+
+@@ -599,7 +600,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ pointX_t f1 = point12_t::Random();
+ const double min = 0.5;
+ const double max = 2.;
+- curve_ptr_t force12d(new curves::polynomial_t(f0, f1, min, max));
++ curve_ptr_t force12d(new ndcurves::polynomial_t(f0, f1, min, max));
+ bool newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
+ BOOST_CHECK(newTraj);
+ newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
+@@ -612,7 +613,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ BOOST_CHECK((*cp2.contactForces("left_leg"))(1.2) == (*force12d)(1.2));
+ pointX_t f0_1 = point12_t::Random();
+ pointX_t f1_1 = point12_t::Random();
+- curve_ptr_t force12d_1(new curves::polynomial_t(f0_1, f1_1, min, max));
++ curve_ptr_t force12d_1(new ndcurves::polynomial_t(f0_1, f1_1, min, max));
+ cp2.contactForces().insert(
+ std::pair<std::string, curve_ptr_t>("right_leg", force12d_1)); // should not have any effect only const getter
+ BOOST_CHECK(cp2.contactForces().count("right_leg") == 0);
+@@ -633,7 +634,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ nf0 << 56.3;
+ pointX_t nf1(1);
+ nf1 << 5893.2;
+- curve_ptr_t force1d(new curves::polynomial_t(nf0, nf1, min, max));
++ curve_ptr_t force1d(new ndcurves::polynomial_t(nf0, nf1, min, max));
+ newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
+ BOOST_CHECK(newTraj);
+ newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
+@@ -648,7 +649,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ nf0_1 << 147.2;
+ pointX_t nf1_1(1);
+ nf1_1 << 562;
+- curve_ptr_t force1d_1(new curves::polynomial_t(nf0_1, nf1_1, min, max));
++ curve_ptr_t force1d_1(new ndcurves::polynomial_t(nf0_1, nf1_1, min, max));
+ cp2.contactNormalForces().insert(
+ std::pair<std::string, curve_ptr_t>("right_leg", force1d_1)); // should not have any effect only const getter
+ BOOST_CHECK(cp2.contactNormalForces().count("right_leg") == 0);
+@@ -1798,12 +1799,12 @@ BOOST_AUTO_TEST_CASE(contact_sequence_concatenate_com_traj) {
+ time_points2.push_back(t3);
+ time_points2.push_back(t4);
+
+- curves::piecewise_t c1 =
+- curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points1, time_points1);
+- curve_ptr_t c1_ptr(new curves::piecewise_t(c1));
+- curves::piecewise_t c2 =
+- curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points2, time_points2);
+- curve_ptr_t c2_ptr(new curves::piecewise_t(c2));
++ ndcurves::piecewise_t c1 =
++ ndcurves::piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points1, time_points1);
++ curve_ptr_t c1_ptr(new ndcurves::piecewise_t(c1));
++ ndcurves::piecewise_t c2 =
++ ndcurves::piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points2, time_points2);
++ curve_ptr_t c2_ptr(new ndcurves::piecewise_t(c2));
+ cp0.m_c = c1_ptr;
+ cp1.m_c = c2_ptr;
+ BOOST_CHECK(cp0.m_c->min() == 0.);
+@@ -1837,8 +1838,8 @@ BOOST_AUTO_TEST_CASE(contact_sequence_concatenate_effector_traj) {
+ pointX_t p1 = point3_t::Random();
+ pointX_t p2 = point3_t::Random();
+
+- curve_SE3_ptr_t traj_0(new curves::SE3Curve_t(p0, p1, q0, q1, 0., 2.));
+- curve_SE3_ptr_t traj_2(new curves::SE3Curve_t(p1, p2, q1, q2, 4., 8.));
++ curve_SE3_ptr_t traj_0(new ndcurves::SE3Curve_t(p0, p1, q0, q1, 0., 2.));
++ curve_SE3_ptr_t traj_2(new ndcurves::SE3Curve_t(p1, p2, q1, q2, 4., 8.));
+ cp0.addEffectorTrajectory("right_leg", traj_0);
+ cp2.addEffectorTrajectory("right_leg", traj_2);
+
+diff --git a/unittest/serialization_versionning.cpp b/unittest/serialization_versionning.cpp
+index ef6a935..fc58353 100644
+--- unittest/serialization_versionning.cpp
++++ unittest/serialization_versionning.cpp
+@@ -9,14 +9,14 @@
+
+ #include "multicontact-api/scenario/contact-sequence.hpp"
+ #include "multicontact-api/scenario/fwd.hpp"
+-#include "curves/fwd.h"
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ /**
+ * This unit test try to deserialize the ContactSequences in the examples/previous_versions folder
+@@ -62,5 +62,4 @@ BOOST_AUTO_TEST_CASE(api_1) {
+ BOOST_CHECK(cs.haveContactModelDefined());
+ }
+
+-
+ BOOST_AUTO_TEST_SUITE_END()
diff --git a/multicontact-api/patches/patch-aa b/multicontact-api/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..665cb186a42241b22f630cc7e9234a227214d92a
--- /dev/null
+++ b/multicontact-api/patches/patch-aa
@@ -0,0 +1,31 @@
+From 0c941d6ee950e498e3c7d473e6d1c6b1af0a2668 Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Wed, 17 Mar 2021 12:19:20 +0100
+Subject: [PATCH] [tests] add extension
+
+---
+ unittest/CMakeLists.txt | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
+index c777772..998934b 100644
+--- unittest/CMakeLists.txt
++++ unittest/CMakeLists.txt
+@@ -1,4 +1,4 @@
+-# Copyright (c) 2015-2020, CNRS
++# Copyright (c) 2015-2021, CNRS
+ # Authors: Justin Carpentier <jcarpent@laas.fr>, Guilhem Saurel
+
+ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK)
+@@ -11,7 +11,7 @@ SET(${PROJECT_NAME}_TESTS
+ )
+
+ FOREACH(TEST ${${PROJECT_NAME}_TESTS})
+- ADD_UNIT_TEST(${TEST} ${TEST})
++ ADD_UNIT_TEST(${TEST} ${TEST}.cpp)
+ TARGET_LINK_LIBRARIES(${TEST} ${PROJECT_NAME} ${Boost_LIBRARIES})
+ ENDFOREACH(TEST ${${PROJECT_NAME}_TESTS})
+
+--
+2.17.1
+
diff --git a/py-hpp-bezier-com-traj/Makefile b/py-hpp-bezier-com-traj/Makefile
index a940f463ce803d89103ea325d29e83109004476c..d4d6e7c0f8230622ce199d8ee791c2d77fde8521 100644
--- a/py-hpp-bezier-com-traj/Makefile
+++ b/py-hpp-bezier-com-traj/Makefile
@@ -13,8 +13,8 @@ PYTHON_NOTAG_CONFLICT= yes
include ../../meta-pkgs/hpp/Makefile.common
-include ../../math/curves/depend.mk
-include ../../math/py-curves/depend.mk
+include ../../math/ndcurves/depend.mk
+include ../../math/py-ndcurves/depend.mk
include ../../wip/py-hpp-centroidal-dynamics/depend.mk
diff --git a/py-hpp-bezier-com-traj/distinfo b/py-hpp-bezier-com-traj/distinfo
index 2b966b8a376f249416bf2bc17f1082222234c177..78616c76bab5e75473b3409db87637bbf6bed469 100644
--- a/py-hpp-bezier-com-traj/distinfo
+++ b/py-hpp-bezier-com-traj/distinfo
@@ -1,3 +1,4 @@
SHA1 (hpp-bezier-com-traj-4.10.1.tar.gz) = d39e2e066b4ad42a269822429ac838834b4e00c4
RMD160 (hpp-bezier-com-traj-4.10.1.tar.gz) = d3e5b01ea32d2eee66478b35e0800a02d5d949b4
Size (hpp-bezier-com-traj-4.10.1.tar.gz) = 877562 bytes
+SHA1 (patch-12) = 9af3e593368182c0e82f4e587b0e3d47c3dee7ed
diff --git a/py-hpp-bezier-com-traj/patches/patch-12 b/py-hpp-bezier-com-traj/patches/patch-12
new file mode 100644
index 0000000000000000000000000000000000000000..0ec7c82bd52456591d4b8a6a1c933a1be5bc3b17
--- /dev/null
+++ b/py-hpp-bezier-com-traj/patches/patch-12
@@ -0,0 +1,397 @@
+From 531c52178faa8843e9e2c89a084d98c8ce949cb8 Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Tue, 16 Mar 2021 16:24:52 +0100
+Subject: [PATCH] =?UTF-8?q?curves=20=E2=86=92=20ndcurves?=
+MIME-Version: 1.0
+Content-Type: text/plain; charset=UTF-8
+Content-Transfer-Encoding: 8bit
+
+---
+ CMakeLists.txt | 4 +--
+ README.md | 4 +--
+ .../bezier-com-traj/common_solve_methods.hh | 2 +-
+ include/hpp/bezier-com-traj/data.hh | 2 +-
+ include/hpp/bezier-com-traj/definitions.hh | 8 +++---
+ include/hpp/bezier-com-traj/utils.hh | 15 +++++-----
+ python/test/binding_tests.py | 2 +-
+ src/CMakeLists.txt | 4 +--
+ src/common_solve_methods.cpp | 2 +-
+ src/computeCOMTraj.cpp | 8 +++---
+ src/solve_0_step.cpp | 10 +++----
+ src/utils.cpp | 6 ++--
+ tests/test-bezier-symbolic.cpp | 28 +++++++++----------
+ 13 files changed, 48 insertions(+), 47 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4529abc..693d652 100644
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -34,7 +34,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
+ # Project dependencies
+
+ ADD_PROJECT_DEPENDENCY(hpp-centroidal-dynamics REQUIRED)
+-ADD_PROJECT_DEPENDENCY(curves REQUIRED)
++ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED)
+
+ IF(USE_GLPK)
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
+@@ -85,7 +85,7 @@ endif(USE_GLPK)
+ ADD_LIBRARY(${PROJECT_NAME} SHARED
+ ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+ TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+-TARGET_LINK_LIBRARIES(${PROJECT_NAME} curves::curves hpp-centroidal-dynamics::hpp-centroidal-dynamics)
++TARGET_LINK_LIBRARIES(${PROJECT_NAME} ndcurves::ndcurves hpp-centroidal-dynamics::hpp-centroidal-dynamics)
+
+ if(USE_GLPK)
+ TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
+diff --git a/README.md b/README.md
+index 92cb957..41bfa02 100644
+--- README.md
++++ README.md
+@@ -28,7 +28,7 @@ https://hal.archives-ouvertes.fr/hal-01726155v1
+
+ ## Dependencies
+ * [centroidal-dynamics-lib](https://github.com/stonneau/centroidal-dynamics-lib) Centroidal dynamics computation library
+-* [curves](https://github.com/loco-3d/curves) Bezier curves library
++* [ndcurves](https://github.com/loco-3d/ndcurves) Bezier curves library
+ * [glpk](https://www.gnu.org/software/glpk/) GNU Linear Programming Kit
+
+ ## Additional dependencies for python bindings
+@@ -77,7 +77,7 @@ to python.
+ For the zero step capturability, we will first define a contact phase using the objects from centroidal_dynamics:
+ ```
+ #importing the libraries of interest
+-import curves # noqa - necessary to register curves::bezier_curve
++import ndcurves # noqa - necessary to register ndcurves::bezier_curve
+ import numpy as np
+ from numpy import array
+ from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
+diff --git a/include/hpp/bezier-com-traj/common_solve_methods.hh b/include/hpp/bezier-com-traj/common_solve_methods.hh
+index 6f073e8..4719bae 100644
+--- include/hpp/bezier-com-traj/common_solve_methods.hh
++++ include/hpp/bezier-com-traj/common_solve_methods.hh
+@@ -24,7 +24,7 @@ namespace bezier_com_traj {
+ * @return a vector of waypoint representing the discretization of the curve
+ */
+ BEZIER_COM_TRAJ_DLLAPI std::vector<waypoint6_t> ComputeDiscretizedWaypoints(
+- const std::vector<waypoint6_t>& wps, const std::vector<curves::Bern<double> >& bernstein, int numSteps);
++ const std::vector<waypoint6_t>& wps, const std::vector<ndcurves::Bern<double> >& bernstein, int numSteps);
+
+ /**
+ * @brief compute6dControlPointInequalities Given linear and angular control waypoints,
+diff --git a/include/hpp/bezier-com-traj/data.hh b/include/hpp/bezier-com-traj/data.hh
+index 72f2caf..c32ccda 100644
+--- include/hpp/bezier-com-traj/data.hh
++++ include/hpp/bezier-com-traj/data.hh
+@@ -11,7 +11,7 @@
+ #include <hpp/bezier-com-traj/definitions.hh>
+ #include <hpp/bezier-com-traj/utils.hh>
+ #include <hpp/bezier-com-traj/solver/solver-abstract.hpp>
+-#include <curves/bezier_curve.h>
++#include <ndcurves/bezier_curve.h>
+ #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
+ #include <Eigen/Dense>
+
+diff --git a/include/hpp/bezier-com-traj/definitions.hh b/include/hpp/bezier-com-traj/definitions.hh
+index 37a0bab..9f3c647 100644
+--- include/hpp/bezier-com-traj/definitions.hh
++++ include/hpp/bezier-com-traj/definitions.hh
+@@ -7,7 +7,7 @@
+ #define BEZIER_COM_TRAJ_DEFINITIONS_H
+
+ #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
+-#include <curves/bezier_curve.h>
++#include <ndcurves/bezier_curve.h>
+ #include <Eigen/Dense>
+
+ namespace bezier_com_traj {
+@@ -51,9 +51,9 @@ typedef std::pair<matrix3_t, point3_t> waypoint3_t;
+ typedef std::pair<Matrix39, point3_t> waypoint9_t;
+ struct waypoint_t; // forward declaration
+
+-typedef curves::bezier_curve<double, double, true, point_t> bezier_t;
+-typedef curves::bezier_curve<double, double, true, waypoint_t> bezier_wp_t;
+-typedef curves::bezier_curve<double, double, true, point6_t> bezier6_t;
++typedef ndcurves::bezier_curve<double, double, true, point_t> bezier_t;
++typedef ndcurves::bezier_curve<double, double, true, waypoint_t> bezier_wp_t;
++typedef ndcurves::bezier_curve<double, double, true, point6_t> bezier6_t;
+
+ typedef std::vector<std::pair<double, int> > T_time;
+ typedef T_time::const_iterator CIT_time;
+diff --git a/include/hpp/bezier-com-traj/utils.hh b/include/hpp/bezier-com-traj/utils.hh
+index 94ec423..879322d 100644
+--- include/hpp/bezier-com-traj/utils.hh
++++ include/hpp/bezier-com-traj/utils.hh
+@@ -34,15 +34,16 @@ struct waypoint_t {
+
+ static waypoint_t Zero(size_t dim) { return initwp(dim, dim); }
+
+- size_t size() const{return second.size();}
++ size_t size() const { return second.size(); }
+
+- bool isApprox(const waypoint_t& other, const value_type prec = Eigen::NumTraits<value_type>::dummy_precision()) const{
+- return first.isApprox(other.first,prec) && second.isApprox(other.second,prec);
++ bool isApprox(const waypoint_t& other,
++ const value_type prec = Eigen::NumTraits<value_type>::dummy_precision()) const {
++ return first.isApprox(other.first, prec) && second.isApprox(other.second, prec);
+ }
+
+- bool operator==(const waypoint_t& other) const{ return isApprox(other); }
++ bool operator==(const waypoint_t& other) const { return isApprox(other); }
+
+- bool operator!=(const waypoint_t& other) const{ return !(*this == other); }
++ bool operator!=(const waypoint_t& other) const { return !(*this == other); }
+ };
+
+ /**
+@@ -50,7 +51,7 @@ struct waypoint_t {
+ * @param degree required degree
+ * @return the bernstein polynoms
+ */
+-BEZIER_COM_TRAJ_DLLAPI std::vector<curves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree);
++BEZIER_COM_TRAJ_DLLAPI std::vector<ndcurves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree);
+
+ /**
+ * @brief given the constraints of the problem, and a set of waypoints, return
+@@ -141,7 +142,7 @@ Bezier bezier_com_traj::computeBezierCurve(const ConstraintFlag& flag, const dou
+ i++;
+ }
+ }
+- return Bezier(wps.begin(), wps.end(), 0.,T);
++ return Bezier(wps.begin(), wps.end(), 0., T);
+ }
+
+ #endif
+diff --git a/python/test/binding_tests.py b/python/test/binding_tests.py
+index 44e29eb..f21667a 100644
+--- python/test/binding_tests.py
++++ python/test/binding_tests.py
+@@ -1,4 +1,4 @@
+-import curves # noqa - necessary to register curves::bezier_curve
++import ndcurves # noqa - necessary to register ndcurves::bezier_curve
+ import numpy as np
+ from numpy import array
+ from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index bfb7bf5..a4ffd0e 100644
+--- src/CMakeLists.txt
++++ src/CMakeLists.txt
+@@ -19,11 +19,11 @@ if (USE_GLPK)
+ endif(USE_GLPK)
+
+ ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
++TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ndcurves::ndcurves
++ hpp-centroidal-dynamics::hpp-centroidal-dynamics)
+
+ if (USE_GLPK)
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${glpk_LIBRARY})
+ endif(USE_GLPK)
+-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-centroidal-dynamics)
+-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} curves)
+
+ INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
+diff --git a/src/common_solve_methods.cpp b/src/common_solve_methods.cpp
+index 4ea7f7a..a74de59 100644
+--- src/common_solve_methods.cpp
++++ src/common_solve_methods.cpp
+@@ -6,7 +6,7 @@
+
+ namespace bezier_com_traj {
+ std::vector<waypoint6_t> ComputeDiscretizedWaypoints(const std::vector<waypoint6_t>& wps,
+- const std::vector<curves::Bern<double> >& berns, int numSteps) {
++ const std::vector<ndcurves::Bern<double> >& berns, int numSteps) {
+ double dt = 1. / double(numSteps);
+ std::vector<waypoint6_t> res;
+ for (int i = 0; i < numSteps + 1; ++i) {
+diff --git a/src/computeCOMTraj.cpp b/src/computeCOMTraj.cpp
+index 08fed94..f8619e4 100644
+--- src/computeCOMTraj.cpp
++++ src/computeCOMTraj.cpp
+@@ -25,7 +25,7 @@ bezier_wp_t::t_point_t computeDiscretizedWwaypoints(const ProblemData& pData, do
+ bezier_wp_t::t_point_t wps = computeWwaypoints(pData, T);
+ bezier_wp_t::t_point_t res;
+ const int DIM_VAR = (int)dimVar(pData);
+- std::vector<curves::Bern<double> > berns = ComputeBersteinPolynoms((int)wps.size() - 1);
++ std::vector<ndcurves::Bern<double> > berns = ComputeBersteinPolynoms((int)wps.size() - 1);
+ double t, b;
+ for (CIT_time cit = timeArray.begin(); cit != timeArray.end(); ++cit) {
+ waypoint_t w = initwp(6, DIM_VAR);
+@@ -277,7 +277,7 @@ ResultDataCOMTraj genTraj(ResultData resQp, const ProblemData& pData, const doub
+ res.c_of_t_ = computeBezierCurve<bezier_t, point_t>(pData.constraints_.flag_, T, pis, res.x);
+ computeFinalVelocity(res);
+ computeFinalAcceleration(res);
+- res.dL_of_t_ = bezier_t::zero(3,T);
++ res.dL_of_t_ = bezier_t::zero(3, T);
+ }
+ return res;
+ }
+@@ -354,9 +354,9 @@ std::pair<MatrixXX, VectorX> computeConstraintsContinuous(const ProblemData& pDa
+ // create the curves for c and w with symbolic waypoints (ie. depend on y)
+ bezier_wp_t::t_point_t wps_c = computeConstantWaypointsSymbolic(pData, T);
+ bezier_wp_t::t_point_t wps_w = computeWwaypoints(pData, T);
+- bezier_wp_t c(wps_c.begin(), wps_c.end(),0., T);
++ bezier_wp_t c(wps_c.begin(), wps_c.end(), 0., T);
+ bezier_wp_t ddc = c.compute_derivate(2);
+- bezier_wp_t w(wps_w.begin(), wps_w.end(),0., T);
++ bezier_wp_t w(wps_w.begin(), wps_w.end(), 0., T);
+
+ // for each splitted curves : add the constraints for each waypoints
+ const long int num_ineq = computeNumIneqContinuous(pData, Ts, (int)c.degree_, (int)w.degree_, useDD);
+diff --git a/src/solve_0_step.cpp b/src/solve_0_step.cpp
+index 77a4322..309477f 100644
+--- src/solve_0_step.cpp
++++ src/solve_0_step.cpp
+@@ -121,7 +121,7 @@ std::vector<waypoint6_t> ComputeAllWaypoints(point_t_tC p0, point_t_tC dc0, poin
+ wps.push_back(w3(p0, p1, g, p0X, p1X, gX, alpha));
+ wps.push_back(w4(p0, p1, g, p0X, p1X, gX, alpha));
+ if (numSteps > 0) {
+- std::vector<curves::Bern<double> > berns = ComputeBersteinPolynoms(4);
++ std::vector<ndcurves::Bern<double> > berns = ComputeBersteinPolynoms(4);
+ wps = ComputeDiscretizedWaypoints(wps, berns, numSteps);
+ }
+ return wps;
+@@ -137,7 +137,7 @@ std::vector<waypoint6_t> ComputeAllWaypointsAngularMomentum(point_t_tC l0, const
+ wps.push_back(u3(l0, alpha));
+ wps.push_back(u4(l0, alpha));
+ if (numSteps > 0) {
+- std::vector<curves::Bern<double> > berns = ComputeBersteinPolynoms(4);
++ std::vector<ndcurves::Bern<double> > berns = ComputeBersteinPolynoms(4);
+ wps = ComputeDiscretizedWaypoints(wps, berns, numSteps);
+ }
+ return wps;
+@@ -196,7 +196,7 @@ void computeC_of_T(const ProblemData& pData, const std::vector<double>& Ts, Resu
+ wps.push_back(pData.dc0_ * Ts[0] / 3 + pData.c0_);
+ wps.push_back(res.x.head(3));
+ wps.push_back(res.x.head(3));
+- res.c_of_t_ = bezier_t(wps.begin(), wps.end(),0., Ts[0]);
++ res.c_of_t_ = bezier_t(wps.begin(), wps.end(), 0., Ts[0]);
+ }
+
+ void computedL_of_T(const ProblemData& pData, const std::vector<double>& Ts, ResultDataCOMTraj& res) {
+@@ -205,9 +205,9 @@ void computedL_of_T(const ProblemData& pData, const std::vector<double>& Ts, Res
+ wps.push_back(3 * (res.x.tail(3) - pData.l0_));
+ wps.push_back(3 * (-res.x.tail(3)));
+ wps.push_back(Vector3::Zero());
+- res.dL_of_t_ = bezier_t(wps.begin(), wps.end(),0.,Ts[0], 1. / Ts[0]);
++ res.dL_of_t_ = bezier_t(wps.begin(), wps.end(), 0., Ts[0], 1. / Ts[0]);
+ } else
+- res.dL_of_t_ = bezier_t::zero(3,Ts[0]);
++ res.dL_of_t_ = bezier_t::zero(3, Ts[0]);
+ }
+
+ // no angular momentum for now
+diff --git a/src/utils.cpp b/src/utils.cpp
+index 2034708..ea84d2a 100644
+--- src/utils.cpp
++++ src/utils.cpp
+@@ -64,9 +64,9 @@ Matrix3 skew(point_t_tC x) {
+ return res;
+ }
+
+-std::vector<curves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree) {
+- std::vector<curves::Bern<double> > res;
+- for (unsigned int i = 0; i <= (unsigned int)degree; ++i) res.push_back(curves::Bern<double>(degree, i));
++std::vector<ndcurves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree) {
++ std::vector<ndcurves::Bern<double> > res;
++ for (unsigned int i = 0; i <= (unsigned int)degree; ++i) res.push_back(ndcurves::Bern<double>(degree, i));
+ return res;
+ }
+
+diff --git a/tests/test-bezier-symbolic.cpp b/tests/test-bezier-symbolic.cpp
+index fe1c487..3154d05 100644
+--- tests/test-bezier-symbolic.cpp
++++ tests/test-bezier-symbolic.cpp
+@@ -23,7 +23,7 @@
+ #include <hpp/bezier-com-traj/data.hh>
+ #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
+ #include "test_helper.hh"
+-#include <curves/bezier_curve.h>
++#include <ndcurves/bezier_curve.h>
+
+ using namespace bezier_com_traj;
+ const double T = 1.5;
+@@ -70,8 +70,8 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_c) {
+ point_t y(1, 0.2, 4.5);
+ pts[2] = y;
+
+- bezier_t c(pts.begin(), pts.end(),0., T);
+- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
++ bezier_t c(pts.begin(), pts.end(), 0., T);
++ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
+
+ double t = 0.;
+ while (t < T) {
+@@ -86,9 +86,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_dc) {
+ point_t y(1, 0.2, 4.5);
+ pts[2] = y;
+
+- bezier_t c(pts.begin(), pts.end(),0., T);
++ bezier_t c(pts.begin(), pts.end(), 0., T);
+ bezier_t dc = c.compute_derivate(1);
+- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
++ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
+ bezier_wp_t dc_sym = c_sym.compute_derivate(1);
+
+ double t = 0.;
+@@ -104,9 +104,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_ddc) {
+ point_t y(1, 0.2, 4.5);
+ pts[2] = y;
+
+- bezier_t c(pts.begin(), pts.end(),0., T);
++ bezier_t c(pts.begin(), pts.end(), 0., T);
+ bezier_t ddc = c.compute_derivate(2);
+- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
++ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
+ bezier_wp_t ddc_sym = c_sym.compute_derivate(2);
+
+ double t = 0.;
+@@ -122,9 +122,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_jc) {
+ point_t y(1, 0.2, 4.5);
+ pts[2] = y;
+
+- bezier_t c(pts.begin(), pts.end(),0., T);
++ bezier_t c(pts.begin(), pts.end(), 0., T);
+ bezier_t jc = c.compute_derivate(3);
+- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
++ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
+ bezier_wp_t jc_sym = c_sym.compute_derivate(3);
+
+ double t = 0.;
+@@ -140,8 +140,8 @@ BOOST_AUTO_TEST_CASE(symbolic_split_c) {
+ point_t y(1, 0.2, 4.5);
+ pts[2] = y;
+
+- bezier_t c(pts.begin(), pts.end(),0., T);
+- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
++ bezier_t c(pts.begin(), pts.end(), 0., T);
++ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
+
+ double a, b, t, t1, t2;
+ for (size_t i = 0; i < 100; ++i) {
+@@ -169,7 +169,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_c_bench) {
+ point_t y(1, 0.2, 4.5);
+ pts[2] = y;
+
+- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
++ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
+
+ std::vector<double> values;
+ for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
+@@ -190,7 +190,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_w) {
+ bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
+ point_t y(1, 0.2, 4.5);
+
+- bezier_wp_t w(wps.begin(), wps.end(),0., T);
++ bezier_wp_t w(wps.begin(), wps.end(), 0., T);
+
+ double a, b, t, t1, t2;
+ for (size_t i = 0; i < 100; ++i) {
+@@ -212,7 +212,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_w_bench) {
+ bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
+ point_t y(1, 0.2, 4.5);
+
+- bezier_wp_t w(wps.begin(), wps.end(),0., T);
++ bezier_wp_t w(wps.begin(), wps.end(), 0., T);
+
+ std::vector<double> values;
+ for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
diff --git a/py-hpp-rbprm/Makefile b/py-hpp-rbprm/Makefile
index 95f0b1d7cc27d16d8a13e05c565c01aa692dfc7a..7c5259fdd65ba38dee297c3c7d097835883d9b26 100644
--- a/py-hpp-rbprm/Makefile
+++ b/py-hpp-rbprm/Makefile
@@ -18,8 +18,8 @@ include ../../wip/py-simple-humanoid-rbprm/depend.mk
include ../../wip/py-talos-rbprm/depend.mk
include ../../simulation/hpp-environments/depend.mk
include ../../simulation/py-hpp-environments/depend.mk
-include ../../math/curves/depend.mk
-include ../../math/py-curves/depend.mk
+include ../../math/ndcurves/depend.mk
+include ../../math/py-ndcurves/depend.mk
include ../../path/hpp-core/depend.mk
include ../../path/hpp-util/depend.mk
diff --git a/py-hpp-rbprm/distinfo b/py-hpp-rbprm/distinfo
index 823545ddbdec7e8400e66799f5b47c56b52142fd..b344ead9a13b726aa3726be580ccee42a95e7394 100644
--- a/py-hpp-rbprm/distinfo
+++ b/py-hpp-rbprm/distinfo
@@ -1,3 +1,4 @@
SHA1 (hpp-rbprm-4.10.1.tar.gz) = 776424323331448bcd7a3d41d1a9a78959334037
RMD160 (hpp-rbprm-4.10.1.tar.gz) = 59c934f62b85e121be026f6d7558452e168e1489
Size (hpp-rbprm-4.10.1.tar.gz) = 1269777 bytes
+SHA1 (patch-84) = 0c9994248d9fd6ce110a17936cb1790962fedcf7
diff --git a/py-hpp-rbprm/patches/patch-84 b/py-hpp-rbprm/patches/patch-84
new file mode 100644
index 0000000000000000000000000000000000000000..ce48a30aeea4545373d14857426be2ad261d5d83
--- /dev/null
+++ b/py-hpp-rbprm/patches/patch-84
@@ -0,0 +1,129 @@
+From 3207cbd40dc03460222fcec5953dd0acc37de3ae Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Tue, 16 Mar 2021 16:59:45 +0100
+Subject: [PATCH] =?UTF-8?q?curves=20=E2=86=92=20ndcurves?=
+MIME-Version: 1.0
+Content-Type: text/plain; charset=UTF-8
+Content-Transfer-Encoding: 8bit
+
+ref https://github.com/loco-3d/ndcurves/pull/58
+---
+ CMakeLists.txt | 1 +
+ include/hpp/rbprm/interpolation/polynom-trajectory.hh | 4 ++--
+ include/hpp/rbprm/interpolation/spline/bezier-path.hh | 4 ++--
+ include/hpp/rbprm/interpolation/spline/effector-rrt.hh | 10 +++++-----
+ src/CMakeLists.txt | 2 +-
+ src/interpolation/effector-rrt.cc | 4 ++--
+ 6 files changed, 13 insertions(+), 12 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c213720..f839a66 100644
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -43,6 +43,7 @@ ADD_PROJECT_DEPENDENCY("hyq-rbprm" REQUIRED)
+ ADD_PROJECT_DEPENDENCY("simple-humanoid-rbprm" REQUIRED)
+ ADD_PROJECT_DEPENDENCY("talos-rbprm" REQUIRED)
+ ADD_PROJECT_DEPENDENCY("example-robot-data" REQUIRED)
++ADD_PROJECT_DEPENDENCY("ndcurves" REQUIRED)
+
+ if(OPENMP_FOUND)
+ message("OPENMP FOUND")
+diff --git a/include/hpp/rbprm/interpolation/polynom-trajectory.hh b/include/hpp/rbprm/interpolation/polynom-trajectory.hh
+index d6d95ea..a207fc1 100644
+--- include/hpp/rbprm/interpolation/polynom-trajectory.hh
++++ include/hpp/rbprm/interpolation/polynom-trajectory.hh
+@@ -23,14 +23,14 @@
+ #include <hpp/core/config.hh>
+ #include <hpp/core/path.hh>
+ #include <hpp/rbprm/interpolation/time-dependant.hh>
+-#include <curves/curve_abc.h>
++#include <ndcurves/curve_abc.h>
+
+ namespace hpp {
+ namespace rbprm {
+ namespace interpolation {
+ HPP_PREDEF_CLASS(PolynomTrajectory);
+ typedef boost::shared_ptr<PolynomTrajectory> PolynomTrajectoryPtr_t;
+-typedef curves::curve_abc<core::value_type, core::value_type, true, Eigen::Vector3d> Polynom;
++typedef ndcurves::curve_abc<core::value_type, core::value_type, true, Eigen::Vector3d> Polynom;
+ typedef boost::shared_ptr<Polynom> PolynomPtr_t;
+ /// Linear interpolation between two configurations
+ ///
+diff --git a/include/hpp/rbprm/interpolation/spline/bezier-path.hh b/include/hpp/rbprm/interpolation/spline/bezier-path.hh
+index 87ce090..fe81e33 100644
+--- include/hpp/rbprm/interpolation/spline/bezier-path.hh
++++ include/hpp/rbprm/interpolation/spline/bezier-path.hh
+@@ -19,7 +19,7 @@
+ #ifndef HPP_RBPRM_BEZIER_PATH_HH
+ #define HPP_RBPRM_BEZIER_PATH_HH
+
+-#include <curves/bezier_curve.h>
++#include <ndcurves/bezier_curve.h>
+ #include <hpp/core/path.hh>
+ #include <vector>
+ #include <map>
+@@ -27,7 +27,7 @@
+ namespace hpp {
+ namespace rbprm {
+
+-typedef curves::bezier_curve<double, double, true, Eigen::Vector3d> bezier_t;
++typedef ndcurves::bezier_curve<double, double, true, Eigen::Vector3d> bezier_t;
+ typedef boost::shared_ptr<bezier_t> bezier_Ptr;
+ HPP_PREDEF_CLASS(BezierPath);
+ typedef boost::shared_ptr<BezierPath> BezierPathPtr_t;
+diff --git a/include/hpp/rbprm/interpolation/spline/effector-rrt.hh b/include/hpp/rbprm/interpolation/spline/effector-rrt.hh
+index 0431b56..26ffcf4 100644
+--- include/hpp/rbprm/interpolation/spline/effector-rrt.hh
++++ include/hpp/rbprm/interpolation/spline/effector-rrt.hh
+@@ -32,9 +32,9 @@
+ #include <hpp/core/problem.hh>
+ #include <hpp/core/config-projector.hh>
+ #include <hpp/rbprm/interpolation/spline/bezier-path.hh>
+-#include <curves/exact_cubic.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/curve_constraint.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/curve_constraint.h>
+ #include <vector>
+ #include <map>
+
+@@ -123,8 +123,8 @@ std::vector<core::PathVectorPtr_t> fitBeziersToPath(RbPrmFullBodyPtr_t fullbody,
+ const value_type comPathLength, const PathPtr_t fullBodyComPath,
+ const State& startState, const State& nextState);
+
+-typedef curves::exact_cubic<double, double, true, Eigen::Matrix<value_type, 3, 1> > exact_cubic_t;
+-typedef curves::curve_constraints<Eigen::Matrix<value_type, 3, 1> > curve_constraint_t;
++typedef ndcurves::exact_cubic<double, double, true, Eigen::Matrix<value_type, 3, 1> > exact_cubic_t;
++typedef ndcurves::curve_constraints<Eigen::Matrix<value_type, 3, 1> > curve_constraint_t;
+ typedef boost::shared_ptr<exact_cubic_t> exact_cubic_Ptr;
+
+ struct SetEffectorRRTConstraints {
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 024fb9a..a77739b 100644
+--- src/CMakeLists.txt
++++ src/CMakeLists.txt
+@@ -84,7 +84,7 @@ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-statistics)
+ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-constraints)
+ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-fcl)
+ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-pinocchio)
+-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} curves)
++PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} ndcurves)
+ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
+
+ INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
+diff --git a/src/interpolation/effector-rrt.cc b/src/interpolation/effector-rrt.cc
+index a155e0b..9fd2c55 100644
+--- src/interpolation/effector-rrt.cc
++++ src/interpolation/effector-rrt.cc
+@@ -26,8 +26,8 @@
+ #include <hpp/constraints/generic-transformation.hh>
+ #include <hpp/bezier-com-traj/solve_end_effector.hh>
+ #include <hpp/core/problem-solver.hh>
+-#include <curves/helpers/effector_spline.h>
+-#include <curves/bezier_curve.h>
++#include <ndcurves/helpers/effector_spline.h>
++#include <ndcurves/bezier_curve.h>
+ #include <hpp/pinocchio/joint-collection.hh>
+
+ namespace hpp {
diff --git a/py-multicontact-api/Makefile b/py-multicontact-api/Makefile
index 596cfc4e26ffe701dce874a868bf1ce27cfd21d0..600a5d72e55612971626014d0af250139144a809 100644
--- a/py-multicontact-api/Makefile
+++ b/py-multicontact-api/Makefile
@@ -15,8 +15,8 @@ USE_PYTHON_ONLY+= yes
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../wip/${NAME}/depend.mk
-include ../../math/curves/depend.mk
-include ../../math/py-curves/depend.mk
+include ../../math/ndcurves/depend.mk
+include ../../math/py-ndcurves/depend.mk
include ../../math/py-eigenpy/depend.mk
include ../../math/py-pinocchio/depend.mk
diff --git a/py-multicontact-api/distinfo b/py-multicontact-api/distinfo
index 51a16359e3aa403b0b8360e1139a5fb2f58047a7..3a8c5be8e507fdc446ad62acc05536114429652c 100644
--- a/py-multicontact-api/distinfo
+++ b/py-multicontact-api/distinfo
@@ -1,3 +1,5 @@
SHA1 (multicontact-api-2.1.0.tar.gz) = 7639cefdb28c5eb0f992b6bb604f97a4cf82dec6
RMD160 (multicontact-api-2.1.0.tar.gz) = 6ae2f6c5214a1da4c4680ed80c7b2c27de32b43d
Size (multicontact-api-2.1.0.tar.gz) = 82404503 bytes
+SHA1 (patch-21) = 4948a8981ed94c766bf440371f4bd8074042894d
+SHA1 (patch-aa) = 0eaa23c5ef1e463afe91d8b6302f2dd1ef9caecc
diff --git a/py-multicontact-api/patches/patch-21 b/py-multicontact-api/patches/patch-21
new file mode 100644
index 0000000000000000000000000000000000000000..3d4ad0d3075c2bb21da7819e5cb24a1130fb3183
--- /dev/null
+++ b/py-multicontact-api/patches/patch-21
@@ -0,0 +1,633 @@
+From 017a69a2932c08c5515c4d5f46d9d6a25026c6f3 Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Tue, 16 Mar 2021 17:25:23 +0100
+Subject: [PATCH] =?UTF-8?q?curves=20=E2=86=92=20ndcurves?=
+MIME-Version: 1.0
+Content-Type: text/plain; charset=UTF-8
+Content-Transfer-Encoding: 8bit
+
+ref. https://github.com/loco-3d/ndcurves/pull/58
+---
+ CMakeLists.txt | 4 +-
+ bindings/python/scenario/contact-phase.cpp | 16 ++--
+ bindings/python/scenario/contact-sequence.cpp | 16 ++--
+ examples/display_gepetto_gui.py | 2 +-
+ .../python/scenario/contact-phase.hpp | 32 ++++----
+ .../multicontact-api/geometry/curve-map.hpp | 4 +-
+ .../scenario/contact-phase.hpp | 62 +++++++--------
+ .../scenario/contact-sequence.hpp | 26 +++----
+ unittest/examples.cpp | 16 ++--
+ unittest/python/scenario.py | 2 +-
+ unittest/python/serialization_examples.py | 2 +-
+ unittest/scenario.cpp | 75 ++++++++++---------
+ unittest/serialization_versionning.cpp | 17 ++---
+ 13 files changed, 137 insertions(+), 137 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d687991..1f8ff44 100644
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -36,7 +36,7 @@ SET(CMAKE_CXX_STANDARD 11)
+
+ # Project dependencies
+ ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.0.0")
+-ADD_PROJECT_DEPENDENCY(curves 0.5.1 REQUIRED PKG_CONFIG_REQUIRES "curves >= 0.5.1")
++ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED PKG_CONFIG_REQUIRES "ndcurves >= 0.5.1")
+ IF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
+ MESSAGE(FATAL_ERROR "you need to use a curves version compiled with pinocchio support")
+ ENDIF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
+@@ -59,7 +59,7 @@ INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
+
+ ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
+ TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include>)
+-TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio curves::curves)
++TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio ndcurves::ndcurves)
+
+ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+ INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+diff --git a/bindings/python/scenario/contact-phase.cpp b/bindings/python/scenario/contact-phase.cpp
+index 84edd71..cb5a712 100644
+--- bindings/python/scenario/contact-phase.cpp
++++ bindings/python/scenario/contact-phase.cpp
+@@ -5,14 +5,14 @@
+ #include "multicontact-api/bindings/python/scenario/contact-phase.hpp"
+
+ // required because of the serialization of the curves pointer :
+-#include <curves/fwd.h>
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ namespace multicontact_api {
+ namespace python {
+diff --git a/bindings/python/scenario/contact-sequence.cpp b/bindings/python/scenario/contact-sequence.cpp
+index c046bb6..411636f 100644
+--- bindings/python/scenario/contact-sequence.cpp
++++ bindings/python/scenario/contact-sequence.cpp
+@@ -5,14 +5,14 @@
+ #include "multicontact-api/bindings/python/scenario/contact-sequence.hpp"
+
+ // required because of the serialization of the curves pointer :
+-#include <curves/fwd.h>
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ namespace multicontact_api {
+ namespace python {
+diff --git a/include/multicontact-api/bindings/python/scenario/contact-phase.hpp b/include/multicontact-api/bindings/python/scenario/contact-phase.hpp
+index bf559e8..3004c46 100644
+--- include/multicontact-api/bindings/python/scenario/contact-phase.hpp
++++ include/multicontact-api/bindings/python/scenario/contact-phase.hpp
+@@ -11,7 +11,7 @@
+ #include "multicontact-api/scenario/contact-phase.hpp"
+ #include "multicontact-api/bindings/python/serialization/archive.hpp"
+ #include "multicontact-api/bindings/python/utils/printable.hpp"
+-#include <curves/python/python_definitions.h>
++#include <ndcurves/python/python_definitions.h>
+ #include <boost/python/suite/indexing/map_indexing_suite.hpp>
+ #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+
+@@ -31,10 +31,10 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+ typedef typename ContactPhase::point3_t point3_t;
+ typedef typename ContactPhase::point6_t point6_t;
+ typedef typename ContactPhase::pointX_t pointX_t;
+- typedef curves::t_pointX_t t_pointX_t;
+- typedef curves::t_time_t t_time_t;
+- typedef curves::pointX_list_t pointX_list_t;
+- typedef curves::time_waypoints_t time_waypoints_t;
++ typedef ndcurves::t_pointX_t t_pointX_t;
++ typedef ndcurves::t_time_t t_time_t;
++ typedef ndcurves::pointX_list_t pointX_list_t;
++ typedef ndcurves::time_waypoints_t time_waypoints_t;
+
+ // call macro for all ContactPhase methods that can be overloaded
+ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(isConsistent_overloads, ContactPhase::isConsistent, 0, 1)
+@@ -291,11 +291,11 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+ const pointX_list_t& points_derivative,
+ const pointX_list_t& points_second_derivative,
+ const time_waypoints_t& time_points) {
+- t_pointX_t points_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
+- t_pointX_t points_derivative_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
++ t_pointX_t points_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
++ t_pointX_t points_derivative_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
+ t_pointX_t points_second_derivative_list =
+- curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
+- t_time_t time_points_list = curves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
++ ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
++ t_time_t time_points_list = ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
+ self.setCOMtrajectoryFromPoints(points_list, points_derivative_list, points_second_derivative_list,
+ time_points_list);
+ return;
+@@ -305,11 +305,11 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+ const pointX_list_t& points_derivative,
+ const pointX_list_t& points_second_derivative,
+ const time_waypoints_t& time_points) {
+- t_pointX_t points_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
+- t_pointX_t points_derivative_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
++ t_pointX_t points_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
++ t_pointX_t points_derivative_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
+ t_pointX_t points_second_derivative_list =
+- curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
+- t_time_t time_points_list = curves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
++ ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
++ t_time_t time_points_list = ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
+ self.setJointsTrajectoryFromPoints(points_list, points_derivative_list, points_second_derivative_list,
+ time_points_list);
+ return;
+@@ -317,9 +317,9 @@ struct ContactPhasePythonVisitor : public bp::def_visitor<ContactPhasePythonVisi
+
+ static void setAMtrajectoryFromPoints(ContactPhase& self, const pointX_list_t& points,
+ const pointX_list_t& points_derivative, const time_waypoints_t& time_points) {
+- t_pointX_t points_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
+- t_pointX_t points_derivative_list = curves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
+- t_time_t time_points_list = curves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
++ t_pointX_t points_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
++ t_pointX_t points_derivative_list = ndcurves::vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
++ t_time_t time_points_list = ndcurves::vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
+ self.setAMtrajectoryFromPoints(points_list, points_derivative_list, time_points_list);
+ return;
+ }
+diff --git a/include/multicontact-api/geometry/curve-map.hpp b/include/multicontact-api/geometry/curve-map.hpp
+index 9dcb7e3..f3db303 100644
+--- include/multicontact-api/geometry/curve-map.hpp
++++ include/multicontact-api/geometry/curve-map.hpp
+@@ -4,7 +4,7 @@
+ #ifndef __multicontact_api_geometry_curve_map_hpp__
+ #define __multicontact_api_geometry_curve_map_hpp__
+
+-#include <curves/curve_abc.h>
++#include <ndcurves/curve_abc.h>
+ #include <map>
+ #include <string>
+
+@@ -15,7 +15,7 @@
+ #include <boost/serialization/string.hpp>
+ #include <boost/serialization/map.hpp>
+ #include <boost/serialization/base_object.hpp>
+-#include <curves/serialization/registeration.hpp>
++#include <ndcurves/serialization/registeration.hpp>
+
+ template <typename Curve>
+ struct CurveMap : public std::map<std::string, Curve> {
+diff --git a/include/multicontact-api/scenario/contact-phase.hpp b/include/multicontact-api/scenario/contact-phase.hpp
+index 3a1b4d1..da2bfea 100644
+--- include/multicontact-api/scenario/contact-phase.hpp
++++ include/multicontact-api/scenario/contact-phase.hpp
+@@ -9,9 +9,9 @@
+ #include "multicontact-api/serialization/eigen-matrix.hpp"
+ #include "multicontact-api/serialization/spatial.hpp"
+
+-#include <curves/fwd.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/serialization/curves.hpp>
++#include <ndcurves/fwd.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/serialization/curves.hpp>
+ #include <map>
+ #include <vector>
+ #include <set>
+@@ -31,22 +31,22 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ typedef _Scalar Scalar;
+
+ // Eigen types
+- typedef curves::pointX_t pointX_t;
+- typedef curves::point3_t point3_t;
+- typedef curves::point6_t point6_t;
+- typedef curves::t_point3_t t_point3_t;
+- typedef curves::t_pointX_t t_pointX_t;
+- typedef curves::transform_t transform_t;
++ typedef ndcurves::pointX_t pointX_t;
++ typedef ndcurves::point3_t point3_t;
++ typedef ndcurves::point6_t point6_t;
++ typedef ndcurves::t_point3_t t_point3_t;
++ typedef ndcurves::t_pointX_t t_pointX_t;
++ typedef ndcurves::transform_t transform_t;
+
+ // Curves types
+- typedef curves::curve_abc_t curve_t;
+- // typedef curves::curve_abc<Scalar, Scalar, true, point3_t> curve_3_t;
+- typedef curves::curve_SE3_t curve_SE3_t;
+- typedef curves::curve_ptr_t curve_ptr;
++ typedef ndcurves::curve_abc_t curve_t;
++ // typedef ndcurves::curve_abc<Scalar, Scalar, true, point3_t> curve_3_t;
++ typedef ndcurves::curve_SE3_t curve_SE3_t;
++ typedef ndcurves::curve_ptr_t curve_ptr;
+ // typedef boost::shared_ptr<curve_3_t> curve_3_ptr;
+- typedef curves::curve_SE3_ptr_t curve_SE3_ptr;
+- typedef curves::piecewise3_t piecewise3_t;
+- typedef curves::piecewise_t piecewise_t;
++ typedef ndcurves::curve_SE3_ptr_t curve_SE3_ptr;
++ typedef ndcurves::piecewise3_t piecewise3_t;
++ typedef ndcurves::piecewise_t piecewise_t;
+ typedef piecewise_t::t_time_t t_time_t;
+
+ typedef std::vector<std::string> t_strings;
+@@ -452,7 +452,7 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ void setCOMtrajectoryFromPoints(const t_pointX_t& points, const t_pointX_t& points_derivative,
+ const t_pointX_t& points_second_derivative, const t_time_t& time_points) {
+ /*
+- piecewise_t c_t = piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t c_t = piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, points_second_derivative, time_points);
+ if (c_t.dim() != 3) throw std::invalid_argument("Dimension of the points must be 3.");
+ m_c = curve_ptr(new piecewise_t(c_t));
+@@ -460,10 +460,10 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ m_ddc = curve_ptr(c_t.compute_derivate_ptr(2));
+ */
+ m_c = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points, time_points)));
+ m_dc = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points_derivative, time_points)));
+- m_ddc = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points_derivative, time_points)));
++ m_ddc = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points_second_derivative, time_points)));
+ if (m_c->dim() != 3 || m_dc->dim() != 3 || m_ddc->dim() != 3)
+ throw std::invalid_argument("Dimension of the points must be 3.");
+@@ -489,16 +489,16 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ void setAMtrajectoryFromPoints(const t_pointX_t& points, const t_pointX_t& points_derivative,
+ const t_time_t& time_points) {
+ /*
+- piecewise_t L_t = piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t L_t = piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, time_points);
+ if (L_t.dim() != 3) throw std::invalid_argument("Dimension of the points must be 3.");
+ m_L = curve_ptr(new piecewise_t(L_t));
+ m_dL = curve_ptr(L_t.compute_derivate_ptr(1));
+ */
+ m_L = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points, time_points)));
+ m_dL = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points_derivative, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points_derivative, time_points)));
+ if (m_L->dim() != 3 || m_dL->dim() != 3) throw std::invalid_argument("Dimension of the points must be 3.");
+
+ m_L_init = point3_t(points.front());
+@@ -521,17 +521,17 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ void setJointsTrajectoryFromPoints(const t_pointX_t& points, const t_pointX_t& points_derivative,
+ const t_pointX_t& points_second_derivative, const t_time_t& time_points) {
+ /*
+- piecewise_t q_t = piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t q_t = piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, points_second_derivative, time_points);
+ m_q = curve_ptr(new piecewise_t(q_t));
+ m_dq = curve_ptr(q_t.compute_derivate_ptr(1));
+ m_ddq = curve_ptr(q_t.compute_derivate_ptr(2));
+ */
+ m_q = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points, time_points)));
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points, time_points)));
+ m_dq = curve_ptr(new piecewise_t(
+- piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points_derivative, time_points)));
+- m_ddq = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points_derivative, time_points)));
++ m_ddq = curve_ptr(new piecewise_t(piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points_second_derivative, time_points)));
+ m_q_init = points.front();
+ m_q_final = points.back();
+@@ -660,13 +660,13 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
+ template <class Archive>
+ void serialize(Archive& ar, const unsigned int version) {
+ // ar& boost::serialization::make_nvp("placement", m_placement);
+- unsigned int curve_version; // Curves API version related to the archive multicontact-api API version
+- if(version <2){
++ unsigned int curve_version; // Curves API version related to the archive multicontact-api API version
++ if (version < 2) {
+ curve_version = 0;
+- }else{
++ } else {
+ curve_version = 1;
+ }
+- curves::serialization::register_types<Archive>(ar, curve_version);
++ ndcurves::serialization::register_types<Archive>(ar, curve_version);
+ ar& boost::serialization::make_nvp("c_init", m_c_init);
+ ar& boost::serialization::make_nvp("dc_init", m_dc_init);
+ ar& boost::serialization::make_nvp("ddc_init", m_ddc_init);
+diff --git a/include/multicontact-api/scenario/contact-sequence.hpp b/include/multicontact-api/scenario/contact-sequence.hpp
+index 21a5022..690aea0 100644
+--- include/multicontact-api/scenario/contact-sequence.hpp
++++ include/multicontact-api/scenario/contact-sequence.hpp
+@@ -3,11 +3,11 @@
+
+ #include "multicontact-api/scenario/fwd.hpp"
+ #include "multicontact-api/scenario/contact-phase.hpp"
+-#include <curves/fwd.h>
+-#include <curves/curve_abc.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/se3_curve.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/curve_abc.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/se3_curve.h>
+ #include "multicontact-api/serialization/archive.hpp"
+
+ #include <vector>
+@@ -25,16 +25,16 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
+ typedef typename ContactPhase::SE3 SE3;
+ typedef std::vector<ContactPhase> ContactPhaseVector;
+
+- typedef curves::pointX_t pointX_t;
+- typedef curves::transform_t transform_t;
+- typedef curves::curve_abc_t curve_t;
+- typedef curves::curve_SE3_t curve_SE3_t;
++ typedef ndcurves::pointX_t pointX_t;
++ typedef ndcurves::transform_t transform_t;
++ typedef ndcurves::curve_abc_t curve_t;
++ typedef ndcurves::curve_SE3_t curve_SE3_t;
+ typedef boost::shared_ptr<curve_t> curve_ptr;
+ typedef boost::shared_ptr<curve_SE3_t> curve_SE3_ptr;
+- typedef curves::piecewise_t piecewise_t;
+- typedef curves::piecewise_SE3_t piecewise_SE3_t;
+- typedef curves::SE3Curve_t SE3Curve_t;
+- typedef curves::polynomial_t polynomial_t;
++ typedef ndcurves::piecewise_t piecewise_t;
++ typedef ndcurves::piecewise_SE3_t piecewise_SE3_t;
++ typedef ndcurves::SE3Curve_t SE3Curve_t;
++ typedef ndcurves::polynomial_t polynomial_t;
+
+ ContactSequenceTpl(const size_t size = 0) : m_contact_phases(size) {}
+
+diff --git a/unittest/examples.cpp b/unittest/examples.cpp
+index 4db65e2..37698ca 100644
+--- unittest/examples.cpp
++++ unittest/examples.cpp
+@@ -9,14 +9,14 @@
+
+ #include "multicontact-api/scenario/contact-sequence.hpp"
+ #include "multicontact-api/scenario/fwd.hpp"
+-#include "curves/fwd.h"
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ /**
+ * This unit test try to deserialize the ContactSequences in the examples folder
+diff --git a/unittest/python/scenario.py b/unittest/python/scenario.py
+index 32162f1..4b46cd9 100644
+--- unittest/python/scenario.py
++++ unittest/python/scenario.py
+@@ -5,7 +5,7 @@
+ from random import uniform
+
+ import numpy as np
+-from curves import SE3Curve, bezier, piecewise, piecewise_SE3, polynomial
++from ndcurves import SE3Curve, bezier, piecewise, piecewise_SE3, polynomial
+ from numpy import array, array_equal, isclose, random
+
+ import pinocchio as pin
+diff --git a/unittest/python/serialization_examples.py b/unittest/python/serialization_examples.py
+index d0158b2..956f4a4 100644
+--- unittest/python/serialization_examples.py
++++ unittest/python/serialization_examples.py
+@@ -1,7 +1,7 @@
+ import pathlib
+ import unittest
+
+-import curves # noqa: requiered to get C++ type exposition
++import ndcurves # noqa: requiered to get C++ type exposition
+
+ import pinocchio as pin
+ from multicontact_api import ContactSequence
+diff --git a/unittest/scenario.cpp b/unittest/scenario.cpp
+index 6df4481..c5fc643 100644
+--- unittest/scenario.cpp
++++ unittest/scenario.cpp
+@@ -12,25 +12,25 @@
+ #include "multicontact-api/scenario/contact-phase.hpp"
+ #include "multicontact-api/scenario/contact-sequence.hpp"
+
+-#include <curves/fwd.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
+
+ typedef Eigen::Matrix<double, 1, 1> point1_t;
+-using curves::point3_t;
+-using curves::point6_t;
++using ndcurves::point3_t;
++using ndcurves::point6_t;
+ typedef Eigen::Matrix<double, 12, 1> point12_t;
+-using curves::curve_ptr_t;
+-using curves::curve_SE3_ptr_t;
+-using curves::matrix3_t;
+-using curves::piecewise_SE3_t;
+-using curves::piecewise_t;
+-using curves::pointX_t;
+-using curves::quaternion_t;
+-using curves::t_point3_t;
+-using curves::t_pointX_t;
++using ndcurves::curve_ptr_t;
++using ndcurves::curve_SE3_ptr_t;
++using ndcurves::matrix3_t;
++using ndcurves::piecewise_SE3_t;
++using ndcurves::piecewise_t;
++using ndcurves::pointX_t;
++using ndcurves::quaternion_t;
++using ndcurves::t_point3_t;
++using ndcurves::t_pointX_t;
+ using namespace multicontact_api::scenario;
+ typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
+ typedef ContactModel::Matrix3X Matrix3X;
+@@ -76,9 +76,9 @@ curve_ptr_t buildPiecewisePolynomialC2() {
+ time_points.push_back(t2);
+ time_points.push_back(t3);
+
+- curves::piecewise_t ppc_C2 = curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
++ ndcurves::piecewise_t ppc_C2 = ndcurves::piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(
+ points, points_derivative, points_second_derivative, time_points);
+- curve_ptr_t res(new curves::piecewise_t(ppc_C2));
++ curve_ptr_t res(new ndcurves::piecewise_t(ppc_C2));
+ return res;
+ }
+
+@@ -99,7 +99,7 @@ curve_ptr_t buildRandomPolynomial(double min = -1, double max = -1) {
+ vec.push_back(b);
+ vec.push_back(c);
+ vec.push_back(d);
+- curve_ptr_t res(new curves::polynomial_t(vec.begin(), vec.end(), min, max));
++ curve_ptr_t res(new ndcurves::polynomial_t(vec.begin(), vec.end(), min, max));
+ return res;
+ }
+
+@@ -123,7 +123,7 @@ curve_SE3_ptr_t buildPiecewiseSE3() {
+ quaternion_t q1(0., 1., 0, 0);
+ pointX_t p0 = point3_t(1., 1.5, -2.);
+ pointX_t p1 = point3_t(3., 0, 1.);
+- curve_SE3_ptr_t cLinear(new curves::SE3Curve_t(p0, p1, q0, q1, min, mid));
++ curve_SE3_ptr_t cLinear(new ndcurves::SE3Curve_t(p0, p1, q0, q1, min, mid));
+ point3_t a(1, 2, 3);
+ point3_t b(2, 3, 4);
+ point3_t c(3, 4, 5);
+@@ -133,12 +133,13 @@ curve_SE3_ptr_t buildPiecewiseSE3() {
+ params.push_back(b);
+ params.push_back(c);
+ params.push_back(d);
+- boost::shared_ptr<curves::bezier_t> translation_bezier(new curves::bezier_t(params.begin(), params.end(), mid, max));
+- curve_SE3_ptr_t cBezier(new curves::SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q1.toRotationMatrix()));
++ boost::shared_ptr<ndcurves::bezier_t> translation_bezier(
++ new ndcurves::bezier_t(params.begin(), params.end(), mid, max));
++ curve_SE3_ptr_t cBezier(new ndcurves::SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q1.toRotationMatrix()));
+
+- curves::piecewise_SE3_t piecewiseSE3(cLinear);
++ ndcurves::piecewise_SE3_t piecewiseSE3(cLinear);
+ piecewiseSE3.add_curve_ptr(cBezier);
+- curve_SE3_ptr_t res = boost::make_shared<curves::piecewise_SE3_t>(piecewiseSE3);
++ curve_SE3_ptr_t res = boost::make_shared<ndcurves::piecewise_SE3_t>(piecewiseSE3);
+ return res;
+ }
+
+@@ -157,7 +158,7 @@ curve_SE3_ptr_t buildRandomSE3LinearTraj(const double min, const double max) {
+ pointX_t p0 = point3_t::Random();
+ pointX_t p1 = point3_t::Random();
+
+- curve_SE3_ptr_t res(new curves::SE3Curve_t(p0, p1, q0, q1, min, max));
++ curve_SE3_ptr_t res(new ndcurves::SE3Curve_t(p0, p1, q0, q1, min, max));
+ return res;
+ }
+
+@@ -599,7 +600,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ pointX_t f1 = point12_t::Random();
+ const double min = 0.5;
+ const double max = 2.;
+- curve_ptr_t force12d(new curves::polynomial_t(f0, f1, min, max));
++ curve_ptr_t force12d(new ndcurves::polynomial_t(f0, f1, min, max));
+ bool newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
+ BOOST_CHECK(newTraj);
+ newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
+@@ -612,7 +613,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ BOOST_CHECK((*cp2.contactForces("left_leg"))(1.2) == (*force12d)(1.2));
+ pointX_t f0_1 = point12_t::Random();
+ pointX_t f1_1 = point12_t::Random();
+- curve_ptr_t force12d_1(new curves::polynomial_t(f0_1, f1_1, min, max));
++ curve_ptr_t force12d_1(new ndcurves::polynomial_t(f0_1, f1_1, min, max));
+ cp2.contactForces().insert(
+ std::pair<std::string, curve_ptr_t>("right_leg", force12d_1)); // should not have any effect only const getter
+ BOOST_CHECK(cp2.contactForces().count("right_leg") == 0);
+@@ -633,7 +634,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ nf0 << 56.3;
+ pointX_t nf1(1);
+ nf1 << 5893.2;
+- curve_ptr_t force1d(new curves::polynomial_t(nf0, nf1, min, max));
++ curve_ptr_t force1d(new ndcurves::polynomial_t(nf0, nf1, min, max));
+ newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
+ BOOST_CHECK(newTraj);
+ newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
+@@ -648,7 +649,7 @@ BOOST_AUTO_TEST_CASE(contact_phase) {
+ nf0_1 << 147.2;
+ pointX_t nf1_1(1);
+ nf1_1 << 562;
+- curve_ptr_t force1d_1(new curves::polynomial_t(nf0_1, nf1_1, min, max));
++ curve_ptr_t force1d_1(new ndcurves::polynomial_t(nf0_1, nf1_1, min, max));
+ cp2.contactNormalForces().insert(
+ std::pair<std::string, curve_ptr_t>("right_leg", force1d_1)); // should not have any effect only const getter
+ BOOST_CHECK(cp2.contactNormalForces().count("right_leg") == 0);
+@@ -1798,12 +1799,12 @@ BOOST_AUTO_TEST_CASE(contact_sequence_concatenate_com_traj) {
+ time_points2.push_back(t3);
+ time_points2.push_back(t4);
+
+- curves::piecewise_t c1 =
+- curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points1, time_points1);
+- curve_ptr_t c1_ptr(new curves::piecewise_t(c1));
+- curves::piecewise_t c2 =
+- curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(points2, time_points2);
+- curve_ptr_t c2_ptr(new curves::piecewise_t(c2));
++ ndcurves::piecewise_t c1 =
++ ndcurves::piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points1, time_points1);
++ curve_ptr_t c1_ptr(new ndcurves::piecewise_t(c1));
++ ndcurves::piecewise_t c2 =
++ ndcurves::piecewise_t::convert_discrete_points_to_polynomial<ndcurves::polynomial_t>(points2, time_points2);
++ curve_ptr_t c2_ptr(new ndcurves::piecewise_t(c2));
+ cp0.m_c = c1_ptr;
+ cp1.m_c = c2_ptr;
+ BOOST_CHECK(cp0.m_c->min() == 0.);
+@@ -1837,8 +1838,8 @@ BOOST_AUTO_TEST_CASE(contact_sequence_concatenate_effector_traj) {
+ pointX_t p1 = point3_t::Random();
+ pointX_t p2 = point3_t::Random();
+
+- curve_SE3_ptr_t traj_0(new curves::SE3Curve_t(p0, p1, q0, q1, 0., 2.));
+- curve_SE3_ptr_t traj_2(new curves::SE3Curve_t(p1, p2, q1, q2, 4., 8.));
++ curve_SE3_ptr_t traj_0(new ndcurves::SE3Curve_t(p0, p1, q0, q1, 0., 2.));
++ curve_SE3_ptr_t traj_2(new ndcurves::SE3Curve_t(p1, p2, q1, q2, 4., 8.));
+ cp0.addEffectorTrajectory("right_leg", traj_0);
+ cp2.addEffectorTrajectory("right_leg", traj_2);
+
+diff --git a/unittest/serialization_versionning.cpp b/unittest/serialization_versionning.cpp
+index ef6a935..fc58353 100644
+--- unittest/serialization_versionning.cpp
++++ unittest/serialization_versionning.cpp
+@@ -9,14 +9,14 @@
+
+ #include "multicontact-api/scenario/contact-sequence.hpp"
+ #include "multicontact-api/scenario/fwd.hpp"
+-#include "curves/fwd.h"
+-#include <curves/so3_linear.h>
+-#include <curves/se3_curve.h>
+-#include <curves/polynomial.h>
+-#include <curves/bezier_curve.h>
+-#include <curves/piecewise_curve.h>
+-#include <curves/exact_cubic.h>
+-#include <curves/cubic_hermite_spline.h>
++#include <ndcurves/fwd.h>
++#include <ndcurves/so3_linear.h>
++#include <ndcurves/se3_curve.h>
++#include <ndcurves/polynomial.h>
++#include <ndcurves/bezier_curve.h>
++#include <ndcurves/piecewise_curve.h>
++#include <ndcurves/exact_cubic.h>
++#include <ndcurves/cubic_hermite_spline.h>
+
+ /**
+ * This unit test try to deserialize the ContactSequences in the examples/previous_versions folder
+@@ -62,5 +62,4 @@ BOOST_AUTO_TEST_CASE(api_1) {
+ BOOST_CHECK(cs.haveContactModelDefined());
+ }
+
+-
+ BOOST_AUTO_TEST_SUITE_END()
diff --git a/py-multicontact-api/patches/patch-aa b/py-multicontact-api/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..665cb186a42241b22f630cc7e9234a227214d92a
--- /dev/null
+++ b/py-multicontact-api/patches/patch-aa
@@ -0,0 +1,31 @@
+From 0c941d6ee950e498e3c7d473e6d1c6b1af0a2668 Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Wed, 17 Mar 2021 12:19:20 +0100
+Subject: [PATCH] [tests] add extension
+
+---
+ unittest/CMakeLists.txt | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
+index c777772..998934b 100644
+--- unittest/CMakeLists.txt
++++ unittest/CMakeLists.txt
+@@ -1,4 +1,4 @@
+-# Copyright (c) 2015-2020, CNRS
++# Copyright (c) 2015-2021, CNRS
+ # Authors: Justin Carpentier <jcarpent@laas.fr>, Guilhem Saurel
+
+ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK)
+@@ -11,7 +11,7 @@ SET(${PROJECT_NAME}_TESTS
+ )
+
+ FOREACH(TEST ${${PROJECT_NAME}_TESTS})
+- ADD_UNIT_TEST(${TEST} ${TEST})
++ ADD_UNIT_TEST(${TEST} ${TEST}.cpp)
+ TARGET_LINK_LIBRARIES(${TEST} ${PROJECT_NAME} ${Boost_LIBRARIES})
+ ENDFOREACH(TEST ${${PROJECT_NAME}_TESTS})
+
+--
+2.17.1
+