Compare revisions

b9b911a3 · 4fba7814 · 0f6fafca · f4b44e55 · 1728ad87 · 02fd3b60
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
@@ -3,3 +3,5 @@

 # [Python] allow Python 3 & fix format (Guilhem Saurel, 2019-09-25)
 c9d5314ca82524d5aab0dffd75c40564262495b1
+# pre-commit run -a (Guilhem Saurel, 2022-10-05)
+5bac51b3232c27d606faeaa6746de9a04de149d6
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
+name: "CI - Nix"
+
+on:
+  push:
+
+jobs:
+  tests:
+    name: "Nix build on ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
-include: http://rainboard.laas.fr/project/hpp-bezier-com-traj/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/hpp-bezier-com-traj/.gitlab-ci.yml
--- a/.mergify.yml
+++ b/.mergify.yml
+pull_request_rules:
+  - name: merge automatically when CI passes and PR is approved
+    conditions:
+      - check-success = "gitlab-ci"
+      - check-success = "Nix build on ubuntu"
+      - check-success = "pre-commit.ci - pr"
+      - or:
+        - author = pre-commit-ci[bot]
+        - author = dependabot[bot]
+    actions:
+      merge:
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
 ci:
-    autoupdate_branch: 'devel'
+  autoupdate_branch: devel
 repos:
-   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v13.0.1
-    hooks:
-    -   id: clang-format
-        args: [-i, --style=Google]
-   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.2.0
-    hooks:
-    -   id: check-added-large-files
-    -   id: check-ast
-    -   id: check-executables-have-shebangs
-    -   id: check-json
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-toml
-    -   id: check-yaml
-    -   id: debug-statements
-    -   id: destroyed-symlinks
-    -   id: detect-private-key
-    -   id: end-of-file-fixer
-    -   id: fix-byte-order-marker
-    -   id: mixed-line-ending
-    -   id: trailing-whitespace
-   repo: https://github.com/psf/black
-    rev: 22.3.0
-    hooks:
-    -   id: black
-   repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
-    hooks:
-    -   id: flake8
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.8.1
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+  - id: ruff-format
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.24.2
+  hooks:
+  - id: toml-sort-fix
+    exclude: poetry.lock
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v19.1.4
+  hooks:
+  - id: clang-format
+    args:
+    - --style=Google
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v5.0.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-executables-have-shebangs
+  - id: check-json
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
+  - id: debug-statements
+  - id: destroyed-symlinks
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.10)

 # Project properties
-SET(PROJECT_NAME hpp-bezier-com-traj)
-SET(PROJECT_DESCRIPTION "Multi contact trajectory generation for the COM using Bezier curves")
+set(PROJECT_NAME hpp-bezier-com-traj)
+set(PROJECT_DESCRIPTION
+    "Multi contact trajectory generation for the COM using Bezier curves")

 # Project options
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
-OPTION(USE_GLPK "Use sparse lp solver" OFF)
-OPTION(PRINT_QHULL_INEQ "generate text file containing last inequality computed" OFF)
+option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+option(USE_GLPK "Use sparse lp solver" OFF)
+option(PRINT_QHULL_INEQ
+       "generate text file containing last inequality computed" OFF)

 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
-SET(CXX_DISABLE_WERROR TRUE)
-
-# JRL-cmakemodule setup
-INCLUDE(cmake/hpp.cmake)
-INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/python.cmake)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
+set(CXX_DISABLE_WERROR TRUE)
+
+# Check if the submodule cmake have been initialized
+set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
+if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+else()
+  find_package(jrl-cmakemodules QUIET CONFIG)
+  if(jrl-cmakemodules_FOUND)
+    get_property(
+      JRL_CMAKE_MODULES
+      TARGET jrl-cmakemodules::jrl-cmakemodules
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+    message(
+      FATAL_ERROR
+        "\nCan't find jrl-cmakemodules. Please either:\n"
+        "  - use git submodule: 'git submodule update --init'\n"
+        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
+    )
+  else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+  endif()
+endif()
+
+include("${JRL_CMAKE_MODULES}/hpp.cmake")
+include("${JRL_CMAKE_MODULES}/boost.cmake")

 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})

-IF(BUILD_PYTHON_INTERFACE)
-  FINDPYTHON()
-  FIND_NUMPY()
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-  SEARCH_FOR_BOOST_PYTHON(REQUIRED)
-  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED)
-ENDIF(BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
+  string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  add_project_dependency(eigenpy 2.7.12 REQUIRED)
+endif(BUILD_PYTHON_INTERFACE)

 # Project dependencies

-ADD_PROJECT_DEPENDENCY(hpp-centroidal-dynamics REQUIRED)
-ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED)
+add_project_dependency(hpp-centroidal-dynamics REQUIRED)
+add_project_dependency(ndcurves REQUIRED)

-IF(USE_GLPK)
-  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
-  ADD_PROJECT_DEPENDENCY(glpk REQUIRED)
-  add_definitions ( -DUSE_GLPK_SOLVER=1)
-ENDIF(USE_GLPK)
+if(USE_GLPK)
+  add_project_dependency(glpk REQUIRED FIND_EXTERNAL glpk)
+  add_definitions(-DUSE_GLPK_SOLVER=1)
+endif(USE_GLPK)

 # Main Library
-SET(${PROJECT_NAME}_HEADERS
-  include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
-  include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
-  include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
-  include/${CUSTOM_HEADER_DIR}/data.hh
-  include/${CUSTOM_HEADER_DIR}/definitions.hh
-  include/${CUSTOM_HEADER_DIR}/flags.hh
-  include/${CUSTOM_HEADER_DIR}/local_config.hh
-  include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
-  include/${CUSTOM_HEADER_DIR}/solve.hh
-  include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp  # TODO: use stack-of-task/eiquadprog
-  include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
-  include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
-  include/${CUSTOM_HEADER_DIR}/utils.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
-  include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh
-  )
-
-SET(${PROJECT_NAME}_SOURCES
-  src/common_solve_methods.cpp
-  src/costfunction_definition.cpp
-  src/solver-abstract.cpp
-  src/eiquadprog-fast.cpp
-  src/computeCOMTraj.cpp
-  src/solve_0_step.cpp
-  src/utils.cpp
-  src/waypoints_definition.cpp
-  )
+set(${PROJECT_NAME}_HEADERS
+    include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
+    include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
+    include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
+    include/${CUSTOM_HEADER_DIR}/data.hh
+    include/${CUSTOM_HEADER_DIR}/definitions.hh
+    include/${CUSTOM_HEADER_DIR}/flags.hh
+    include/${CUSTOM_HEADER_DIR}/local_config.hh
+    include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
+    include/${CUSTOM_HEADER_DIR}/solve.hh
+    include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp # TODO: use
+                                                            # stack-of-task/eiquadprog
+    include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
+    include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
+    include/${CUSTOM_HEADER_DIR}/utils.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
+    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh)
+
+set(${PROJECT_NAME}_SOURCES
+    src/common_solve_methods.cpp
+    src/costfunction_definition.cpp
+    src/solver-abstract.cpp
+    src/eiquadprog-fast.cpp
+    src/computeCOMTraj.cpp
+    src/solve_0_step.cpp
+    src/utils.cpp
+    src/waypoints_definition.cpp)

 if(USE_GLPK)
-  SET(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES}
-    src/glpk-wrapper.cpp
-    )
+  set(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES} src/glpk-wrapper.cpp)
 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} ndcurves::ndcurves hpp-centroidal-dynamics::hpp-centroidal-dynamics)
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(${PROJECT_NAME} ndcurves::ndcurves
+                      hpp-centroidal-dynamics::hpp-centroidal-dynamics)

 if(USE_GLPK)
-  TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
-  TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${glpk_LIBRARY})
+  target_include_directories(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
+  target_link_libraries(${PROJECT_NAME} ${glpk_LIBRARY})
 endif(USE_GLPK)

-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)

-ADD_SUBDIRECTORY(tests)
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_SUBDIRECTORY(python)
-ENDIF(BUILD_PYTHON_INTERFACE)
+add_subdirectory(tests)
+if(BUILD_PYTHON_INTERFACE)
+  add_subdirectory(python)
+endif(BUILD_PYTHON_INTERFACE)

-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
--- a/cmake @ 29c0eb4e
+++ b/cmake @ 29c0eb4e
-Subproject commit e77c9c32b1d69b21e447cf64f1ad1590aab61159
+Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659
--- a/flake.lock
+++ b/flake.lock
+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": [
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1719877454,
+        "narHash": "sha256-g5N1yyOSsPNiOlFfkuI/wcUjmtah+nxdImJqrSATjOU=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "4e3583423212f9303aa1a6337f8dffb415920e4f",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1727174734,
+        "narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
+        "owner": "gepetto",
+        "repo": "nixpkgs",
+        "rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-parts": "flake-parts",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
--- a/flake.nix
+++ b/flake.nix
+{
+  description = "Multi contact trajectory generation for the COM using Bezier curves";
+
+  nixConfig = {
+    extra-substituters = [ "https://gepetto.cachix.org" ];
+    extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
+  };
+
+  inputs = {
+    nixpkgs.url = "github:gepetto/nixpkgs";
+    flake-parts = {
+      url = "github:hercules-ci/flake-parts";
+      inputs.nixpkgs-lib.follows = "nixpkgs";
+    };
+  };
+
+  outputs =
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+      systems = [
+        "x86_64-linux"
+        "aarch64-linux"
+        "aarch64-darwin"
+        "x86_64-darwin"
+      ];
+      perSystem =
+        { pkgs, self', ... }:
+        {
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          packages = {
+            default = self'.packages.hpp-bezier-com-traj;
+            hpp-bezier-com-traj = pkgs.hpp-bezier-com-traj.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./include
+                  ./package.xml
+                  ./python
+                  ./src
+                  ./tests
+                ];
+              };
+            });
+          };
+        };
+    };
+}
--- a/include/hpp/bezier-com-traj/solver/eiquadprog-fast.hpp
+++ b/include/hpp/bezier-com-traj/solver/eiquadprog-fast.hpp
@@ -26,12 +26,12 @@
 #define OPTIMIZE_UPDATE_Z
 #define OPTIMIZE_HESSIAN_INVERSE
 #define OPTIMIZE_UNCONSTR_MINIM
-//#define TRACE_SOLVER 1
+// #define TRACE_SOLVER 1

-//#define USE_WARM_START
-//#define PROFILE_EIQUADPROG
+// #define USE_WARM_START
+// #define PROFILE_EIQUADPROG

-//#define DEBUG_STREAM(msg) std::cout<<msg;
+// #define DEBUG_STREAM(msg) std::cout<<msg;
 #define DEBUG_STREAM(msg)

 #ifdef PROFILE_EIQUADPROG

--- a/package.xml
+++ b/package.xml
 <?xml version='1.0'?>
 <package format='2'>
    <name>hpp-bezier-com-traj</name>
-    <version>4.13.0</version>
+    <version>6.0.0</version>
    <description>Multi contact trajectory generation for the COM using Bezier curves</description>

    <maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer>

--- a/pyproject.toml
+++ b/pyproject.toml
-[tool.black]
-exclude = "cmake"
+[build-system]
+build-backend = "cmeel.build"
+requires = [
+  "cmeel-boost[build] ~= 1.83.0",
+  "cmeel-glpk[build]",
+  "cmeel[build]",
+  "hpp-centroidal-dynamics[build]",
+  "ndcurves[build]"
+]
+
+[project]
+dependencies = [
+  "cmeel-boost ~= 1.83.0",
+  "cmeel-glpk",
+  "hpp-centroidal-dynamics",
+  "ndcurves"
+]
+description = "Multi contact trajectory generation for the COM using Bezier curves"
+license = "BSD-2-Clause"
+name = "hpp-bezier-com-traj"
+version = "6.0.0"
+
+[tool.cmeel]
+configure-args = ["-DUSE_GLPK=ON"]
+
+[tool.ruff]
+extend-exclude = ["cmake"]
+
+[tool.ruff.lint]
+extend-select = ["I", "NPY", "RUF", "UP", "W"]
+
+[tool.tomlsort]
+all = true
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
 # Define the wrapper library that wraps our library
-add_library(${PY_NAME} SHARED bezier_com_traj.cpp )
+add_library(${PY_NAME} SHARED bezier_com_traj.cpp)
 target_link_libraries(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy)
 # don't prepend wrapper library name with lib
 set_target_properties(${PY_NAME} PROPERTIES PREFIX "")

-IF(APPLE)
+if(APPLE)
  # We need to change the extension for python bindings
-  SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES SUFFIX ".so")
-ENDIF(APPLE)
+  set_target_properties(${PY_NAME} PROPERTIES SUFFIX ".so")
+endif(APPLE)

-INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
+install(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})

-SET(${PROJECT_NAME}_PYTHON_TESTS
-  binding_tests.py
-  #compare_pin_inv_dyn.py requires pinocchio_inv_dyn
-  )
+set(${PROJECT_NAME}_PYTHON_TESTS
+    binding_tests.py
+    # compare_pin_inv_dyn.py requires pinocchio_inv_dyn
+)

-FOREACH(test ${${PROJECT_NAME}_PYTHON_TESTS})
-  ADD_PYTHON_UNIT_TEST(${test} "python/test/${test}" "python")
-ENDFOREACH(test)
+foreach(test ${${PROJECT_NAME}_PYTHON_TESTS})
+  add_python_unit_test(${test} "python/test/${test}" "python")
+endforeach(test)
--- a/python/test/binding_tests.py
+++ b/python/test/binding_tests.py
 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
 from hpp_bezier_com_traj import (
    SOLVER_QUADPROG,
    ConstraintFlag,
@@ -11,6 +9,8 @@ from hpp_bezier_com_traj import (
    computeCOMTraj,
    zeroStepCapturability,
 )
+from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
+from numpy import array

 # testing constructors
 eq = Equilibrium("test", 54.0, 4)

--- a/python/test/compare_pin_inv_dyn.py
+++ b/python/test/compare_pin_inv_dyn.py
-# -*- coding: utf-8 -*-
 """
 Created on Thu Sep  1 16:54:39 2016

 @author: stonneau
 """

-from __future__ import print_function
-
 from math import atan, pi

 import numpy as np
-from numpy import array, asarray, asmatrix
-from numpy import cross as X
-from numpy import matrix, zeros
-
 from centroidal_dynamics import Equilibrium, EquilibriumAlgorithm
+from curves import bezier
+from numpy import array, asarray, asmatrix, matrix, zeros
+from numpy import cross as X
 from pinocchio_inv_dyn.multi_contact.bezier.bezier_0_step_capturability import (
    BezierZeroStepCapturability,
    compute_CWC,
@@ -24,7 +20,6 @@ from pinocchio_inv_dyn.multi_contact.utils import (
    find_static_equilibrium_com,
    generate_contacts,
 )
-from curves import bezier

 __EPS = 1e-5
 np.set_printoptions(precision=2, suppress=True, linewidth=100)
@@ -116,7 +111,6 @@ def __check_trajectory(p0, p1, p2, p3, T, H, mass, g, time_step=0.1, dL=allZeros


 def test_continuous_cpp_vs_continuous_py(N_CONTACTS=2, solver="qpoases", verb=0):
-
    mu = 0.5
    # friction coefficient
    lx = 0.1
@@ -163,7 +157,8 @@ def test_continuous_cpp_vs_continuous_py(N_CONTACTS=2, solver="qpoases", verb=0)
            mass, [X_LB, Y_LB, Z_LB], [X_UB, Y_UB, Z_UB], H, h
        )

-    dc0 = np.random.uniform(-1, 1, size=3)
+    rng = np.random.default_rng()
+    dc0 = rng.uniform(-1, 1, size=3)

    Z_MIN = np.max(p[:, 2]) - 0.1
    Ineq_kin = zeros([3, 3])

--- a/setup.cfg
+++ b/setup.cfg
-[flake8]
-exclude = cmake
-max-line-length = 88
-ignore = E226, E704, E24, E121, W504, E126, E123, W503, E203
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
-SET(${PROJECT_NAME}_TESTS
-  transition-quasi-static
-  transition
-  bezier-symbolic
-  #zero-step-capturability  # hangs forever ?
-  )
+set(${PROJECT_NAME}_TESTS transition-quasi-static transition bezier-symbolic
+                          # zero-step-capturability  # hangs forever ?
+)

-FOREACH(test ${${PROJECT_NAME}_TESTS})
-  ADD_UNIT_TEST("${test}" "test-${test}.cpp")
-  TARGET_LINK_LIBRARIES(${test} ${PROJECT_NAME})
-ENDFOREACH(test)
+foreach(test ${${PROJECT_NAME}_TESTS})
+  add_unit_test("${test}" "test-${test}.cpp")
+  target_link_libraries(${test} ${PROJECT_NAME})
+endforeach(test)
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