.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

.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

.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:

.pre-commit-config.yaml

 ci:
-    autoupdate_branch: 'devel'
+  autoupdate_branch: devel
 repos:
--   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.6
-    hooks:
-    -   id: clang-format
-        args: [--style=Google]
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: check-added-large-files
-    -   id: check-ast
-    -   id: check-executables-have-shebangs
-    -   id: check-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: 22.12.0
-    hooks:
-    -   id: black
--   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
-    hooks:
-    -   id: flake8
--   repo: https://github.com/cheshirekow/cmake-format-precommit
-    rev: v0.6.13
-    hooks:
-    - id: cmake-format
+- 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

CMakeLists.txt

-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.10)
 
 # Project properties
 set(PROJECT_NAME hpp-bezier-com-traj)
@@ -16,9 +16,39 @@ 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)
+# 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)
@@ -32,12 +62,10 @@ endif(BUILD_PYTHON_INTERFACE)
 # Project dependencies
 
 add_project_dependency(hpp-centroidal-dynamics REQUIRED)
-add_project_dependency(ndcurves 1.0.0 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_project_dependency(glpk REQUIRED FIND_EXTERNAL glpk)
   add_definitions(-DUSE_GLPK_SOLVER=1)
 endif(USE_GLPK)
 
@@ -85,7 +113,8 @@ endif(USE_GLPK)
 
 add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
                                    ${${PROJECT_NAME}_HEADERS})
-target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 target_link_libraries(${PROJECT_NAME} ndcurves::ndcurves
                       hpp-centroidal-dynamics::hpp-centroidal-dynamics)
 

cmake @ 29c0eb4e

-Subproject commit 9403226002b930d592ca83b50d3cd714a1c2dc01
+Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659

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
+}

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
+                ];
+              };
+            });
+          };
+        };
+    };
+}

package.xml

 <?xml version='1.0'?>
 <package format='2'>
     <name>hpp-bezier-com-traj</name>
-    <version>4.15.1</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>

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

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)

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])

setup.cfg

-[flake8]
-exclude = cmake
-max-line-length = 88
-ignore = E226, E704, E24, E121, W504, E126, E123, W503, E203