diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index f0a06c32e44cddf21fa6bc4878537d0acb79ee91..64b02759a3c821b1c83ff9804e7e1efc30c2f7b4 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,38 +1,44 @@
ci:
- autoupdate_branch: 'devel'
+ autoupdate_branch: devel
repos:
-- repo: https://github.com/pre-commit/mirrors-clang-format
- rev: v17.0.3
- hooks:
- - id: clang-format
- args: [--style=Google]
-- repo: https://github.com/pre-commit/pre-commit-hooks
- rev: v4.5.0
- 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: 23.10.0
- hooks:
- - id: black
-- repo: https://github.com/PyCQA/flake8
- rev: 6.1.0
- 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: v0.3.4
+ 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: v0.23.1
+ hooks:
+ - id: toml-sort-fix
+ exclude: poetry.lock
+- repo: https://github.com/pre-commit/mirrors-clang-format
+ rev: v18.1.2
+ hooks:
+ - id: clang-format
+ args:
+ - --style=Google
+- repo: https://github.com/pre-commit/pre-commit-hooks
+ rev: v4.5.0
+ 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
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 640dbb05e9ddf55c21474d7ab7eb24c7ecec4517..b932d7f8a9d7afc9d59a06c98a8d678759601a1c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,7 +23,7 @@
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.10)
set(PROJECT_NAME hpp-manipulation)
set(PROJECT_DESCRIPTION "Classes for manipulation planning.")
@@ -31,9 +31,40 @@ set(PROJECT_DESCRIPTION "Classes for manipulation planning.")
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CXX_DISABLE_WERROR TRUE)
-include(cmake/hpp.cmake)
-include(cmake/boost.cmake)
-include(cmake/test.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")
+include("${JRL_CMAKE_MODULES}/test.cmake")
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
@@ -132,7 +163,8 @@ set(${PROJECT_NAME}_SOURCES
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} hpp-core::hpp-core Boost::regex)
install(
diff --git a/cmake b/cmake
index 9403226002b930d592ca83b50d3cd714a1c2dc01..657b07cb721ecbc383d4e76438eb6ec5c421a332 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 9403226002b930d592ca83b50d3cd714a1c2dc01
+Subproject commit 657b07cb721ecbc383d4e76438eb6ec5c421a332
diff --git a/package.xml b/package.xml
index 2cbb0af67dbe677fbd24004e254a88f625adce12..2037746a27a9afb8cec23d4603425ebba00d1cf3 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
<?xml version='1.0'?>
<package format='2'>
<name>hpp-manipulation</name>
- <version>4.15.1</version>
+ <version>5.0.0</version>
<description>Classes for manipulation planning. </description>
<maintainer email='hpp@laas.fr'>Joseph Mirabel</maintainer>
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000000000000000000000000000000000000..a5333a8b34f59be815cc36db7c829347b3b3578e
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,26 @@
+[build-system]
+build-backend = "cmeel.build"
+requires = [
+ "cmeel-boost ~= 1.83.0",
+ "cmeel[build]",
+ "hpp-core[build]"
+]
+
+[project]
+dependencies = [
+ "cmeel-boost ~= 1.83.0",
+ "hpp-core"
+]
+description = "Classes for manipulation planning."
+license = "BSD-2-Clause"
+name = "hpp-manipulation"
+version = "5.0.0"
+
+[tool.ruff]
+extend-exclude = ["cmake"]
+
+[tool.ruff.lint]
+extend-select = ["I", "NPY", "RUF", "UP", "W"]
+
+[tool.tomlsort]
+all = true
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index b5a727e62649c98f114795a66a8d28bd43a488a0..7842db027c4cac36279aa5082a532fc904a526cd 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -445,8 +445,7 @@ bool WaypointEdge::build(core::PathPtr_t& path, ConfigurationIn_t q1,
hppDout(info, "Waypoint edge "
<< name()
<< ": generateTargetConfig failed at waypoint " << i
- << "."
- << "\nUse cache: " << useCache);
+ << "." << "\nUse cache: " << useCache);
lastSucceeded_ = false;
return false;
}
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index c0d3d8877d12c81ca53e2eb117252f9de19ed3f9..6aa942ebaad792678ac9fe8b783d1d9f89b3d6e0 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -30,3 +30,7 @@ add_definitions(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
add_unit_test(test-constraintgraph test-constraintgraph.cc)
target_link_libraries(test-constraintgraph ${PROJECT_NAME}
Boost::unit_test_framework)
+set_tests_properties(
+ test-constraintgraph
+ PROPERTIES ENVIRONMENT
+ "ROS_PACKAGE_PATH=${example-robot-data_DIR}/../../../share")
diff --git a/tests/test-constraintgraph.cc b/tests/test-constraintgraph.cc
index f79e09cb31fcc7592f6c474de3171d9b1cba2640..ff17c49e6f07dd6385891bf33d15fc58e1934c7a 100644
--- a/tests/test-constraintgraph.cc
+++ b/tests/test-constraintgraph.cc
@@ -80,12 +80,11 @@ void initialize(bool ur5) {
hpp::manipulation::ProblemPtr_t problem(
hpp::manipulation::Problem::create(robot));
if (ur5) {
- hpp::pinocchio::urdf::loadModel(
- robot, 0, "ur5/", "anchor",
- "package://example-robot-data/robots/ur_description/urdf/"
- "ur5_joint_limited_robot.urdf",
- "package://example-robot-data/robots/ur_description/srdf/"
- "ur5_joint_limited_robot.srdf");
+ hpp::pinocchio::urdf::loadModel(robot, 0, "ur5/", "anchor",
+ "package://ur_description/urdf/"
+ "ur5_joint_limited_robot.urdf",
+ "package://ur_description/srdf/"
+ "ur5_joint_limited_robot.srdf");
}
SteeringMethodPtr_t sm(
hpp::manipulation::steeringMethod::Graph::create(problem));