.git-blame-ignore-revs

+# pre-commit run -a (Guilhem Saurel, 2022-07-27)
+ffb995161cba59619cec1b70088eb1dd7c527b37
+
+# format (Guilhem Saurel, 2022-04-04)
+1f1525de5b2ae9daef224cc8b0c4f6e12edccc12
+
+# Format: yapf 0.32 (Guilhem Saurel, 2022-01-28)
+906e28c6bbae602474778823dc2fd934dfd2c479
+
+# format (Guilhem Saurel, 2022-01-07)
+631b1a618da82af020e7b1fb2fe5662d49a32c13
+
+# python tests: format (Guilhem Saurel, 2022-01-07)
+d6a87cf82c953e89e403e2cd1ce057a768697a8c
+
+# [Tests][Python] clean formatting (Pierre Fernbach, 2020-05-04)
+810ba652943b272a3e86eb888e1fec89959fc2a3
+
+# remove StringIO, not available in Python 3 (Guilhem Saurel, 2019-08-06)
+2c88bfbe0b9775f9da51d550c352e493430d3e60

.github/workflows/macos-linux-pip.yml

+name: Build ndcurves for Mac OS X/Linux via pip
+
+on: [push, pull_request]
+
+env:
+    CTEST_OUTPUT_ON_FAILURE: 1
+    CTEST_PARALLEL_LEVEL: 4
+
+jobs:
+  ndcurves-pip:
+    name: "CI on ${{ matrix.os }} / python ${{ matrix.python-version }} with pip"
+    runs-on: "${{ matrix.os }}"
+
+    strategy:
+      matrix:
+        os: ["ubuntu-latest"] # , "macos-latest"]
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "${{ matrix.python-version }}"
+      - run: python -m pip install -U pip
+      - run: python -m pip install pin[build]
+      - run: echo "CMAKE_PREFIX_PATH=$(python -m cmeel cmake)" >> $GITHUB_ENV
+      - run: echo "LD_LIBRARY_PATH=$(python -m cmeel lib)" >> $GITHUB_ENV
+      - run: cmake -B build -S .
+      - run: cmake --build build
+      - run: cmake --build build -t test

.github/workflows/nix.yml

+name: "CI - Nix"
+
+on:
+  push:
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L

.gitignore

 # Build and Release Folders
-bin/
-lib/
+build/
+build-rel/
 
 # temp files
 .*~
+*.user
+*.pyc
+*.ipynb_checkpoints

.gitlab-ci.yml

+include: http://rainboard.laas.fr/project/ndcurves/.gitlab-ci.yml

.gitmodules

+[submodule "cmake"]
+	path = cmake
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git

.mergify.yml

+pull_request_rules:
+  - name: merge automatically when CI passes and PR is approved
+    conditions:
+      - check-success = "CI on ubuntu-latest / python 3.8 with pip"
+      - check-success = "CI on ubuntu-latest / python 3.9 with pip"
+      - check-success = "CI on ubuntu-latest / python 3.10 with pip"
+      - check-success = "CI on ubuntu-latest / python 3.11 with pip"
+      - check-success = "CI on ubuntu-latest / python 3.12 with pip"
+      - check-success = "gitlab-ci"
+      - check-success = "nix (macos)"
+      - check-success = "nix (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
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.8.2
+  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
+    exclude: python/test/sandbox/test.ipynb
+- 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

CHANGELOG.md

+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+## [2.0.0] - 2024-12-05
+
+- :warning: BREAKING: switch from boost smart pointers to std ones
+- setup nix
+- setup mergify
+
+## [1.4.1] - 2024-04-12
+
+- tests: fix use of np.random in tests
+- CMake: enable python bindings by default
+
+## [1.4.0] - 2024-04-12
+
+- Add a SO3 curves which is C2. It's called S03Smooth
+- Add some typedef on using 3D curves.
+- Fix typos around the package
+- Add some tests on polynomials and the new structs.
+- update tooling
+- update packaging
+- add pip CI
+
+## [1.3.1] - 2023-11-29
+
+### Changed
+
+- ⚠️ require CMake 3.10 ⚠️
+
+### Added
+
+- python: define CopyableVisitor, fix SerializableVisitor and use them
+
+### Fixed
+
+- cmake generation on macosx
+- Supporting pinocchio installed with cppad (#108)
+- fix E721
+
+## [1.3.0] - 2023-07-19
+
+- add stubs support
+- fix RPATH for OSX
+
+## [1.2.0] - 2023-05-13
+
+- [python] Enabled support to copy and deepcopy
+- [python] Removed deprecated macros in eigenpy
+- update for eigenpy v3
+- pre-commit update
+- sync submodule
+- CMake: fetch submodule, set default build type, bump standard
+
+## [1.1.6] - 2023-01-24
+
+- don't build python bindings by default, to be more gentle with PAL robotics buildfarm.
+
+## [1.1.5] - 2022-08-29
+
+- fix allocator
+- modernize cmake
+
+## [1.1.4] - 2022-06-29
+
+- remove unary function, deprecated since C++11 and removed in C++17
+
+## [1.1.3] - 2022-05-31
+
+## [1.1.2] - 2022-02-09
+
+- [cmake] Improve Eigen detection/usage
+- fix format
+
+## [1.1.1] - 2022-01-06
+
+- fix virtual functions
+- fix optional dependency to pinocchio
+- primitive now accept initial value\n
+
+## [1.1.0] - 2021-05-03
+
+- make dependency on pinocchio not mandatory
+- fix link to Boost::serialization
+- use eigen matrix serialization from pinocchio >= 2.6.0 if available
+- export -DCURVES_WITH_PINOCCHIO_SUPPORT
+
+
+## [1.0.0] - 2021-03-18
+
+- ⚠️ library renamed from curves to ndcurves ⚠️
+- added arithmetic operations on curves
+
+## [0.5.2] - 2020-09-24
+
+- fix CMake for fedora
+
+## [0.5.1] - 2020-07-27
+
+- fix serialization versioning
+
+## [0.5.0] - 2020-07-25
+
+- Add piecewise::load_from_text_file
+- New curves type required by sot-talos-balance
+- Use Bezier formulation for cubic hermite
+- Check input degree before converting curve to bezier or hermite
+- remove cubic and quintic classes
+
+
+## [0.4.1] - 2020-04-02
+
+Changes since v0.4.0:
+- [CMake] fix pinocchio detection
+- [CMake] export CURVES_WITH_PINOCCHIO_SUPPORT
+
+## [0.4.0] - 2020-03-30
+
+Changes since v0.3.3:
+- [Python] Add pickle support
+- Add serialization/curves header
+
+## [0.3.3] - 2020-03-11
+
+Changes since v0.3.2:
+- CMake Exports
+
+
+## [0.3.2] - 2020-02-13
+
+Changes since v0.3.1:
+- [Python] Fix binding of Piecewise.curve_at_index
+- Replace several critical asserts with exceptions
+- Install the header python_definitions.h in include/python
+- Add python API to retrieve bezier waypoints as 2D array
+- Add C++ and python API to retrieve the translation or rotation curve contained in a SE3 curve
+- Correctly specify the corresponding shared_pointer to all python class
+- Fix SO3 constructors when t_min == t_max
+- Correctly check and raise error when trying to use polynomial constructors from boundary condition when t_min == t_max
+- Reworking of the exposition of the abstract class in Python (fix  https://gepgitlab.laas.fr/loco-3d/curves/issues/32)
+- Correctly register the shared_pointer of the base abstract classes in boost::Python
+
+
+## [0.3.1] - 2020-02-13
+
+Changes since v0.3.0:
+- [CMake] add INSTALL_PYTHON_INTERFACE_ONLY option
+- Update README
+
+## [0.3.0] - 2020-01-10
+
+Changes since v0.2.0:
+- [CMake] update minimal eigenpy version
+- Add operator == and != for all curves
+- Add methods isApprox() and isEquivalent() to all curves
+- Fix optional dependency to pinocchio for python bindings
+- [Python][Tests] remove all unecessary reshape(-1,1) in python
+- Rework the class piecewise_curve to make it generic and remove the need to specify the type of curve used as a template argument, can now mix any kind of curves inside
+- Rework the methods convert_to_X_from_Y to convert_to_X and remove the need to specify the input type as template argument
+- Add compute_derivate_ptr() method to curve_abc and implement it in all child classes
+- Add degree() method to curve_abc and implement it in all child class
+- Factorize the most commonly used typedef with template argument in fwd.h
+- [Python] correctly define eigenpy matrix type for point3 and point6
+- [CMake] fix hardcoded path
+- [CMake] fix install path of optimization files
+- [Tests][Python] use Quaternion.isApprox to test equality instead of ==
+- Add SE3 with pinocchio
+- Add conversion functions from piecewise curve to python bindings
+- Optimization
+- Fix all compiler warnings
+- Export plot
+
+## [0.2.0] - 2019-10-04
+
+- Initial release
+
+[Unreleased]: https://github.com/loco-3d/ndcurves/compare/v2.0.0...HEAD
+[2.0.0]: https://github.com/loco-3d/ndcurves/compare/v1.4.1...v2.0.0
+[1.4.1]: https://github.com/loco-3d/ndcurves/compare/v1.4.0...v1.4.1
+[1.4.0]: https://github.com/loco-3d/ndcurves/compare/v1.3.1...v1.4.0
+[1.3.1]: https://github.com/loco-3d/ndcurves/compare/v1.3.0...v1.3.1
+[1.3.0]: https://github.com/loco-3d/ndcurves/compare/v1.2.0...v1.3.0
+[1.2.0]: https://github.com/loco-3d/ndcurves/compare/v1.1.6...v1.2.0
+[1.1.6]: https://github.com/loco-3d/ndcurves/compare/v1.1.5...v1.1.6
+[1.1.5]: https://github.com/loco-3d/ndcurves/compare/v1.1.4...v1.1.5
+[1.1.4]: https://github.com/loco-3d/ndcurves/compare/v1.1.3...v1.1.4
+[1.1.3]: https://github.com/loco-3d/ndcurves/compare/v1.1.2...v1.1.3
+[1.1.2]: https://github.com/loco-3d/ndcurves/compare/v1.1.1...v1.1.2
+[1.1.1]: https://github.com/loco-3d/ndcurves/compare/v1.1.0...v1.1.1
+[1.1.0]: https://github.com/loco-3d/ndcurves/compare/v1.0.0...v1.1.0
+[1.0.0]: https://github.com/loco-3d/ndcurves/compare/v0.5.2...v1.0.0
+[0.5.2]: https://github.com/loco-3d/ndcurves/compare/v0.5.1...v0.5.2
+[0.5.1]: https://github.com/loco-3d/ndcurves/compare/v0.5.0...v0.5.1
+[0.5.0]: https://github.com/loco-3d/ndcurves/compare/v0.4.1...v0.5.0
+[0.4.1]: https://github.com/loco-3d/ndcurves/compare/v0.4.0...v0.4.1
+[0.4.0]: https://github.com/loco-3d/ndcurves/compare/v0.3.3...v0.4.0
+[0.3.3]: https://github.com/loco-3d/ndcurves/compare/v0.3.2...v0.3.3
+[0.3.2]: https://github.com/loco-3d/ndcurves/compare/v0.3.1...v0.3.2
+[0.3.1]: https://github.com/loco-3d/ndcurves/compare/v0.3.0...v0.3.1
+[0.3.0]: https://github.com/loco-3d/ndcurves/compare/v0.2.0...v0.3.0
+[0.2.0]: https://github.com/loco-3d/ndcurves/releases/tag/v0.2.0

CMakeLists.txt

-cmake_minimum_required(VERSION 2.6)
-project(spline)
+cmake_minimum_required(VERSION 3.10)
 
+# Project properties
+set(PROJECT_ORG loco-3d)
+set(PROJECT_NAME ndcurves)
+set(PROJECT_DESCRIPTION "creatie and manipulate spline and bezier curves.")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
 
-set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/build/")
-set(LIBRARY_OUTPUT_PATH "${PROJECT_SOURCE_DIR}/lib/")
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PROJECT_SOURCE_DIR}/bin/")
+# Project options
+option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+option(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 
-find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
+# Project configuration
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  set(PROJECT_USE_CMAKE_EXPORT TRUE)
+endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+set(CXX_DISABLE_WERROR TRUE)
 
-add_subdirectory (src/spline)
-add_subdirectory (src/tests/spline_test)
+# JRL-cmakemodule setup
+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("${JRL_CMAKE_MODULES}/base.cmake")
+include("${JRL_CMAKE_MODULES}/boost.cmake")
+include(CMakeDependentOption)
+
+cmake_dependent_option(
+  GENERATE_PYTHON_STUBS
+  "Generate the Python stubs associated to the Python library" OFF
+  BUILD_PYTHON_INTERFACE ON)
+
+set_default_cmake_build_type("Release")
+
+# Project definition
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+check_minimal_cxx_standard(14 ENFORCE)
+
+# Project dependencies
+set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/find-external/CppAD/"
+                      ${CMAKE_MODULE_PATH})
+find_package(Eigen3 QUIET NO_CMAKE_PACKAGE_REGISTRY)
+if(Eigen3_FOUND)
+  add_project_dependency(Eigen3 REQUIRED NO_CMAKE_PACKAGE_REGISTRY
+                         PKG_CONFIG_REQUIRES eigen3)
+else(Eigen3_FOUND)
+  add_project_dependency(Eigen3 MODULE REQUIRED PKG_CONFIG_REQUIRES eigen3)
+endif(Eigen3_FOUND)
+find_package(pinocchio QUIET)
+option(CURVES_WITH_PINOCCHIO_SUPPORT "Build with pinocchio support"
+       ${pinocchio_FOUND})
+if(CURVES_WITH_PINOCCHIO_SUPPORT)
+  if(NOT pinocchio_FOUND)
+    message(
+      FATAL_ERROR
+        "CURVES_WITH_PINOCCHIO_SUPPORT selected, but pinocchio has not been found"
+    )
+  endif(NOT pinocchio_FOUND)
+  add_project_dependency(pinocchio REQUIRED PKG_CONFIG_REQUIRES)
+  pkg_config_append_cflags("-DCURVES_WITH_PINOCCHIO_SUPPORT")
+endif(CURVES_WITH_PINOCCHIO_SUPPORT)
+set(PACKAGE_EXTRA_MACROS
+    "SET(CURVES_WITH_PINOCCHIO_SUPPORT ${CURVES_WITH_PINOCCHIO_SUPPORT})")
+
+add_project_dependency(Boost REQUIRED COMPONENTS serialization)
+
+if(BUILD_PYTHON_INTERFACE)
+  add_project_dependency(eigenpy 3.0.0 REQUIRED PKG_CONFIG_REQUIRES
+                         "eigenpy >= 3.0.0")
+endif(BUILD_PYTHON_INTERFACE)
+
+# Main Library
+set(${PROJECT_NAME}_HEADERS
+    include/${PROJECT_NAME}/bernstein.h
+    include/${PROJECT_NAME}/bezier_curve.h
+    include/${PROJECT_NAME}/constant_curve.h
+    include/${PROJECT_NAME}/cross_implementation.h
+    include/${PROJECT_NAME}/cubic_hermite_spline.h
+    include/${PROJECT_NAME}/curve_abc.h
+    include/${PROJECT_NAME}/curve_constraint.h
+    include/${PROJECT_NAME}/curve_conversion.h
+    include/${PROJECT_NAME}/exact_cubic.h
+    include/${PROJECT_NAME}/fwd.h
+    include/${PROJECT_NAME}/helpers/effector_spline.h
+    include/${PROJECT_NAME}/helpers/effector_spline_rotation.h
+    include/${PROJECT_NAME}/linear_variable.h
+    include/${PROJECT_NAME}/MathDefs.h
+    include/${PROJECT_NAME}/optimization/definitions.h
+    include/${PROJECT_NAME}/optimization/details.h
+    include/${PROJECT_NAME}/optimization/integral_cost.h
+    include/${PROJECT_NAME}/optimization/quadratic_problem.h
+    include/${PROJECT_NAME}/piecewise_curve.h
+    include/${PROJECT_NAME}/polynomial.h
+    include/${PROJECT_NAME}/python/python_definitions.h
+    include/${PROJECT_NAME}/quadratic_variable.h
+    include/${PROJECT_NAME}/se3_curve.h
+    include/${PROJECT_NAME}/serialization/archive.hpp
+    include/${PROJECT_NAME}/serialization/curves.hpp
+    include/${PROJECT_NAME}/serialization/eigen-matrix.hpp
+    include/${PROJECT_NAME}/serialization/registeration.hpp
+    include/${PROJECT_NAME}/sinusoidal.h
+    include/${PROJECT_NAME}/so3_linear.h
+    include/${PROJECT_NAME}/so3_smooth.h)
+
+add_library(${PROJECT_NAME} INTERFACE)
+modernize_target_link_libraries(
+  ${PROJECT_NAME}
+  SCOPE
+  INTERFACE
+  TARGETS
+  Eigen3::Eigen
+  INCLUDE_DIRS
+  ${EIGEN3_INCLUDE_DIR})
+target_include_directories(
+  ${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(${PROJECT_NAME} INTERFACE Boost::serialization)
+if(CURVES_WITH_PINOCCHIO_SUPPORT)
+  target_link_libraries(${PROJECT_NAME} INTERFACE pinocchio::pinocchio)
+  target_compile_definitions(${PROJECT_NAME}
+                             INTERFACE -DCURVES_WITH_PINOCCHIO_SUPPORT)
+endif(CURVES_WITH_PINOCCHIO_SUPPORT)
+
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION lib)
+  install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+
+if(BUILD_PYTHON_INTERFACE)
+  add_subdirectory(python)
+endif(BUILD_PYTHON_INTERFACE)
+
+add_subdirectory(tests)

README.md

+# NDCurves
+
+[![Pipeline status](https://gitlab.laas.fr/loco-3d/ndcurves/badges/master/pipeline.svg)](https://gitlab.laas.fr/loco-3d/ndcurves/commits/master)
+[![Coverage report](https://gitlab.laas.fr/loco-3d/ndcurves/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/loco-3d/ndcurves/master/coverage/)
+[![PyPI version](https://badge.fury.io/py/ndcurves.svg)](https://pypi.org/project/ndcurves)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/loco-3d/ndcurves/master.svg)](https://results.pre-commit.ci/latest/github/loco-3d/ndcurves)
+
+
+A template-based Library for creating curves of arbitrary order and dimension, eventually subject to derivative constraints. The main use of the library is the creation of end-effector trajectories for legged robots.
+
+To do so, tools are provided to:
+ - create **exact** splines of arbitrary order (that pass exactly by an arbitrary number waypoints)
+ - constrain initial / end velocities and acceleration for the spline.
+ - constrain take-off and landing phases to follow a straight line along a given normal (to avoid undesired collisions between the effector and the contact surface)
+ - automatically handle 3d rotation of the effector.
+ - create curves in SO3
+ - support partial symbolic differentiation of curves. You can represent control points as linear variables, and integrate / differentiate those variable curves. You can also compute the cross product of two curves, which is relevant for centroidal dynamics.
+
+Several type of formulation are provided:
+ - Polynomials
+ - Bezier
+ - Hermite (only cubic hermite for now)
+
+The library is template-based, thus generic:  the curves can be of any dimension, and can be implemented in double or float and can work with kind variables like Vector, Transform, Matrix, ...
+
+## Installation
+
+### Installation through robotpkg
+
+You can install this package through robotpkg. robotpkg is a package manager tailored for robotics softwares.
+It greatly simplifies the release of new versions along with the management of their dependencies.
+You just need to add the robotpkg apt repository to your sources.list and then use `sudo apt install robotpkg-py3\*-ndcurves`.
+
+If you have never added robotpkg as a softwares repository, please follow first the instructions from 1 to 3; otherwise, go directly to instruction 4.
+Those instructions are similar to the installation procedures presented in [http://robotpkg.openrobots.org/debian.html](http://robotpkg.openrobots.org/debian.html).
+
+1. Add robotpkg as source repository to apt:
+
+```bash
+sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
+deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -sc) robotpkg
+deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
+EOF
+```
+
+2. Register the authentication certificate of robotpkg:
+
+```bash
+curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+```
+
+3. You need to run at least once apt update to fetch the package descriptions:
+
+```bash
+sudo apt-get update
+```
+
+4. The installation of nd-curves:
+
+```bash
+sudo apt install robotpkg-py3\*-ndcurves # for Python 3
+
+sudo apt install robotpkg-py27-ndcurves # for Python 2
+```
+
+Finally you will need to configure your environment variables, e.g.:
+
+```bash
+export PATH=/opt/openrobots/bin:$PATH
+export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
+export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
+export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages:$PYTHONPATH
+```
+
+### Installation from source
+
+#### Dependencies
+* [Eigen (version >= 3.2.2)](http://eigen.tuxfamily.org/index.php?title=Main_Page)
+
+#### Additional dependencies for python bindings
+* [Boost.Python](http://www.boost.org/doc/libs/1_63_0/libs/python/doc/html/index.html)
+* [eigenpy](https://github.com/stack-of-tasks/eigenpy)
+
+To handle this with cmake, use the recursive option to clone the repository.
+For instance, using http:
+```
+git clone --recursive https://github.com/loco-3d/ndcurves $NDCURVES_DIR
+```
+Where $NDCURVES_DIR is to be replaced to your selected source folder.
+The library is header only, so the build only serves to build the tests and python bindings:
+
+```sh
+cd $NDCURVES_DIR && mkdir build && cd build
+cmake -DBUILD_PYTHON_INTERFACE=ON .. && make && make test
+```
+
+Switch the BUILD_PYTHON argument to OFF if you don't want to use the python bindings of the package.
+
+If everything went fine you should obtain the following output:
+```sh
+100% tests passed, 0 tests failed out of 3
+```
+#### Optional: Python bindings installation
+To install the Python bindings first enable the `BUILD_PYTHON_INTERFACE` option:
+```
+cmake -DBUILD_PYTHON_INTERFACE=ON ..
+```
+
+Then rebuild the library:
+```
+cd ${NDCURVES_DIR}/build
+make && make test
+```
+To see example of use, you can refer to the [test file](https://github.com/loco-3d/ndcurves/blob/master/python/test/test.py)
+which is rather self explanatory:
+
+In spite of an exhaustive documentation, please refer to the C++ documentation, which mostly applies to python.
+
+## Documentation and tutorial
+
+For the C++ / Python detailed documentation, you can consult [this pdf](https://github.com/loco-3d/ndcurves/blob/devel/doc/curves.pdf) available in the doc folder
+
+For a python tutorial, you can refer to the [jupyter notebook](https://github.com/loco-3d/ndcurves/blob/master/python/test/sandbox/test.ipynb).
+The [test file](https://github.com/loco-3d/ndcurves/blob/master/python/test/test.py) is more exhaustive and rather self explanatory.
+
+## Citation
+
+If you wish to cite this work please use the bibtex below:
+
+```bib
+@software{ndcurves,
+  author = {Tonneau, Steve and Chemin, Jason and Fernbach, Pierre and Saurel, Guilhem},
+  title = {ndcurves},
+  url = {https://github.com/loco-3d/ndcurves},
+  year = {2013}
+}
+```

build/.gitignore

-# cmake folders and files
-src/
-CMakeFiles/
-cmake_install.cmake
-Makefile
-CMakeCache.txt

build/FindEigen3.cmake

-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  EIGEN3_FOUND - system has eigen lib with correct version
-#  EIGEN3_INCLUDE_DIR - the eigen include directory
-#  EIGEN3_VERSION - eigen version
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
-  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
-  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen3_FIND_VERSION_MINOR)
-  if(NOT Eigen3_FIND_VERSION_PATCH)
-    set(Eigen3_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen3_FIND_VERSION_PATCH)
-
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
-  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK FALSE)
-  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK TRUE)
-  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
-  if(NOT EIGEN3_VERSION_OK)
-
-    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
-                   "but at least version ${Eigen3_FIND_VERSION} is required")
-  endif(NOT EIGEN3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN3_INCLUDE_DIR)
-
-  # in cache already
-  _eigen3_check_version()
-  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
-
-else (EIGEN3_INCLUDE_DIR)
-
-  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(EIGEN3_INCLUDE_DIR)
-    _eigen3_check_version()
-  endif(EIGEN3_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
-
-  mark_as_advanced(EIGEN3_INCLUDE_DIR)
-
-endif(EIGEN3_INCLUDE_DIR)

cmake @ 29c0eb4e

+Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659

flake.lock

+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": "nixpkgs-lib"
+      },
+      "locked": {
+        "lastModified": 1733312601,
+        "narHash": "sha256-4pDvzqnegAfRkPwO3wmwBhVi/Sye1mzps0zHWYnP88c=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "205b12d8b7cd4802fbcb8e8ef6a0f1408781a4f9",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1733380312,
+        "narHash": "sha256-ywntxT10Om755wkB9tYgJwEwELQZKYAO5WcNuHv1vjI=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "a772498086eac57d97065a980a21fc0f304e3192",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs-lib": {
+      "locked": {
+        "lastModified": 1733096140,
+        "narHash": "sha256-1qRH7uAUsyQI7R1Uwl4T+XvdNv778H0Nb5njNrqvylY=",
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/5487e69da40cbd611ab2cadee0b4637225f7cfae.tar.gz"
+      },
+      "original": {
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/5487e69da40cbd611ab2cadee0b4637225f7cfae.tar.gz"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-parts": "flake-parts",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}

flake.nix

+{
+  description = "Library for creating smooth cubic splines";
+
+  inputs = {
+    flake-parts.url = "github:hercules-ci/flake-parts";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+  };
+
+  outputs =
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+      systems = inputs.nixpkgs.lib.systems.flakeExposed;
+      perSystem =
+        { pkgs, self', ... }:
+        {
+          apps.default = {
+            type = "app";
+            program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+          };
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          packages = {
+            default = self'.packages.ndcurves;
+            ndcurves = pkgs.python3Packages.ndcurves.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./doc
+                  ./include
+                  ./package.xml
+                  ./python
+                  ./tests
+                ];
+              };
+            });
+          };
+        };
+    };
+}

include/ndcurves/MathDefs.h

+/**
+ * \file Math.h
+ * \brief Linear algebra and other maths definitions. Based on Eigen 3 or more
+ * \author Steve T.
+ * \version 0.1
+ * \date 06/17/2013
+ *
+ * This file contains math definitions used
+ * used throughout the library.
+ * Preprocessors definition are used to use eitheir float
+ * or double values, and 3 dimensional vectors for
+ * the Point structure.
+ */
+
+#ifndef _SPLINEMATH
+#define _SPLINEMATH
+
+#include <Eigen/Dense>
+#include <Eigen/SVD>
+#include <utility>
+#include <vector>
+namespace ndcurves {
+///  \brief An inverse kinematics architecture enforcing an arbitrary number of
+///  strict priority levels (Reference : Boulic et Al. 2003)
+template <typename _Matrix_Type_>
+void PseudoInverse(_Matrix_Type_& pinvmat) {
+  Eigen::JacobiSVD<_Matrix_Type_> svd(
+      pinvmat, Eigen::ComputeFullU | Eigen::ComputeFullV);
+  _Matrix_Type_ m_sigma = svd.singularValues();
+  double pinvtoler = 1.e-6;  // choose your tolerance widely!
+  _Matrix_Type_ m_sigma_inv =
+      _Matrix_Type_::Zero(pinvmat.cols(), pinvmat.rows());
+  for (long i = 0; i < m_sigma.rows(); ++i) {
+    if (m_sigma(i) > pinvtoler) {
+      m_sigma_inv(i, i) = 1.0 / m_sigma(i);
+    }
+  }
+  pinvmat = (svd.matrixV() * m_sigma_inv * svd.matrixU().transpose());
+}
+
+template <typename Matrix3, typename Point>
+Matrix3 skew(const Point& x) {
+  Matrix3 res = Matrix3::Zero(3, 3);
+  res(0, 1) = -x(2);
+  res(0, 2) = x(1);
+  res(1, 0) = x(2);
+  res(1, 2) = -x(0);
+  res(2, 0) = -x(1);
+  res(2, 1) = x(0);
+  return res;
+}
+
+static const double MARGIN(0.001);
+
+}  // namespace ndcurves
+#endif  //_SPLINEMATH