.git-blame-ignore-revs

+# black
+b2be1d0b5a2ef7a5de758bca053161fb652aba56
+
+# pre-commit run --all-files
+477b39d52e20d2c7138e468e01aa2359c275b851
+
+# pre-commit run -a (Guilhem Saurel, 2022-09-05)
+1d932e2d389a6205e6d3a7490b5c826fe01fea47
+
+# ruff (Guilhem Saurel, 2024-08-26)
+1ae998e5aef7dacc13bad7aa457575a513d78864
+
+# pre-commit run -a (Guilhem Saurel, 2024-08-26)
+e928496128b53fb15b1aad3b04fedd844ee86500

.github/workflows/ci-linux-osx-conda.yml

+name: CI - Linux/OSX - Conda
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build-with-conda:
+    name: '[conda:${{ matrix.os }}:${{ matrix.build_type }}]'
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [Release, Debug]
+        os: [ubuntu-latest, macos-latest]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+        channels: conda-forge
+        python-version: "3.10"
+        activate-environment: tsid
+
+    - name: Install dependencies [Conda]
+      shell: bash -l {0}
+      run: |
+        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
+        conda config --remove channels defaults
+        # Compilation related dependencies
+        mamba install cmake compilers make pkg-config doxygen ninja graphviz
+        # Main dependencies
+        mamba install tsid --only-deps
+        mamba install proxsuite osqp-eigen
+
+    - name: Activate ccache [Conda]
+      uses: hendrikmuhs/ccache-action@v1.2
+      with:
+        key: ${{ matrix.os }}-${{ matrix.type }}
+        max-size: 1G
+
+    - name: Print environment [Conda]
+      shell: bash -l {0}
+      run: |
+        conda info
+        mamba list
+        env
+
+    - name: Configure [Conda]
+      shell: bash -l {0}
+      run: |
+        echo $(whereis ccache)
+        echo $(which ccache)
+        git submodule update --init
+        mkdir build
+        cd build
+        cmake .. -GNinja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_PYTHON_INTERFACE:BOOL=ON -DPYTHON_EXECUTABLE=$(which python3) -DINSTALL_DOCUMENTATION:BOOL=ON -DBUILD_WITH_PROXQP:BOOL=ON -DBUILD_WITH_OSQP:BOOL=ON
+
+    - name: Build [Conda]
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} -v
+
+    - name: Build documentation [Conda]
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --target doc
+
+    - name: Install [Conda]
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test [Conda]
+      shell: bash -l {0}
+      run: |
+        find $CONDA_PREFIX -name tsid*
+        python -c "import tsid"
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}
+
+    - name: Uninstall [Conda]
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --target uninstall
+
+    - name: Display ccache statistics [Conda]
+      shell: bash -l {0}
+      run: |
+        echo $(ccache -s)

.github/workflows/ci-linux-ros.yml

+name: CI - Linux - ROS
+on: [push, pull_request]
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          #- {ROS_DISTRO: rolling} Unable to locate package ros-rolling-pinocchio
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
+    env:
+      CCACHE_DIR: /github/home/.ccache # Enable ccache
+      UPSTREAM_WORKSPACE: dependencies.rosinstall
+      CMAKE_ARGS: -DBUILD_WITH_OSQP=ON -DBUILD_WITH_PROXQP=ON -DBUILD_WITH_VECTORIZATION_SUPPORT=OFF  # Simde is not available yet
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      # eiquadprog is not yet available in ROS2
+      - run: sed -i "/eiquadprog/d" package.xml
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b'
+        env: ${{ matrix.env }}

.gitignore

+*~
+*.pyc
 Xcode/
+.vscode/
 build*/
+_build*/
+.vscode

.gitlab-ci.yml

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

.gitmodules

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

.pre-commit-config.yaml

+ci:
+  autoupdate_branch: devel
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.6.2
+  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: v0.23.1
+  hooks:
+  - id: toml-sort-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v18.1.8
+  hooks:
+  - id: clang-format
+    args:
+    - '--style={BasedOnStyle: Google, SortIncludes: false, WhitespaceSensitiveMacros: ["TSID_DISABLE_WARNING"]}'
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.6.0
+  hooks:
+  - id: check-json
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml

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]
+
+## [1.7.1] - 2024-08-26
+
+- Fix a typo in ex_4_walking
+- check solver status, set eps_abs to 1e-6, fix seed
+- CMake: require >= 3.10
+- add changelog
+- setup ruff & fix isort pre-commit config
+- update ROS CI
+
+## [1.7.0] - 2023-05-13
+
+- expose SE3ToVector and vectorToSE3
+- remove warnings
+- Enhance Python target packaging
+- Add CI with GitHub Action for conda
+- Add support for proxqp and osqp solver
+- Clean and update contributors list
+- pre-commit autoupdate
+- Expose TaskJointPosVelAccBounds
+- Expose AddMotionTask for TaskJointPosVelAccBounds
+- Fix qpmad
+- Add clang-format Google style
+- Add Measured force as an external force task with moving objects
+- update CMake: fetch submodule, set default build type, fix RPATH
+- fix for eigenpy v3
+- np.matrix → np.array
+- tooling: setup black isort & toml-sort
+
+## [1.6.3] - 2022-11-02
+
+- Require C++17
+- fix tests in 18.04
+- update pinocchio use
+
+## [1.6.2] - 2022-09-05
+
+- update python tests for np array
+- add task actuation equality
+- use generated headers
+- Choose floating-base (or not) when creating a robot wrapper
+- Add optional support of qpmad solver
+- update packaging for eigenpy 2.7.12
+
+## [1.6.1] - 2021-10-19
+
+This new release is mostly a maintenance release, including fixes for the recent version of Eigen 3.4.
+
+## [1.6.0] - 2021-03-18
+
+- Add bindings for method Contact6d::getMotionTask
+- Add Center of Pressure Taks
+- fix warnings
+
+## [1.5.0] - 2021-03-03
+
+- [py] Add config variable to specify whether end-effector task should
+   be formulated in local frame or world frame.
+- [C++] Standardize names of methods to get and set mask in motion tasks.
+- [py] Add accessors masks in TaskCOM and TaskSE3Equality.
+- bugfixes
+
+## [1.4.2] - 2020-11-26
+
+- Add a mask to task-com-equality
+- Fix bug in Contact6d::setRegularizationTaskWeightVector
+- CMake: fix configure without tests
+
+## [1.4.1] - 2020-09-25
+
+- fix memory leaks thanks to shared_ptr
+- fix warnings
+- fix package.xml for ROS
+
+## [1.4.0] - 2020-09-09
+
+- add setGravity
+- stop using StdVec in python to make code more user friendly
+- add 6d contact with motion constraint at priority level 1 in python
+- use example-robot-data in notebooks
+
+## [1.3.1] - 2020-06-05
+
+- fix license
+- fix generated tsid.pc
+
+## [1.3.0] - 2020-05-26
+
+- reactive test
+- add package.xml
+- add CheatSheet
+- updates for numpy.array & python 3
+- updateRigidContactWeights: fix and add to python API
+- use eiquadprog
+- fix compatibility with pinocchio v2.4.5
+
+## [1.2.3] - 2020-03-30
+
+- renamed tests dir
+- fix python tests
+- CMake: export project and use exports from dependencies
+- CMake: keep minimal required instructions
+
+## [1.2.2] - 2020-03-01
+
+- add angular momentum equality task
+- update to pinocchio changes
+- Python 3 compatibility
+- add some documentation
+- fix python issue
+
+## [1.2.1] - 2019-09-19
+
+- fix compatibility with recent pinocchio versions
+
+## [1.2.0] - 2019-03-06
+
+- Pinocchio v2, fix #31
+- Fix demo_romeo for pinocchio v2
+- Pull request for use TSID in python.
+- Add missing includes, fix #18
+
+## [1.1.0] - 2018-10-10
+
+This release updates to non backward-compatibles changes in pinocchio v1.3.0
+
+## [1.0.2] - 2018-06-12
+
+This release is mostly a maintenance release.
+It fixes some bug with respect to **Pinocchio**.
+It also fixes some issues with respect to the packaging.
+
+## [1.0.1] - 2018-01-12
+
+- [joint-posture-task] Fix bug in computation of task matrix from mask
+- [task-se3-equality] Add method to get frame-id
+- [Robot] Add missing evaluation of the center of mass acceleration provided zero joint acceleration
+- [Math] Fix bug related to Eigen undefined function set_is_malloc_allowed
+- [CMake] Correct minimal version of Eigen3
+- [inv-dyn-form-acc-force] Fix potential bug in removal of contact constraint
+- [task-se3-equality] Fix small bug in computaiton of acceleration (just used for debugging)
+- [contact-6d] Add methods to set reference force and weight vector
+- [inv-dyn-form-acc-force] Fix bug: weight of force regularization task was not updated
+- [robot-wrapper] Fix bug in mass matrix: copy upper triangular part to lower triangular part (before this it was set to zero)
+- [formulations] Remove debug prints
+- [formulations] Fix bug in update of task weights
+- [robot-wrapper] BUG FIX: compute center of mass acceleration in computeAllTerms (before it was not computed so we were introducing random number in the CoM task)
+- [tsid-formulations] Add method to change the weight of a task.
+- [eigquadprog-fast] In DEBUG, in case a constraint is not verified, set the status flag to ERROR (even if the solver said the problem has been solved)
+- [task-com-equality] Fix little bugs in methods to get pos/vel references and errors, and in method to get desired acceleration
+- [math-utils] Add function to check if matrix/vector contains NaN
+- [math-utils] Pass JacobiSVD by reference in function solveWithDampingFromSvd
+- [math-utils] Add function to solve linear system of equations from svd decomposition
+
+## [1.0.0] - 2017-06-16
+
+This is the first release of TSID.
+This release includes minimal features for the torque control of humanoid robots such as HRP-2.
+
+[Unreleased]: https://github.com/stack-of-tasks/tsid/compare/v1.7.1...HEAD
+[1.7.1]: https://github.com/stack-of-tasks/tsid/compare/v1.7.0...v1.7.1
+[1.7.0]: https://github.com/stack-of-tasks/tsid/compare/v1.6.3...v1.7.0
+[1.6.3]: https://github.com/stack-of-tasks/tsid/compare/v1.6.2...v1.6.3
+[1.6.2]: https://github.com/stack-of-tasks/tsid/compare/v1.6.1...v1.6.2
+[1.6.1]: https://github.com/stack-of-tasks/tsid/compare/v1.6.0...v1.6.1
+[1.6.0]: https://github.com/stack-of-tasks/tsid/compare/v1.5.0...v1.6.0
+[1.5.0]: https://github.com/stack-of-tasks/tsid/compare/v1.4.2...v1.5.0
+[1.4.2]: https://github.com/stack-of-tasks/tsid/compare/v1.4.1...v1.4.2
+[1.4.1]: https://github.com/stack-of-tasks/tsid/compare/v1.4.0...v1.4.1
+[1.4.0]: https://github.com/stack-of-tasks/tsid/compare/v1.3.1...v1.4.0
+[1.3.1]: https://github.com/stack-of-tasks/tsid/compare/v1.3.0...v1.3.1
+[1.3.0]: https://github.com/stack-of-tasks/tsid/compare/v1.2.3...v1.3.0
+[1.2.3]: https://github.com/stack-of-tasks/tsid/compare/v1.2.2...v1.2.3
+[1.2.2]: https://github.com/stack-of-tasks/tsid/compare/v1.2.1...v1.2.2
+[1.2.1]: https://github.com/stack-of-tasks/tsid/compare/v1.2.0...v1.2.1
+[1.2.0]: https://github.com/stack-of-tasks/tsid/compare/v1.1.0...v1.2.0
+[1.1.0]: https://github.com/stack-of-tasks/tsid/compare/v1.0.2...v1.1.0
+[1.0.2]: https://github.com/stack-of-tasks/tsid/compare/v1.0.1...v1.0.2
+[1.0.1]: https://github.com/stack-of-tasks/tsid/compare/v1.0.0...v1.0.1
+[1.0.0]: https://github.com/stack-of-tasks/tsid/releases/tag/v1.0.0

CMakeLists.txt

 #
-# Copyright (c) 2017 CNRS
+# Copyright (c) 2017-2021 CNRS
 #
-# This file is part of PinInvDyn
-# pinocchio is free software: you can redistribute it
-# and/or modify it under the terms of the GNU Lesser General Public
-# License as published by the Free Software Foundation, either version
-# 3 of the License, or (at your option) any later version.
-# pinocchio is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-# General Lesser Public License for more details. You should have
-# received a copy of the GNU Lesser General Public License along with
-# pinocchio If not, see
+# This file is part of tsid tsid is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public License as
+# published by the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version. tsid is distributed in the hope that it
+# will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+# Lesser Public License for more details. You should have received a copy of the
+# GNU Lesser General Public License along with tsid If not, see
 # <http://www.gnu.org/licenses/>.
 
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/eigen.cmake)
-INCLUDE(cmake/python.cmake)
-INCLUDE(cmake2/ide.cmake)
-
-SET(PROJECT_NAME PinInvDyn)
-SET(PROJECT_DESCRIPTION "Efficient Inverse Dynamics for Multi-body Systems")
-SET(PROJECT_URL "http://github.com/stack-of-tasks/pinocchio")
-OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" FALSE)
-
-SET(DOXYGEN_USE_MATHJAX YES)
-
-IF(APPLE)
-  SET(CMAKE_MACOSX_RPATH TRUE)
-  SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
-  SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
-  SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-
-  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-  list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
-  if("${isSystemDir}" STREQUAL "-1")
-     set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-  endif("${isSystemDir}" STREQUAL "-1")
-ENDIF(APPLE)
-
-# Disable -Werror on Unix for now.
-SET(CXX_DISABLE_WERROR True)
-SET(CMAKE_VERBOSE_MAKEFILE True)
-
-SETUP_PROJECT()
-
-IF(WIN32)
-  SET(LINK copy_if_different)
-ELSE(WIN32)
-  SET(LINK create_symlink)
-ENDIF(WIN32)
-
-# --- OPTIONS ----------------------------------------
-OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" OFF)
-OPTION (BUILD_UNIT_TESTS "Build the unitary tests" ON)
-
-# ----------------------------------------------------
-# --- DEPENDANCIES -----------------------------------
-# ----------------------------------------------------
-ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
-ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
-
-SET(BOOST_COMPONENTS unit_test_framework serialization)
-
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_COMPILE_DEPENDENCY("eigenpy >= 1.3.1")
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
-  FINDPYTHON(2.7 EXACT REQUIRED)
-  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS}) 
-ENDIF(BUILD_PYTHON_INTERFACE)
-
-SEARCH_FOR_BOOST()
-# Path to boost headers
-INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-# ----------------------------------------------------
-# --- INCLUDE ----------------------------------------
-# ----------------------------------------------------
-
-SET(${PROJECT_NAME}_MATH_HEADERS
-    include/pininvdyn/math/fwd.hpp
-  )
-
-SET(${PROJECT_NAME}_TASKS_HEADERS
-    include/pininvdyn/tasks/fwd.hpp
-    include/pininvdyn/tasks/task-base.hpp
-  )
-
-SET(${PROJECT_NAME}_SOLVERS_HEADERS
-    include/pininvdyn/solvers/fwd.hpp
-  )
-
-SET(HEADERS
+cmake_minimum_required(VERSION 3.10)
+
+# Project properties
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME tsid)
+set(PROJECT_DESCRIPTION
+    "Efficient Task Space Inverse Dynamics for Multi-body Systems based on Pinocchio"
+)
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+
+# Project options
+option(INSTALL_DOCUMENTATION "Build and install the documentation" OFF)
+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)
+option(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
+option(EIGEN_RUNTIME_NO_MALLOC
+       "If ON, it can assert in case of runtime allocation" ON)
+option(EIGEN_NO_AUTOMATIC_RESIZING
+       "If ON, it forbids automatic resizing of dynamics arrays and matrices"
+       OFF)
+option(BUILD_WITH_PROXQP "Support using the proxqp solver" OFF)
+option(BUILD_WITH_OSQP "Support using the osqp solver" OFF)
+
+# With pos, vel, acc awaiting renaming (e.g. in trajectory-base), we are
+# producing a ton of deprecation warnings. Ignoring them for now; remove this
+# once pos, vel, acc are renamed.
+add_definitions(-Wno-deprecated-declarations)
+
+# We frequently convert between signed and unsigned integers for Eigen::Index.
+# Ignore them for now.
+add_definitions(-Wno-sign-conversion)
+
+# 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)
+set(DOXYGEN_USE_MATHJAX YES)
+set(CMAKE_VERBOSE_MAKEFILE 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("${JRL_CMAKE_MODULES}/base.cmake")
+include("${JRL_CMAKE_MODULES}/ide.cmake")
+include("${JRL_CMAKE_MODULES}/apple.cmake")
+
+set_default_cmake_build_type("RelWithDebInfo")
+
+# Handle APPLE Cmake policy
+if(APPLE)
+  apply_default_apple_configuration()
+endif(APPLE)
+
+# Project definition
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+
+if(INITIALIZE_WITH_NAN)
+  message(STATUS "Initialize with NaN all the Eigen entries.")
+  add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
+endif(INITIALIZE_WITH_NAN)
+
+if(EIGEN_RUNTIME_NO_MALLOC)
+  message(STATUS "Option EIGEN_RUNTIME_NO_MALLOC on.")
+  add_definitions(-DEIGEN_RUNTIME_NO_MALLOC)
+endif(EIGEN_RUNTIME_NO_MALLOC)
+
+if(EIGEN_NO_AUTOMATIC_RESIZING)
+  message(STATUS "Option EIGEN_NO_AUTOMATIC_RESIZING on.")
+  add_definitions(-DEIGEN_NO_AUTOMATIC_RESIZING)
+endif(EIGEN_NO_AUTOMATIC_RESIZING)
+
+check_minimal_cxx_standard(17 ENFORCE)
+
+# Project dependencies
+if(BUILD_PYTHON_INTERFACE)
+  set(PYWRAP ${PROJECT_NAME}_pywrap)
+  add_project_dependency(eigenpy 2.7.12 REQUIRED)
+endif(BUILD_PYTHON_INTERFACE)
+
+add_project_dependency(pinocchio 2.3.1 REQUIRED)
+add_project_dependency(eiquadprog 1.1.3 REQUIRED)
+
+find_package(qpmad QUIET) # optional
+if(qpmad_FOUND)
+  message(STATUS "qpmad found - building with qpmad support")
+  add_project_dependency(qpmad QUIET)
+endif()
+
+if(BUILD_TESTING)
+  find_package(Boost REQUIRED COMPONENTS unit_test_framework)
+endif(BUILD_TESTING)
+
+# Main Library
+set(${PROJECT_NAME}_MATH_HEADERS
+    include/tsid/math/fwd.hpp
+    include/tsid/math/utils.hpp
+    include/tsid/math/constraint-base.hpp
+    include/tsid/math/constraint-equality.hpp
+    include/tsid/math/constraint-inequality.hpp
+    include/tsid/math/constraint-bound.hpp)
+
+set(${PROJECT_NAME}_TASKS_HEADERS
+    include/tsid/tasks/fwd.hpp
+    include/tsid/tasks/task-base.hpp
+    include/tsid/tasks/task-motion.hpp
+    include/tsid/tasks/task-actuation.hpp
+    include/tsid/tasks/task-contact-force.hpp
+    include/tsid/tasks/task-com-equality.hpp
+    include/tsid/tasks/task-se3-equality.hpp
+    include/tsid/tasks/task-contact-force-equality.hpp
+    include/tsid/tasks/task-cop-equality.hpp
+    include/tsid/tasks/task-actuation-equality.hpp
+    include/tsid/tasks/task-actuation-bounds.hpp
+    include/tsid/tasks/task-joint-bounds.hpp
+    include/tsid/tasks/task-joint-posture.hpp
+    include/tsid/tasks/task-joint-posVelAcc-bounds.hpp
+    include/tsid/tasks/task-capture-point-inequality.hpp
+    include/tsid/tasks/task-angular-momentum-equality.hpp
+    include/tsid/tasks/task-two-frames-equality.hpp)
+
+set(${PROJECT_NAME}_CONTACTS_HEADERS
+    include/tsid/contacts/fwd.hpp
+    include/tsid/contacts/contact-base.hpp
+    include/tsid/contacts/contact-6d.hpp
+    include/tsid/contacts/contact-point.hpp
+    include/tsid/contacts/measured-force-base.hpp
+    include/tsid/contacts/measured-3Dforce.hpp
+    include/tsid/contacts/measured-6Dwrench.hpp
+    include/tsid/contacts/contact-two-frame-positions.hpp)
+
+set(${PROJECT_NAME}_TRAJECTORIES_HEADERS
+    include/tsid/trajectories/fwd.hpp
+    include/tsid/trajectories/trajectory-base.hpp
+    include/tsid/trajectories/trajectory-se3.hpp
+    include/tsid/trajectories/trajectory-euclidian.hpp)
+
+set(${PROJECT_NAME}_SOLVERS_HEADERS
+    include/tsid/solvers/fwd.hpp
+    include/tsid/solvers/utils.hpp
+    include/tsid/solvers/solver-qpData.hpp
+    include/tsid/solvers/solver-HQP-output.hpp
+    include/tsid/solvers/solver-HQP-base.hpp
+    include/tsid/solvers/solver-HQP-factory.hpp
+    include/tsid/solvers/solver-HQP-factory.hxx
+    include/tsid/solvers/solver-HQP-qpoases.hpp
+    include/tsid/solvers/solver-HQP-eiquadprog.hpp
+    include/tsid/solvers/solver-HQP-eiquadprog-rt.hpp
+    include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx
+    include/tsid/solvers/solver-HQP-eiquadprog-fast.hpp)
+
+if(BUILD_WITH_PROXQP)
+  find_package(proxsuite REQUIRED)
+  list(APPEND ${PROJECT_NAME}_SOLVERS_HEADERS
+       include/tsid/solvers/solver-proxqp.hpp)
+
+  # Determine whether ot use the default target or the vectorized target, if
+  # available
+  set(proxsuite_INTERFACE proxsuite::proxsuite)
+  if(NOT TARGET proxsuite::proxsuite-vectorized)
+    message(
+      STATUS
+        "proxsuite::proxsuite-vectorized not available - defaulting to non-vectorized ProxQP"
+    )
+  else()
+    set(proxsuite_INTERFACE proxsuite::proxsuite-vectorized)
+  endif()
+endif()
+
+if(BUILD_WITH_OSQP)
+  find_package(OsqpEigen REQUIRED)
+  list(APPEND ${PROJECT_NAME}_SOLVERS_HEADERS
+       include/tsid/solvers/solver-osqp.hpp)
+endif()
+
+if(qpmad_FOUND)
+  list(APPEND ${PROJECT_NAME}_SOLVERS_HEADERS
+       include/tsid/solvers/solver-HQP-qpmad.hpp)
+endif()
+
+set(${PROJECT_NAME}_ROBOTS_HEADERS include/tsid/robots/fwd.hpp
+                                   include/tsid/robots/robot-wrapper.hpp)
+
+set(${PROJECT_NAME}_FORMULATIONS_HEADERS
+    include/tsid/formulations/contact-level.hpp
+    include/tsid/formulations/inverse-dynamics-formulation-base.hpp
+    include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp)
+
+set(${PROJECT_NAME}_HEADERS
+    include/tsid/macros.hpp
+    include/tsid/utils/statistics.hpp
+    include/tsid/utils/stop-watch.hpp
+    include/tsid/utils/Stdafx.hh
     ${${PROJECT_NAME}_MATH_HEADERS}
     ${${PROJECT_NAME}_TASKS_HEADERS}
+    ${${PROJECT_NAME}_CONTACTS_HEADERS}
+    ${${PROJECT_NAME}_TRAJECTORIES_HEADERS}
     ${${PROJECT_NAME}_SOLVERS_HEADERS}
- )
+    ${${PROJECT_NAME}_ROBOTS_HEADERS}
+    ${${PROJECT_NAME}_FORMULATIONS_HEADERS})
 
-LIST(REMOVE_DUPLICATES HEADERS)
+list(REMOVE_DUPLICATES ${PROJECT_NAME}_HEADERS)
 
-SET(HEADERS_FULL_PATH "")
-FOREACH(header ${HEADERS})
-  LIST(APPEND HEADERS_FULL_PATH "${CMAKE_SOURCE_DIR}/${header}") 
-  GET_FILENAME_COMPONENT(headerName ${header} NAME)
-  GET_FILENAME_COMPONENT(headerPath ${header} PATH)
-  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/${header}
-    DESTINATION ${CMAKE_INSTALL_PREFIX}/${headerPath}
-          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-ENDFOREACH(header ${HEADERS})
+set(${PROJECT_NAME}_MATH_SOURCES
+    src/math/constraint-base.cpp src/math/constraint-equality.cpp
+    src/math/constraint-inequality.cpp src/math/constraint-bound.cpp
+    src/math/utils.cpp)
 
-# --- MAIN LIBRARY -------------------------------------------------------------
-ADD_SUBDIRECTORY(src)
+set(${PROJECT_NAME}_TASKS_SOURCES
+    src/tasks/task-base.cpp
+    src/tasks/task-actuation-bounds.cpp
+    src/tasks/task-actuation-equality.cpp
+    src/tasks/task-actuation.cpp
+    src/tasks/task-com-equality.cpp
+    src/tasks/task-contact-force-equality.cpp
+    src/tasks/task-contact-force.cpp
+    src/tasks/task-cop-equality.cpp
+    src/tasks/task-joint-bounds.cpp
+    src/tasks/task-joint-posture.cpp
+    src/tasks/task-joint-posVelAcc-bounds.cpp
+    src/tasks/task-capture-point-inequality.cpp
+    src/tasks/task-motion.cpp
+    src/tasks/task-se3-equality.cpp
+    src/tasks/task-angular-momentum-equality.cpp
+    src/tasks/task-two-frames-equality.cpp)
 
-# --- BINDINGS ----------------------------------------------------------------
-#ADD_SUBDIRECTORY(bindings)
+set(${PROJECT_NAME}_CONTACTS_SOURCES
+    src/contacts/contact-base.cpp
+    src/contacts/contact-6d.cpp
+    src/contacts/contact-point.cpp
+    src/contacts/measured-force-base.cpp
+    src/contacts/measured-3Dforce.cpp
+    src/contacts/measured-6Dwrench.cpp
+    src/contacts/contact-two-frame-positions.cpp)
 
-# --- UNIT TESTS ---------------------------------------------------------------
-#ADD_SUBDIRECTORY(unittest)
+set(${PROJECT_NAME}_TRAJECTORIES_SOURCES
+    src/trajectories/trajectory-se3.cpp
+    src/trajectories/trajectory-euclidian.cpp)
 
-# --- PACKAGING ----------------------------------------------------------------
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
-PKG_CONFIG_APPEND_BOOST_LIBS(serialization)
+set(${PROJECT_NAME}_SOLVERS_SOURCES
+    src/solvers/solver-HQP-base.cpp
+    src/solvers/solver-HQP-factory.cpp
+    src/solvers/solver-HQP-eiquadprog.cpp
+    src/solvers/solver-HQP-eiquadprog-fast.cpp
+    src/solvers/solver-HQP-qpoases.cpp
+    src/solvers/utils.cpp)
+
+if(BUILD_WITH_PROXQP)
+  list(APPEND ${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/solver-proxqp.cpp)
+endif()
+
+if(BUILD_WITH_OSQP)
+  list(APPEND ${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/solver-osqp.cpp)
+endif()
+
+if(qpmad_FOUND)
+  list(APPEND ${PROJECT_NAME}_SOLVERS_SOURCES src/solvers/solver-HQP-qpmad.cpp)
+endif()
+
+set(${PROJECT_NAME}_ROBOTS_SOURCES src/robots/robot-wrapper.cpp)
 
-SETUP_PROJECT_FINALIZE()
+set(${PROJECT_NAME}_FORMULATIONS_SOURCES
+    src/formulations/contact-level.cpp
+    src/formulations/inverse-dynamics-formulation-base.cpp
+    src/formulations/inverse-dynamics-formulation-acc-force.cpp)
+
+set(${PROJECT_NAME}_SOURCES
+    src/utils/statistics.cpp
+    src/utils/stop-watch.cpp
+    ${${PROJECT_NAME}_MATH_SOURCES}
+    ${${PROJECT_NAME}_TASKS_SOURCES}
+    ${${PROJECT_NAME}_CONTACTS_SOURCES}
+    ${${PROJECT_NAME}_TRAJECTORIES_SOURCES}
+    ${${PROJECT_NAME}_SOLVERS_SOURCES}
+    ${${PROJECT_NAME}_ROBOTS_SOURCES}
+    ${${PROJECT_NAME}_FORMULATIONS_SOURCES})
+
+add_header_group(${PROJECT_NAME}_HEADERS)
+add_source_group(${PROJECT_NAME}_SOURCES)
+
+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(${PROJECT_NAME} PUBLIC pinocchio::pinocchio
+                                             eiquadprog::eiquadprog)
+
+if(BUILD_WITH_PROXQP)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_WITH_PROXSUITE)
+  target_link_libraries(${PROJECT_NAME} PUBLIC proxsuite::proxsuite)
+endif()
+
+if(BUILD_WITH_OSQP)
+  target_link_libraries(${PROJECT_NAME} PUBLIC OsqpEigen::OsqpEigen)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_WITH_OSQP)
+endif()
+
+if(qpmad_FOUND)
+  target_include_directories(${PROJECT_NAME} PUBLIC ${qpmad_INCLUDE_DIRS})
+  target_compile_definitions(${PROJECT_NAME} PUBLIC -DTSID_QPMAD_FOUND)
+endif()
+
+if(SUFFIX_SO_VERSION)
+  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
+
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION lib)
+endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+
+add_subdirectory(bindings)
+if(BUILD_TESTING)
+  add_subdirectory(tests)
+endif(BUILD_TESTING)
+
+# --- PACKAGING ----------------------------------------------------------------
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)

LICENSE

+BSD 2-Clause License
+
+Copyright (c) 2019-2022, CNRS, Univ. of Trento, INRIA, Max Planck Institure
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+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.

README.md

+# TSID - Task Space Inverse Dynamics
+[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/tsid/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/tsid/commits/master)
+[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/tsid/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/tsid/master/coverage/)
+[![PyPI version](https://badge.fury.io/py/tsid.svg)](https://badge.fury.io/py/tsid)
+
+[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
+[![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)
+
+TSID is a C++ library for optimization-based inverse-dynamics control based on the rigid multi-body dynamics library [Pinocchio](https://github.com/stack-of-tasks/pinocchio).
+
+## Documentation
+* Take a look at the project [wiki](https://github.com/stack-of-tasks/tsid/wiki) for an overview of the design of the library.
+* In the exercises folder you can find several examples of how to use TSID in Python with robot manipulators, humanoids, or quadrupeds.
+* On the [website of Andrea Del Prete](https://andreadelprete.github.io/#teaching) you can find slides and video lessons on TSID.
+* [Memmo 2020 summer school](https://memory-of-motion.github.io/summer-school/)
+
+## Installation with Conda
+
+If you want to directly dive into TSID in Python, only one single line is sufficient (assuming you have Conda installed):
+
+<p align="center">
+conda install tsid -c conda-forge
+</p>
+
+
+## Installation from Debian/Ubuntu packages, with robotpkg
+If you have never added robotpkg's software repository you can do it with the following commands:
+```
+sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
+deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
+EOF
+
+curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+sudo apt update
+```
+You can install TSID and its python bindings (replace * with you Python version) with:
+```
+sudo apt install robotpkg-py3*-tsid
+```
+
+
+## Installation from sources
+
+First you need to install the following dependencies:
+* boost (unit_test_framework)
+* eigen3
+* [pinocchio](https://github.com/stack-of-tasks/pinocchio)
+* [eiquadprog](https://github.com/stack-of-tasks/eiquadprog)
+* [example-robot-data](https://github.com/Gepetto/example-robot-data) (only for running the examples)
+
+To install eigen3 on Ubuntu you can use apt-get:
+  `sudo apt-get install libeigen3-dev`
+
+To install [pinocchio](https://github.com/stack-of-tasks/pinocchio) follow the instruction on its website.
+
+To compile TSID:
+
+    cd $DEVEL/openrobots/src/
+    git clone --recursive git@github.com:stack-of-tasks/tsid.git
+    cd tsid
+    mkdir _build-RELEASE
+    cd _build-RELEASE
+    cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
+    make install
+
+## Python Bindings
+To use this library in python, we offer python bindings based on Boost.Python and EigenPy.
+
+To install EigenPy you can compile the source code:
+
+    git clone https://github.com/stack-of-tasks/eigenpy
+
+or, on Ubuntu, you can use apt-get:
+
+    sudo apt-get install robotpkg-py3*-eigenpy
+
+For testing the python bindings, you can run the unit test scripts in the `script` folder, for instance:
+
+    ipython script/test_formulation.py
+
+To run the demo using gepetto-viewer:
+
+    ipython demo/demo_romeo.py
+
+## Credits
+
+This package is authored by:
+
+- [Andrea Del Prete](https://andreadelprete.github.io) (University of Trento)
+- [Justin Carpentier](https://jcarpent.github.io) (INRIA)
+
+It includes key contributions from:
+
+- [Julian Viereck](https://github.com/jviereck) (Max Planck Institute, New  York  University)
+- [Sanghyun Kim](https://github.com/ggory15) (Seoul National University)
+- [Eloise Dalin](https://github.com/dalinel) (LORIA, INRIA Lorraine)
+- [Noelie Ramuzat](https://github.com/NoelieRamuzat) (LAAS, CNRS)
+- [Pierre Fernbach](https://github.com/pFernbach) (LAAS, CNRS)
+- [Aurelie Bonnefoy](https://github.com/ABonnefoy) (LAAS, CNRS)
+- [Etienne Arlaud](https://github.com/EtienneAr) (INRIA)
+- [Fabian Schramm](https://github.com/fabinsch) (INRIA)
+
+And is maintained by:
+
+- [Guilhem Saurel](https://github.com/nim65s) (LAAS-CNRS)
+
+## Citing
+
+If you are (or not) happy with TSID and want to cite it, please use the following citation:
+
+    @inproceedings {adelprete:jnrh:2016,
+	    title = {Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors},
+	    booktitle = {Int. Journal of Humanoid Robotics},
+	    year = {2016},
+	    pages = {1550044},
+	    url = {https://hal.archives-ouvertes.fr/hal-01136936/document},
+	    author = {Andrea Del Prete, Nicolas Mansard, Oscar E Ramos, Olivier Stasse, Francesco Nori}
+    }

bindings/CMakeLists.txt

+#
+# Copyright (c) 2017-2018 CNRS
+#
+# This file is part of tsid tsid is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public License as
+# published by the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version. tsid is distributed in the hope that it
+# will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+# Lesser Public License for more details. You should have received a copy of the
+# GNU Lesser General Public License along with tsid If not, see
+# <http://www.gnu.org/licenses/>.
+
+if(BUILD_PYTHON_INTERFACE)
+  add_subdirectory(python)
+endif(BUILD_PYTHON_INTERFACE)

bindings/python/CMakeLists.txt

+#
+# Copyright (c) 2017-2021 CNRS
+#
+# This file is part of tsid tsid is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public License as
+# published by the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version. tsid is distributed in the hope that it
+# will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+# Lesser Public License for more details. You should have received a copy of the
+# GNU Lesser General Public License along with tsid If not, see
+# <http://www.gnu.org/licenses/>.
+
+# --- LIBRARY --- #
+set(${PYWRAP}_SOURCES
+    constraint/constraint-bound.cpp
+    constraint/constraint-equality.cpp
+    constraint/constraint-inequality.cpp
+    contacts/contact-6d.cpp
+    contacts/contact-point.cpp
+    contacts/contact-two-frame-positions.cpp
+    formulations/formulation.cpp
+    math/utils.cpp
+    module.cpp
+    robots/robot-wrapper.cpp
+    solvers/HQPData.cpp
+    solvers/HQPOutput.cpp
+    solvers/solver-HQP-eiquadprog.cpp
+    tasks/task-actuation-bounds.cpp
+    tasks/task-am-equality.cpp
+    tasks/task-com-equality.cpp
+    tasks/task-contact-force-equality.cpp
+    tasks/task-cop-equality.cpp
+    tasks/task-joint-bounds.cpp
+    tasks/task-joint-posture.cpp
+    tasks/task-joint-posVelAcc-bounds.cpp
+    tasks/task-se3-equality.cpp
+    tasks/task-two-frames-equality.cpp
+    trajectories/trajectory-base.cpp
+    trajectories/trajectory-euclidian.cpp
+    trajectories/trajectory-se3.cpp)
+
+set(${PYWRAP}_HEADERS
+    ../../include/tsid/bindings/python/constraint/constraint-bound.hpp
+    ../../include/tsid/bindings/python/constraint/constraint-equality.hpp
+    ../../include/tsid/bindings/python/constraint/constraint-inequality.hpp
+    ../../include/tsid/bindings/python/constraint/expose-constraints.hpp
+    ../../include/tsid/bindings/python/contacts/contact-6d.hpp
+    ../../include/tsid/bindings/python/contacts/contact-point.hpp
+    ../../include/tsid/bindings/python/contacts/contact-two-frame-positions.hpp
+    ../../include/tsid/bindings/python/contacts/contact-two-frames.hpp
+    ../../include/tsid/bindings/python/contacts/expose-contact.hpp
+    ../../include/tsid/bindings/python/formulations/expose-formulations.hpp
+    ../../include/tsid/bindings/python/formulations/formulation.hpp
+    ../../include/tsid/bindings/python/fwd.hpp
+    ../../include/tsid/bindings/python/math/utils.hpp
+    ../../include/tsid/bindings/python/robots/expose-robots.hpp
+    ../../include/tsid/bindings/python/robots/robot-wrapper.hpp
+    ../../include/tsid/bindings/python/solvers/expose-solvers.hpp
+    ../../include/tsid/bindings/python/solvers/HQPData.hpp
+    ../../include/tsid/bindings/python/solvers/HQPOutput.hpp
+    ../../include/tsid/bindings/python/solvers/solver-HQP-eiquadprog.hpp
+    ../../include/tsid/bindings/python/solvers/solver-osqp.hpp
+    ../../include/tsid/bindings/python/solvers/solver-proxqp.hpp
+    ../../include/tsid/bindings/python/tasks/expose-tasks.hpp
+    ../../include/tsid/bindings/python/tasks/task-actuation-bounds.hpp
+    ../../include/tsid/bindings/python/tasks/task-am-equality.hpp
+    ../../include/tsid/bindings/python/tasks/task-com-equality.hpp
+    ../../include/tsid/bindings/python/tasks/task-contact-force-equality.hpp
+    ../../include/tsid/bindings/python/tasks/task-cop-equality.hpp
+    ../../include/tsid/bindings/python/tasks/task-joint-bounds.hpp
+    ../../include/tsid/bindings/python/tasks/task-joint-posture.hpp
+    ../../include/tsid/bindings/python/tasks/task-joint-posVelAcc-bounds.hpp
+    ../../include/tsid/bindings/python/tasks/task-se3-equality.hpp
+    ../../include/tsid/bindings/python/tasks/task-two-frames-equality.hpp
+    ../../include/tsid/bindings/python/trajectories/expose-trajectories.hpp
+    ../../include/tsid/bindings/python/trajectories/trajectory-base.hpp
+    ../../include/tsid/bindings/python/trajectories/trajectory-euclidian.hpp
+    ../../include/tsid/bindings/python/trajectories/trajectory-se3.hpp
+    ../../include/tsid/bindings/python/utils/container.hpp)
+
+add_library(${PYWRAP} SHARED ${${PYWRAP}_SOURCES} ${${PYWRAP}_HEADERS})
+target_link_libraries(${PYWRAP} PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
+
+if(IS_ABSOLUTE ${PYTHON_SITELIB})
+  set(${PYWRAP}_INSTALL_DIR ${PYTHON_SITELIB}/${PROJECT_NAME})
+else()
+  set(${PYWRAP}_INSTALL_DIR
+      ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${PROJECT_NAME})
+endif()
+
+if(BUILD_WITH_COMMIT_VERSION)
+  tag_library_version(${PYWRAP})
+endif(BUILD_WITH_COMMIT_VERSION)
+add_header_group(${PYWRAP}_HEADERS)
+add_source_group(${PYWRAP}_SOURCES)
+
+# We need to change the extension for python bindings
+set_target_properties(
+  ${PYWRAP}
+  PROPERTIES SUFFIX ${PYTHON_EXT_SUFFIX}
+             PREFIX ""
+             LIBRARY_OUTPUT_DIRECTORY
+             "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
+
+if(UNIX)
+  get_relative_rpath(${${PYWRAP}_INSTALL_DIR} ${PYWRAP}_INSTALL_RPATH)
+  set_target_properties(${PYWRAP} PROPERTIES INSTALL_RPATH
+                                             "${${PYWRAP}_INSTALL_RPATH}")
+endif()
+
+install(
+  TARGETS ${PYWRAP}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})
+
+set(PYTHON_FILES __init__.py)
+
+foreach(python ${PYTHON_FILES})
+  python_install(${PROJECT_NAME} ${python} ${${PYWRAP}_INSTALL_DIR})
+endforeach(python)

bindings/python/constraint/constraint-bound.cpp

+//
+// Copyright (c) 2018 CNRS
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include "tsid/bindings/python/constraint/constraint-bound.hpp"
+#include "tsid/bindings/python/constraint/expose-constraints.hpp"
+
+namespace tsid {
+namespace python {
+void exposeConstraintBound() {
+  ConstraintPythonVisitor<tsid::math::ConstraintBound>::expose(
+      "ConstraintBound");
+}
+}  // namespace python
+}  // namespace tsid

bindings/python/constraint/constraint-equality.cpp

+//
+// Copyright (c) 2018 CNRS
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include "tsid/bindings/python/constraint/constraint-equality.hpp"
+#include "tsid/bindings/python/constraint/expose-constraints.hpp"
+
+namespace tsid {
+namespace python {
+void exposeConstraintEquality() {
+  ConstraintEqPythonVisitor<tsid::math::ConstraintEquality>::expose(
+      "ConstraintEquality");
+}
+}  // namespace python
+}  // namespace tsid

bindings/python/constraint/constraint-inequality.cpp

+//
+// Copyright (c) 2018 CNRS
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include "tsid/bindings/python/constraint/constraint-inequality.hpp"
+#include "tsid/bindings/python/constraint/expose-constraints.hpp"
+
+namespace tsid {
+namespace python {
+void exposeConstraintInequality() {
+  ConstraintIneqPythonVisitor<tsid::math::ConstraintInequality>::expose(
+      "ConstraintInequality");
+}
+}  // namespace python
+}  // namespace tsid

bindings/python/contacts/contact-6d.cpp

+//
+// Copyright (c) 2018 CNRS, NYU, MPI Tübingen
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include "tsid/bindings/python/contacts/contact-6d.hpp"
+#include "tsid/bindings/python/contacts/expose-contact.hpp"
+
+namespace tsid {
+namespace python {
+void exposeContact6d() {
+  Contact6DPythonVisitor<tsid::contacts::Contact6d>::expose("Contact6d");
+}
+}  // namespace python
+}  // namespace tsid

bindings/python/contacts/contact-point.cpp

+//
+// Copyright (c) 2018 CNRS
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include "tsid/bindings/python/contacts/contact-point.hpp"
+#include "tsid/bindings/python/contacts/expose-contact.hpp"
+
+namespace tsid {
+namespace python {
+void exposeContactPoint() {
+  ContactPointPythonVisitor<tsid::contacts::ContactPoint>::expose(
+      "ContactPoint");
+}
+}  // namespace python
+}  // namespace tsid

bindings/python/contacts/contact-two-frame-positions.cpp

+//
+// Copyright (c) 2023 MIPT
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include "tsid/bindings/python/contacts/contact-two-frame-positions.hpp"
+#include "tsid/bindings/python/contacts/expose-contact.hpp"
+
+namespace tsid {
+namespace python {
+void exposeContactTwoFramePositions() {
+  ContactTwoFramePositionsPythonVisitor<
+      tsid::contacts::ContactTwoFramePositions>::
+      expose("ContactTwoFramePositions");
+}
+}  // namespace python
+}  // namespace tsid

bindings/python/formulations/formulation.cpp

+//
+// Copyright (c) 2018 CNRS
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#include "tsid/bindings/python/formulations/expose-formulations.hpp"
+#include "tsid/bindings/python/formulations/formulation.hpp"
+
+namespace tsid {
+namespace python {
+void exposeInverseDynamicsFormulationAccForce() {
+  InvDynPythonVisitor<tsid::InverseDynamicsFormulationAccForce>::expose(
+      "InverseDynamicsFormulationAccForce");
+}
+}  // namespace python
+}  // namespace tsid