Merge tag 'v2.0.0'

Release of version 2.0.0.

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

@@ -13,7 +13,7 @@ jobs:
 
     strategy:
       matrix:
-        os: ["ubuntu-latest", "macos-latest"]
+        os: ["ubuntu-latest"] # , "macos-latest"]
         python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
     steps:
       - uses: actions/checkout@v4

.github/workflows/nix.yml

@@ -0,0 +1,19 @@
+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

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.3.5
+  rev: v0.8.2
   hooks:
   - id: ruff
     args:
@@ -14,18 +14,19 @@ repos:
   hooks:
   - id: cmake-format
 - repo: https://github.com/pappasam/toml-sort
-  rev: v0.23.1
+  rev: v0.24.2
   hooks:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v18.1.3
+  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: v4.6.0
+  rev: v5.0.0
   hooks:
   - id: check-added-large-files
   - id: check-ast

CHANGELOG.md

@@ -7,6 +7,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [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
@@ -174,7 +180,8 @@ Changes since v0.2.0:
 
 - Initial release
 
-[Unreleased]: https://github.com/loco-3d/ndcurves/compare/v1.4.1...HEAD
+[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

flake.nix

@@ -0,0 +1,39 @@
+{
+  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/bernstein.h

@@ -49,7 +49,7 @@ struct Bern {
     if (!(u >= 0. && u <= 1.)) {
       throw std::invalid_argument("u needs to be betwen 0 and 1.");
     }
-    return bin_m_i_ * (pow(u, i_)) * pow((1 - u), m_minus_i);
+    return bin_m_i_ * (pow(u, i_))*pow((1 - u), m_minus_i);
   }
 
   /// \brief Check if actual Bernstein polynomial and other are approximately

include/ndcurves/bezier_curve.h

@@ -38,7 +38,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
   typedef std::vector<point_t, Eigen::aligned_allocator<point_t> > t_point_t;
   typedef typename t_point_t::const_iterator cit_point_t;
   typedef bezier_curve<Time, Numeric, Safe, Point> bezier_curve_t;
-  typedef boost::shared_ptr<bezier_curve_t> bezier_curve_ptr_t;
+  typedef std::shared_ptr<bezier_curve_t> bezier_curve_ptr_t;
   typedef piecewise_curve<Time, Numeric, Safe, point_t, point_t, bezier_curve_t>
       piecewise_curve_t;
   typedef curve_abc<Time, Numeric, Safe, point_t> curve_abc_t;  // parent class

include/ndcurves/curve_abc.h

@@ -11,9 +11,8 @@
 #ifndef _STRUCT_CURVE_ABC
 #define _STRUCT_CURVE_ABC
 
-#include <boost/serialization/shared_ptr.hpp>
-#include <boost/smart_ptr/shared_ptr.hpp>
 #include <functional>
+#include <memory>
 
 #include "MathDefs.h"
 #include "serialization/archive.hpp"
@@ -43,7 +42,7 @@ struct curve_abc : public serialization::Serializable {
       curve_t;  // parent class
   typedef curve_abc<Time, Numeric, Safe, point_derivate_t>
       curve_derivate_t;  // parent class
-  typedef boost::shared_ptr<curve_t> curve_ptr_t;
+  typedef std::shared_ptr<curve_t> curve_ptr_t;
 
   /* Constructors - destructors */
  public:

include/ndcurves/exact_cubic.h

@@ -116,8 +116,8 @@ struct exact_cubic : public piecewise_curve<Time, Numeric, Safe, Point> {
   std::size_t getNumberSplines() { return this->getNumberCurves(); }
 
   spline_t getSplineAt(std::size_t index) {
-    boost::shared_ptr<spline_t> s_ptr =
-        boost::dynamic_pointer_cast<spline_t>(this->curves_.at(index));
+    std::shared_ptr<spline_t> s_ptr =
+        std::dynamic_pointer_cast<spline_t>(this->curves_.at(index));
     if (s_ptr)
       return *s_ptr;
     else

include/ndcurves/fwd.h

@@ -10,7 +10,7 @@
 #ifndef CURVES_FWD_H
 #define CURVES_FWD_H
 #include <Eigen/Dense>
-#include <boost/smart_ptr/shared_ptr.hpp>
+#include <memory>
 #include <vector>
 
 namespace ndcurves {
@@ -94,11 +94,11 @@ typedef curve_abc<double, double, true, transform_t, point6_t>
                   // (return dimension are fixed)
 
 // shared pointer to abstract types:
-typedef boost::shared_ptr<curve_abc_t> curve_ptr_t;
-typedef boost::shared_ptr<curve_3_t> curve3_ptr_t;
-typedef boost::shared_ptr<curve_rotation_t> curve_rotation_ptr_t;
-typedef boost::shared_ptr<curve_translation_t> curve_translation_ptr_t;
-typedef boost::shared_ptr<curve_SE3_t> curve_SE3_ptr_t;
+typedef std::shared_ptr<curve_abc_t> curve_ptr_t;
+typedef std::shared_ptr<curve_3_t> curve3_ptr_t;
+typedef std::shared_ptr<curve_rotation_t> curve_rotation_ptr_t;
+typedef std::shared_ptr<curve_translation_t> curve_translation_ptr_t;
+typedef std::shared_ptr<curve_SE3_t> curve_SE3_ptr_t;
 
 // definition of all curves class with pointX as return type:
 typedef polynomial<double, double, true, pointX_t, t_pointX_t> polynomial_t;

include/ndcurves/piecewise_curve.h

@@ -9,8 +9,8 @@
 #define _CLASS_PIECEWISE_CURVE
 
 #include <boost/serialization/vector.hpp>
-#include <boost/smart_ptr/shared_ptr.hpp>
 #include <fstream>
+#include <memory>
 #include <sstream>
 
 #include "curve_abc.h"
@@ -46,15 +46,15 @@ struct piecewise_curve
   typedef curve_abc<Time, Numeric, Safe, point_t, point_derivate_t>
       base_curve_t;           // parent class
   typedef CurveType curve_t;  // contained curves base class
-  typedef boost::shared_ptr<curve_t> curve_ptr_t;
+  typedef std::shared_ptr<curve_t> curve_ptr_t;
   typedef typename std::vector<curve_ptr_t> t_curve_ptr_t;
   typedef typename std::vector<Time> t_time_t;
   typedef piecewise_curve<Time, Numeric, Safe, Point, Point_derivate, CurveType>
       piecewise_curve_t;
   typedef piecewise_curve<Time, Numeric, Safe, Point_derivate, Point_derivate,
                           typename CurveType::curve_derivate_t>
       piecewise_curve_derivate_t;
-  typedef boost::shared_ptr<typename piecewise_curve_derivate_t::curve_t>
+  typedef std::shared_ptr<typename piecewise_curve_derivate_t::curve_t>
       curve_derivate_ptr_t;
 
  public:
@@ -174,7 +174,7 @@ struct piecewise_curve
 
   template <typename Curve>
   void add_curve(const Curve& curve) {
-    curve_ptr_t curve_ptr = boost::make_shared<Curve>(curve);
+    curve_ptr_t curve_ptr = std::make_shared<Curve>(curve);
     add_curve_ptr(curve_ptr);
   }
 

include/ndcurves/se3_curve.h

@@ -41,9 +41,9 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe,
   typedef curve_abc<Time, Numeric, Safe, matrix3_t, point3_t>
       curve_rotation_t;  // templated class used for the rotation (return
                          // dimension are fixed)
-  typedef boost::shared_ptr<curve_X_t> curve_ptr_t;
-  typedef boost::shared_ptr<curve_rotation_t> curve_rotation_ptr_t;
-  typedef boost::shared_ptr<curve_translation_t> curve_translation_ptr_t;
+  typedef std::shared_ptr<curve_X_t> curve_ptr_t;
+  typedef std::shared_ptr<curve_rotation_t> curve_rotation_ptr_t;
+  typedef std::shared_ptr<curve_translation_t> curve_translation_ptr_t;
 
   typedef SO3Linear<Time, Numeric, Safe> SO3Linear_t;
   typedef polynomial<Time, Numeric, Safe, pointX_t> polynomial_t;

include/ndcurves/serialization/curves.hpp

@@ -12,7 +12,6 @@
  */
 
 #include <boost/serialization/shared_ptr.hpp>
-#include <boost/shared_ptr.hpp>
 
 #include "ndcurves/bezier_curve.h"
 #include "ndcurves/constant_curve.h"

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ndcurves</name>
-  <version>1.4.1</version>
+  <version>2.0.0</version>
   <description>
       A template-based Library for creating curves of arbitrary order and dimension
   </description>