Add pixi support, pixi CI

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

@@ -0,0 +1,75 @@
+name: CI - OSX/Linux via Pixi
+
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitignore'
+      - '*.md'
+      - 'CHANGELOG.md'
+  pull_request:
+    paths-ignore:
+      - 'doc/'
+      - '.gitignore'
+      - '*.md'
+      - 'CHANGELOG.md'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  simple-mpc-pixi:
+    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
+        environment: [all]
+        build_type: [Release, Debug]
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - uses: actions/cache@v4
+      with:
+        path: .ccache
+        key: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
+        restore-keys: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-
+
+    - uses: prefix-dev/[email protected]
+      with:
+        pixi-version: v0.39.2
+        cache: true
+        environments: ${{ matrix.environment }}
+
+    - name: Build simple-mpc
+      shell: bash -l {0}
+      env:
+        CMAKE_BUILD_PARALLEL_LEVEL: 4
+        SIMPLE_MPC_BUILD_TYPE: ${{ matrix.build_type }}
+      run: |
+        pixi run -e ${{ matrix.environment }} test
+
+  check:
+    if: always()
+    name: check-macos-linux-pixi
+
+    needs:
+    - simple-mpc-pixi
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}

include/simple-mpc/math-util.hpp

@@ -0,0 +1,25 @@
+#include <Eigen/Core>
+
+namespace simple_mpc
+{
+  namespace math
+  {
+
+    /// @note Backport from <pinocchio/math/matrix.hpp> in topic/simulation branch.
+    template<typename Matrix>
+    void make_symmetric(const Eigen::MatrixBase<Matrix> & mat, const int mode = Eigen::Upper)
+    {
+      if (mode == Eigen::Upper)
+      {
+        mat.const_cast_derived().template triangularView<Eigen::StrictlyLower>() =
+          mat.transpose().template triangularView<Eigen::StrictlyLower>();
+      }
+      else if (mode == Eigen::Lower)
+      {
+        mat.const_cast_derived().template triangularView<Eigen::StrictlyUpper>() =
+          mat.transpose().template triangularView<Eigen::StrictlyUpper>();
+      }
+    }
+
+  } // namespace math
+} // namespace simple_mpc

include/simple-mpc/robot-handler.hpp

@@ -130,7 +130,7 @@ namespace simple_mpc
     }
     size_t getFootNb(const std::string & foot_name) const
     {
-      return std::find(feet_names_.begin(), feet_names_.end(), foot_name) - feet_names_.begin();
+      return size_t(std::find(feet_names_.begin(), feet_names_.end(), foot_name) - feet_names_.begin());
     }
 
     const std::vector<FrameIndex> & getFeetIds() const