Release/0.2.0

.github/dependabot.yml

@@ -3,4 +3,4 @@ updates:
 - package-ecosystem: "github-actions"
   directory: "/"
   schedule:
-      interval: "weekly"
+      interval: "weekly"

.github/workflows/ci.yml

@@ -23,17 +23,20 @@ jobs:
       matrix:
         python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
         with:
           submodules: 'true'
       - uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python-version }}
       - run: python -m pip install crocoddyl[build] proxsuite[build]
       - run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV
+      # TODO: remove this after the next crocoddyl release
+      # ref. https://github.com/loco-3d/crocoddyl/pull/1440
+      - run: sed -i '1i \#include <memory>' $CMAKE_PREFIX_PATH/include/crocoddyl/core/utils/conversions.hpp
       - run: cmake -B build -S .
       - run: cmake --build build -j 4
 
-      - run: python -m pip install "osqp<1.0.0"
+      - run: python -m pip install osqp
       - run: echo "LD_LIBRARY_PATH=$(cmeel lib)" >> $GITHUB_ENV
       - run: cmake --build build -t test

.github/workflows/nix.yml

@@ -1,27 +1,36 @@
 name: "CI - Nix"
-
 on:
   push:
     branches:
-    - main
-    - devel
+      - devel
+      - master
+      - main
   pull_request:
     branches:
-    - main
-    - devel
-
+      - devel
+      - master
+      - main
 jobs:
-  tests:
-    name: "Nix build on ${{ matrix.os }}"
-    runs-on: "${{ matrix.os }}-latest"
+  nix:
+    runs-on: "${{ matrix.os }}"
     strategy:
       matrix:
-        os: [ubuntu, macos]
+        os: [ubuntu-24.04, ubuntu-24.04-arm, macos-15, macos-15-intel]
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
       - uses: cachix/install-nix-action@v31
       - uses: cachix/cachix-action@v16
         with:
           name: gepetto
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
-      - run: nix build -L
+      - run: nix flake check -L
+  check:
+    if: always()
+    name: check-macos-linux-nix
+    runs-on: ubuntu-latest
+    needs:
+      - nix
+    steps:
+      - uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.github/workflows/update-flake-lock.yml

@@ -10,10 +10,10 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
       - name: Install Nix
         uses: DeterminateSystems/nix-installer-action@main
       - name: Update flake.lock
         uses: DeterminateSystems/update-flake-lock@main
         with:
-          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}
+          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.9.5
+  rev: v0.14.9
   hooks:
   - id: ruff
     args:
@@ -12,18 +12,18 @@ repos:
   hooks:
   - id: cmake-format
 - repo: https://github.com/pappasam/toml-sort
-  rev: v0.24.2
+  rev: v0.24.3
   hooks:
   - id: toml-sort-fix
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v19.1.7
+  rev: v21.1.8
   hooks:
   - id: clang-format
     args:
     - --style=Google
     exclude: '^.*\.ipynb$'
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v5.0.0
+  rev: v6.0.0
   hooks:
   - id: check-added-large-files
   - id: check-ast

CHANGELOG.md

@@ -9,6 +9,10 @@ Releases are available on the [github repository](https://github.com/machines-in
 
 ## [Unreleased]
 
+- update for crocoddy v3
+- update for osqp v1
+- remove python 3.8 support
+
 ## [0.1.1] - 2025-03-22
 
 ### Fixed
@@ -74,7 +78,7 @@ Releases are available on the [github repository](https://github.com/machines-in
 - Added vectorization and malloc check options in CMakeLists
 - Added Github CI
 
-### Changed 
+### Changed
 
 - Code optimization
 - Now checking stopping criteria for QP every 25 iterations in SolverCSQP (as a result, it is now more efficient to use SolverSQP for unconstrained problems)

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.22)
 
 # Project properties
 set(PROJECT_NAMESPACE machines-in-motion)
@@ -16,7 +16,6 @@ set(CMAKE_VERBOSE_MAKEFILE True)
 add_compile_options(--warn-no-conversion)
 
 # Project options
-option(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
 option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 option(BUILD_WITH_PROXSUITE "Build the ProxQP-based SQP solver" OFF)
 option(BUILD_BENCHMARKS "Build the benchmarks" OFF)
@@ -47,14 +46,6 @@ else()
       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)
@@ -129,25 +120,33 @@ if(BUILD_WITH_PROXSUITE)
   list(APPEND ${PROJECT_NAME}_SOURCES src/csqp_proxqp.cpp)
 endif(BUILD_WITH_PROXSUITE)
 
-add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
-                                   ${${PROJECT_NAME}_HEADERS})
-target_include_directories(
-  ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
-
-if(SUFFIX_SO_VERSION)
-  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
-endif()
+if(BUILD_STANDALONE_PYTHON_INTERFACE)
+  add_project_dependency(${PROJECT_NAME} REQUIRED CONFIG)
+  set(PROJECT_EXPORT_NO_TARGET ON)
+else()
+  add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                     ${${PROJECT_NAME}_HEADERS})
+  add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+  target_include_directories(
+    ${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+  if(SUFFIX_SO_VERSION)
+    set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION
+                                                     ${PROJECT_VERSION})
+  endif()
 
-# Main Executable
-target_link_libraries(${PROJECT_NAME} crocoddyl::crocoddyl)
-if(BUILD_WITH_PROXSUITE)
-  target_link_libraries(${PROJECT_NAME} proxsuite::proxsuite)
-endif()
+  # Main Executable
+  target_link_libraries(${PROJECT_NAME} crocoddyl::crocoddyl)
+  if(BUILD_WITH_PROXSUITE)
+    target_link_libraries(${PROJECT_NAME} proxsuite::proxsuite)
+  endif()
 
-if(UNIX)
-  get_relative_rpath(${CMAKE_INSTALL_LIBDIR} ${PROJECT_NAME}_INSTALL_RPATH)
-  set_target_properties(
-    ${PROJECT_NAME} PROPERTIES INSTALL_RPATH "${${PROJECT_NAME}_INSTALL_RPATH}")
+  if(UNIX)
+    get_relative_rpath(${CMAKE_INSTALL_LIBDIR} ${PROJECT_NAME}_INSTALL_RPATH)
+    set_target_properties(
+      ${PROJECT_NAME} PROPERTIES INSTALL_RPATH
+                                 "${${PROJECT_NAME}_INSTALL_RPATH}")
+  endif()
 endif()
 
 # Python Bindings
@@ -161,13 +160,14 @@ if(BUILD_TESTING)
 endif()
 
 # Benchmarks
-if(BUILD_BENCHMARKS)
+if(BUILD_BENCHMARKS AND NOT BUILD_STANDALONE_PYTHON_INTERFACE)
   add_subdirectory(benchmarks)
 endif()
 
 # Installation
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT ${TARGETS_EXPORT_NAME}
-  DESTINATION ${CMAKE_INSTALL_LIBDIR})
-install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
+  install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION ${CMAKE_INSTALL_LIBDIR})
+endif()

README.md

@@ -2,7 +2,7 @@
 Implementation of efficient numerical optimal control solvers.
 In particular, the Sequential Quadratic Programming (SQP) solver described in [this paper](https://laas.hal.science/hal-04330251) solves nonlinear constrained OCPs efficiently by leveraging sparsity.
 
-All the solvers are implemented based on the API of [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel) (v2).
+All the solvers are implemented based on the API of [Crocoddyl](https://github.com/loco-3d/crocoddyl/tree/devel) (v3).
 In other words, our solvers take as input a `crocoddyl.ShootingProblem`.
 
 Examples on how to use the solvers can be found in the `examples` directory.

benchmarks/CMakeLists.txt

@@ -8,8 +8,8 @@ add_library(${PROJECT_NAME}_BENCHMARK_TOOLS SHARED
 foreach(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
   add_executable(${BENCHMARK_NAME} ${BENCHMARK_NAME}.cpp)
   target_link_libraries(
-    ${BENCHMARK_NAME} ${PROJECT_NAME} example-robot-data::example-robot-data
-    ${PROJECT_NAME}_BENCHMARK_TOOLS)
+    ${BENCHMARK_NAME} ${PROJECT_NAME}::${PROJECT_NAME}
+    example-robot-data::example-robot-data ${PROJECT_NAME}_BENCHMARK_TOOLS)
   add_custom_target("benchmarks-cpp-${BENCHMARK_NAME}" ${BENCHMARK_NAME}
                                                        \${INPUT})
 endforeach(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})

bindings/CMakeLists.txt

@@ -17,7 +17,8 @@ if(BUILD_WITH_PROXSUITE)
 endif(BUILD_WITH_PROXSUITE)
 
 add_library(${PY_NAME} MODULE ${${PY_NAME}_SOURCES})
-target_link_libraries(${PY_NAME} PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
+target_link_libraries(${PY_NAME} PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}
+                                        eigenpy::eigenpy)
 
 set_target_properties(
   ${PY_NAME}