Adapt to jrl-cmakemodules v2 and nix flake + nanobind bindings

.envrc

@@ -0,0 +1 @@
+export NIX_CONFIG="allow-import-from-derivation = true"

.gitignore

@@ -8,4 +8,7 @@ binding/python/build
 *.swp
 CMakeLists.txt.user*
 *.autosave
-build/
+build
+.cache/
+compile_commands.json
+result

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "cmake"]
-	path = cmake
-	url = https://github.com/jrl-umi3218/jrl-cmakemodules
+[submodule "cmake-v2"]
+	path = cmake-v2
+	url = https://github.com/ahoarau/jrl-cmakemodules.git

.pre-commit-config.yaml

@@ -4,7 +4,7 @@ repos:
   - id: check-useless-excludes
   - id: check-hooks-apply
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v21.1.5
+  rev: v21.1.8
   hooks:
   - id: clang-format
 - repo: https://github.com/pre-commit/pre-commit-hooks

CMakeLists.txt

@@ -2,49 +2,113 @@
 # Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
 
-set(CMAKE_CXX_STANDARD 17)
-set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+find_package(jrl-cmakemodules 0.2.0 CONFIG QUIET)
+set(JRL_CMAKEMODULES_USE_V2
+    ON
+    CACHE BOOL "Use jrl-cmakemodules v2")
+if(jrl-cmakemodules_FOUND)
+  message(
+    STATUS "Using jrl-cmakemodules from CMake package: ${jrl-cmakemodules_DIR}")
+else()
+  message(STATUS "Using jrl-cmakemodules from source directory: cmake-v2")
+  add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/cmake-v2 jrl-cmakemodules)
+endif()
 
-set(PROJECT_NAME SpaceVecAlg)
-set(PROJECT_DESCRIPTION
+project(
+  SpaceVecAlg
+  VERSION 1.2.7
+  DESCRIPTION
     "Implementation of spatial vector algebra with the Eigen3 linear algebra library."
-)
-set(PROJECT_URL "https://github.com/jrl-umi3218/SpaceVecAlg")
-set(PROJECT_VERSION 1.2.8)
-set(PROJECT_USE_CMAKE_EXPORT TRUE)
-set(PYTHON_BINDING_USE_PYTEST ON)
+  HOMEPAGE_URL "https://github.com/jrl-umi3218/SpaceVecAlg"
+  LANGUAGES CXX)
 
-include(cmake/base.cmake)
-include(cmake/cython/cython.cmake)
-include(cmake/msvc-specific.cmake)
+# Configure default binary and install directories, build type, etc.
+jrl_configure_defaults()
 
-# Disable -Werror on Unix for now.
-set(CXX_DISABLE_WERROR True)
-project(${PROJECT_NAME} CXX)
+set(CMAKE_CXX_STANDARD 17)
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
-option(BENCHMARKS "Generate benchmark." OFF)
+# -------
+# OPTIONS
+# -------
+jrl_option(BUILD_TESTING "Build testing." ON)
+jrl_option(BENCHMARKS "Generate benchmark." OFF)
+jrl_option(NANOBIND_BINDINGS "Build nanobind Python bindings" ON)
+# Disable old python bindings jrl_option(PYTHON_BINDING "Build cython Python
+# bindings" OFF)
 
-find_package(Eigen3 QUIET NO_CMAKE_PACKAGE_REGISTRY)
-if(Eigen3_FOUND)
-  add_project_dependency(Eigen3 REQUIRED NO_CMAKE_PACKAGE_REGISTRY)
-else()
-  add_project_dependency(Eigen3 MODULE REQUIRED)
-endif()
+# ------------
+# DEPENDENCIES
+# ------------
+jrl_find_package(Eigen3 REQUIRED)
 
 # For MSVC, set local environment variable to enable finding the built dll of
 # the main library when launching ctest with RUN_TESTS
 if(MSVC)
   set(CMAKE_MSVCIDE_RUN_PATH "\$(SolutionDir)/src/\$(Configuration)")
 endif(MSVC)
 
-add_subdirectory(src)
+# FIXME(jrl-cmakemodules v2): when moving the code of this section to
+# src/CMakeLists.txt it fails because it cannot find SpaceVecAlg in
+# BUILDSYSTEM_TARGETS as BUILDSYSTEM_TARGETS is local to the directory being
+# processed
+
+# add_subdirectory(src)
 
-if(${BUILD_TESTING} OR ${BENCHMARKS})
+set(HEADERS
+    src/SpaceVecAlg/fwd.h
+    src/SpaceVecAlg/MotionVec.h
+    src/SpaceVecAlg/ForceVec.h
+    src/SpaceVecAlg/ImpedanceVec.h
+    src/SpaceVecAlg/AdmittanceVec.h
+    src/SpaceVecAlg/PTransform.h
+    src/SpaceVecAlg/RBInertia.h
+    src/SpaceVecAlg/ABInertia.h
+    src/SpaceVecAlg/EigenTypedef.h
+    src/SpaceVecAlg/EigenUtility.h
+    src/SpaceVecAlg/Operators.h
+    src/SpaceVecAlg/MathFunc.h
+    src/SpaceVecAlg/Conversions.h
+    src/SpaceVecAlg/SpaceVecAlg)
+
+add_library(SpaceVecAlg INTERFACE)
+jrl_target_enforce_msvc_conformance(SpaceVecAlg PRIVATE)
+target_link_libraries(SpaceVecAlg INTERFACE Eigen3::Eigen)
+target_compile_features(SpaceVecAlg INTERFACE cxx_auto_type cxx_constexpr)
+if(MSVC)
+  target_compile_options(SpaceVecAlg INTERFACE /source-charset:utf-8)
+endif()
+target_include_directories(
+  SpaceVecAlg INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
+                        $<INSTALL_INTERFACE:include>)
+
+jrl_target_headers(SpaceVecAlg PUBLIC HEADERS ${HEADERS})
+set_target_properties(SpaceVecAlg PROPERTIES VERSION ${PROJECT_VERSION})
+
+# Declare export components
+jrl_add_export_component(NAME SpaceVecAlg TARGETS SpaceVecAlg)
+# END FIXME
+
+if(BUILD_TESTING OR BENCHMARKS)
+  enable_testing()
   add_subdirectory(tests)
 endif()
 
-if(${PYTHON_BINDING})
-  add_subdirectory(binding/python)
+if(NANOBIND_BINDINGS)
+  message(STATUS "[${PROJECT_NAME}] Building Python bindings")
+  jrl_find_python(3.8 REQUIRED COMPONENTS Interpreter Development.Module)
+  jrl_find_nanobind(2.4.0 CONFIG REQUIRED)
+  add_subdirectory(binding/nanobind)
 endif()
+
+# Disable cython bindings if(PYTHON_BINDING) add_subdirectory(binding/python)
+# endif()
+
+# Export the package files (headers, targets, config files, etc.)
+jrl_export_package()
+
+# Print summaries
+jrl_print_dependencies_summary()
+jrl_print_options_summary()

binding/nanobind/.gitignore

@@ -0,0 +1,2 @@
+CMakeCache.txt
+CMakeFiles/

binding/nanobind/CMakeLists.txt

@@ -0,0 +1,61 @@
+# We are now ready to compile the actual extension module
+nanobind_add_module(
+  # Name of the extension
+  sva_pywrap
+  # Target the stable ABI for Python 3.12+, which reduces the number of binary
+  # wheels that must be built. This does nothing on older Python versions
+  STABLE_ABI
+  # Build libnanobind statically and merge it into the extension (which itself
+  # remains a shared library)
+  #
+  # If your project builds multiple extensions, you can replace this flag by
+  # NB_SHARED to conserve space by reusing a shared libnanobind across libraries
+  NB_STATIC
+  LTO
+  NB_SUPPRESS_WARNINGS
+  # Source code goes here
+  src/sva_module/sva_module.cpp
+  src/sva_module/bind_PTransformd.cpp
+  src/sva_module/bind_ForceVecd.cpp
+  src/sva_module/bind_MotionVecd.cpp)
+jrl_check_python_module_name(sva_pywrap)
+target_link_libraries(sva_pywrap PRIVATE SpaceVecAlg)
+target_include_directories(
+  sva_pywrap PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+jrl_target_set_default_compile_options(sva_pywrap PRIVATE)
+jrl_target_set_output_directory(sva_pywrap OUTPUT_DIRECTORY
+                                ${CMAKE_BINARY_DIR}/lib/site-packages/sva)
+
+jrl_python_generate_init_py(
+  sva_pywrap OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/site-packages/sva/__init__.py)
+
+# Display output of stub generation
+set(CMAKE_EXECUTE_PROCESS_COMMAND_ECHO STDOUT)
+
+nanobind_add_stub(
+  sva_pywrap_stub
+  MODULE
+  sva.sva_pywrap
+  OUTPUT
+  ${CMAKE_BINARY_DIR}/lib/site-packages/test_project/test_project_pywrap.pyi
+  PYTHON_PATH
+  ${CMAKE_BINARY_DIR}/lib/site-packages
+  # MARKER_FILE ${CMAKE_BINARY_DIR}/lib/site-packages/sva/py.typed
+  DEPENDS
+  sva_pywrap
+  VERBOSE)
+
+jrl_python_compile_all(DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/sva
+                       VERBOSE)
+
+jrl_python_compute_install_dir(python_install_dir)
+install(
+  DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/sva
+  DESTINATION ${python_install_dir}
+  FILES_MATCHING
+  PATTERN "*.py"
+  PATTERN "*.pyc"
+  PATTERN "*.pyi"
+  PATTERN "*.typed"
+  PATTERN "*.so"
+  PATTERN "*.pyd")

binding/nanobind/README.md

@@ -0,0 +1,5 @@
+# nanobind python bindings for mc_rtc
+
+## Build
+
+See https://nanobind.readthedocs.io/en/latest/packaging.html for details

binding/nanobind/docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

binding/nanobind/docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

binding/nanobind/docs/source/conf.py

@@ -0,0 +1,46 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = "SpaceVecAlg"
+copyright = "2025, CNRS-AIST JRL, LIRMM"
+author = "CNRS-AIST JRL, LIRMM"
+release = "2.12.0"
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = ["autoapi.extension"]
+
+templates_path = ["_templates"]
+exclude_patterns = []
+
+autoapi_dirs = [
+    "/home/vscode/workspace/python-venv/lib/python3.12/site-packages/sva"
+]
+autoapi_file_patterns = ["*.pyi", "*.py"]
+autoapi_python_class_content = "both"
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+# html_theme = 'alabaster'
+
+html_theme = "sphinx_book_theme"
+html_theme_options = {
+    "repository_url": "https://github.com/jrl-umi3218/SpaceVecAlg",
+    "use_repository_button": True,
+    "use_download_button": False,
+}
+html_title = ""
+# html_logo = "_static/images/mc_rtc_logo.png"
+
+
+html_static_path = ["_static"]
+
+autodoc_typehints = "description"

binding/nanobind/docs/source/index.rst

@@ -0,0 +1,14 @@
+SpaceVecAlg python bindings documentation
+=========================================
+
+Add your content using ``reStructuredText`` syntax. See the
+`reStructuredText <https://www.sphinx-doc.org/en/master/usage/restructuredtext/index.html>`_
+documentation for details.
+
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   introduction
+.. API is auto-generated from mc_rtc python module with api-autodoc

binding/nanobind/docs/source/introduction.rst

@@ -0,0 +1,2 @@
+Introduction
+============

binding/nanobind/include/mc_rtc_python/mc_rbdyn/mc_rbdyn_module.h

@@ -0,0 +1,8 @@
+#pragma once
+#include <nanobind/nanobind.h>
+
+namespace mc_rtc_python
+{
+void bind_mc_rbdyn_module(nanobind::module_ & m);
+void bind_RobotModule(nanobind::module_ & m);
+} // namespace mc_rtc_python

binding/nanobind/include/mc_rtc_python/mc_rtc_module.h

@@ -0,0 +1,7 @@
+#pragma once
+#include <nanobind/nanobind.h>
+
+namespace mc_rtc_python
+{
+void bind_configuration(nanobind::module_ & m);
+}