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Merge pull request #100 from hungpham2511/release-v0.3.0
Release v0.3.0
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‎.circleci/README.md

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# CI
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We have the following CI workflows in CirclCI.
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## integrate
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The main workflow for new commits. The following jobs are done:
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- Check project codestyle.
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- Build and test toppra on Python 3.
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- Build and test toppra (C++).
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## release
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Check release branch for proper version.
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## publish
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Publish source code to venues (PyPI). NOTE: This is currently not done.
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# Github Action
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Some tasks are done directly with Github Action.
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- Linting for C++ code with clang-tidy.
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Note: `cppcoreguidelines-pro-bounds-array-to-pointer-decay` leads to false reported error, thus disabled.
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‎.circleci/config.yml

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version: 2
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jobs:
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check-codestyle:
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docker:
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path: test-reports
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destination: test-reports
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test-python-3:
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build-python-3:
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docker:
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- image: hungpham2511/toppra-dep:0.0.3
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- run:
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name: install dependencies
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command: |
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python3 -m virtualenv --python python3 venv3 && . venv3/bin/activate
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virtualenv --python python3.7 venv3 && . venv3/bin/activate
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pip install invoke pathlib2 numpy cython
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invoke install-solvers
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pip install -e .[dev]
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command: |
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. venv3/bin/activate
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mkdir test-reports
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pytest -q tests --durations=3 --junitxml=test-reports/junit.xml
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python --version
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python -m pytest -q tests --durations=3 --junitxml=test-reports/junit.xml
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- store_test_results:
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path: test-reports
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test-python-2:
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build-cpp:
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docker:
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- image: hungpham2511/toppra-dep:0.0.3
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working_directory: ~/repo
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steps:
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- checkout
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- restore_cache:
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keys:
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- v1-dependencies2-{{ checksum "requirements.txt" }}
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- run:
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name: install dependencies
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name: dependencies
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command: |
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python -m pip install virtualenv --user
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python -m virtualenv venv && . venv/bin/activate
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python -m pip install invoke pathlib2 numpy cython
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python -m invoke install-solvers
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pip install -e .[dev]
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- save_cache:
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paths:
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- ./venv
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key: v1-dependencies2-{{ checksum "requirements.txt" }}
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sudo apt install -y curl
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echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \
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| sudo tee /etc/apt/sources.list.d/robotpkg.list
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curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
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| sudo apt-key add -
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sudo apt update
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sudo apt install -y clang-tidy libeigen3-dev robotpkg-pinocchio robotpkg-qpoases libglpk-dev
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- run:
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name: test
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name: build
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command: |
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. venv/bin/activate
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export PYTHONPATH=$PYTHONPATH:`openrave-config --python-dir`
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mkdir test-reports
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pytest --durations=3 --junitxml=test-reports/junit.xml
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export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
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export CMAKE_PREFIX_PATH=/opt/openrobots
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mkdir build && cd build && cmake -DBUILD_WITH_PINOCCHIO=ON -DBUILD_WITH_qpOASES=ON -DBUILD_WITH_GLPK=ON ..
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make -j4
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working_directory: ~/repo/cpp
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- run:
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name: Collect log data
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name: test
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command: |
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cp /tmp/toppra.log ~/repo/test-reports/
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- store_test_results:
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path: test-reports
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destination: test-reports
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./tests/all_tests
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working_directory: ~/repo/cpp/build
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pre-release:
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docker:
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workflows:
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version: 2
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test-and-lint:
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integrate:
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jobs:
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- test-python-2
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- test-python-3
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- build-cpp
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- check-codestyle
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- build-python-3:
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requires:
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- check-codestyle
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release:
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jobs:
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- pre-release:
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only:
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- fix-ci
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- /release-.*/
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publish:
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jobs:
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- release:
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filters:
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branches:

‎.clang-format

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---
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Language: Cpp
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# BasedOnStyle: Google
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AccessModifierOffset: -1
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AlignAfterOpenBracket: Align
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AlignConsecutiveAssignments: false
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AlignConsecutiveDeclarations: false
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AlignEscapedNewlines: Left
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AlignOperands: true
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: false
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: true
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AllowShortLoopsOnASingleLine: true
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: true
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AlwaysBreakTemplateDeclarations: true
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BinPackArguments: true
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BinPackParameters: true
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BraceWrapping:
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AfterClass: false
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AfterControlStatement: false
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AfterEnum: false
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AfterFunction: false
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AfterNamespace: false
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AfterObjCDeclaration: false
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AfterStruct: false
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AfterUnion: false
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AfterExternBlock: false
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BeforeCatch: false
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BeforeElse: false
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IndentBraces: false
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SplitEmptyFunction: true
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SplitEmptyRecord: true
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SplitEmptyNamespace: true
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BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Attach
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BreakBeforeInheritanceComma: false
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: false
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BreakConstructorInitializers: BeforeColon
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BreakAfterJavaFieldAnnotations: false
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BreakStringLiterals: true
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ColumnLimit: 88
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CommentPragmas: '^ IWYU pragma:'
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CompactNamespaces: false
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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ConstructorInitializerIndentWidth: 4
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DerivePointerAlignment: true
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IncludeBlocks: Preserve
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IncludeCategories:
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- Regex: '^<ext/.*\.h>'
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Priority: 2
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- Regex: '^<.*\.h>'
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Priority: 1
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- Regex: '^<.*'
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Priority: 2
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- Regex: '.*'
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Priority: 3
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IncludeIsMainRegex: '([-_](test|unittest))?$'
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IndentCaseLabels: true
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IndentPPDirectives: None
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IndentWidth: 2
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IndentWrappedFunctionNames: false
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JavaScriptQuotes: Leave
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JavaScriptWrapImports: true
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KeepEmptyLinesAtTheStartOfBlocks: false
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MacroBlockBegin: ''
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MacroBlockEnd: ''
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCBlockIndentWidth: 2
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: false
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PenaltyBreakAssignment: 2
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PenaltyBreakBeforeFirstCallParameter: 1
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PenaltyBreakComment: 300
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PenaltyBreakFirstLessLess: 120
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PenaltyBreakString: 1000
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PenaltyExcessCharacter: 1000000
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PenaltyReturnTypeOnItsOwnLine: 200
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PointerAlignment: Left
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RawStringFormats:
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- Delimiter: pb
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Language: TextProto
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BasedOnStyle: google
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ReflowComments: true
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SortIncludes: true
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SortUsingDeclarations: true
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SpaceAfterCStyleCast: false
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SpaceAfterTemplateKeyword: true
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeParens: ControlStatements
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 2
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SpacesInAngles: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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Standard: Auto
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TabWidth: 8
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UseTab: Never
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...
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‎.github/ISSUE_TEMPLATE/bug_report.md

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---
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name: Bug report
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about: Create a report to help us improve
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title: ''
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labels: 'Type: bug'
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assignees: ''
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---
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**Describe the bug**
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A clear and concise description of what the bug is.
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**To Reproduce**
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Steps to reproduce the behavior:
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1.
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2.
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**Expected behavior**
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A clear and concise description of what you expected to happen.
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**Screenshots**
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If applicable, add screenshots to help explain your problem.
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**Version**
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Branch, commit, version?

‎.github/ISSUE_TEMPLATE/feature_request.md

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---
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name: Feature request
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about: Suggest an idea for this project
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title: ''
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labels: ''
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assignees: ''
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---
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**Is your feature request related to a problem? Please describe.**
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A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
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**Describe the solution you'd like**
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A clear and concise description of what you want to happen.
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**Describe alternatives you've considered**
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A clear and concise description of any alternative solutions or features you've considered.
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**Additional context**
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Add any other context or screenshots about the feature request here.

‎.github/pull_request_template.md

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Fixes #
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Changes in this PRs:
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-
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-
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Checklists:
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- [ ] Update CHANGELOG.md with a single line describing this PR

‎.github/workflows/main.yml

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name: Lint (C++, clang-tidy)
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on:
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push:
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branches: [ develop ]
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pull_request:
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branches: [ develop ]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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# Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
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- uses: actions/checkout@v2
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- name: Install deps
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run: |
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sudo apt install -y curl
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echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \
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| sudo tee /etc/apt/sources.list.d/robotpkg.list
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curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
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| sudo apt-key add -
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sudo apt update
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sudo apt install -y clang-tidy libeigen3-dev robotpkg-pinocchio robotpkg-qpoases
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- name: Lint
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run: |
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cd $GITHUB_WORKSPACE/cpp
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export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
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export CMAKE_PREFIX_PATH=/opt/openrobots
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mkdir build && cd build && cmake -DBUILD_WITH_PINOCCHIO=ON -DBUILD_WITH_qpOASES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=1 ..
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clang-tidy src/**/*.cpp \
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-checks=clang-analyzer-*,clang-analyzer-cplusplus*,cppcoreguidelines-*,performance-*,modernize-*,readability-,-cppcoreguidelines-pro-bounds-array-to-pointer-decay\
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-warnings-as-errors=clang-analyzer-*,clang-analyzer-cplusplus*,cppcoreguidelines-*,modernize-*

‎.gitmodules

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‎.pylintrc

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xrange-builtin,
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xreadlines-attribute,
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zip-builtin-not-iterating,
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bad-continuation
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# Enable the message, report, category or checker with the given id(s). You can
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# either give multiple identifier separated by comma (,) or put this option

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