Release/7.0.0

.github/dependabot.yml

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

.github/workflows/nix.yml

@@ -17,13 +17,14 @@ jobs:
       matrix:
         os: [ubuntu]  # TODO
     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 flake check -L
+      - run: nix build -L
   check:
     if: always()
     name: check-macos-linux-nix

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

@@ -6,14 +6,28 @@ on:
     - cron: '0 16 13 * *'
 
 jobs:
-  lockfile:
-    runs-on: ubuntu-latest
+  update-flake-inputs:
+    runs-on: ubuntu-slim
+    permissions:
+      contents: write
+      pull-requests: write
     steps:
+      - name: Generate GitHub App Token
+        id: app-token
+        uses: actions/create-github-app-token@v2
+        with:
+          app-id: ${{ secrets.GEPETTO_NIX_APP_ID }}
+          private-key: ${{ secrets.GEPETTO_NIX_APP_PRIVATE_KEY }}
       - name: Checkout repository
-        uses: actions/checkout@v5
-      - name: Install Nix
-        uses: DeterminateSystems/nix-installer-action@main
-      - name: Update flake.lock
-        uses: DeterminateSystems/update-flake-lock@main
+        uses: actions/checkout@v6
+        with:
+          token: ${{ steps.app-token.outputs.token }}
+      - name: Setup Nix
+        uses: cachix/install-nix-action@v31
+      - name: Update flake inputs
+        uses: mic92/update-flake-inputs@v1
         with:
-          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}
+          github-token: ${{ steps.app-token.outputs.token }}
+          pr-labels: 'no-changelog'
+          git-author-name: 'hrp2-14'
+          git-author-email: '40568249+hrp2-14@users.noreply.github.com'

.mergify.yml

@@ -5,6 +5,7 @@ pull_request_rules:
       - check-success = "pre-commit.ci - pr"
       - or:
           - author = dependabot[bot]
+          - author = gepetto-flake-updater[bot]
           - author = github-actions[bot]
           - author = hrp2-14
           - author = pre-commit-ci[bot]

.pre-commit-config.yaml

@@ -1,8 +1,8 @@
 ci:
-  autoupdate_branch: devel
+  autoupdate_schedule: quarterly
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.12.12
+  rev: v0.15.5
   hooks:
   - id: ruff
     args:
@@ -14,11 +14,11 @@ 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: v21.1.0
+  rev: v22.1.0
   hooks:
   - id: clang-format
     args:

CMakeLists.txt

@@ -100,7 +100,6 @@ add_project_dependency(hpp-util REQUIRED)
 add_project_dependency(hpp-pinocchio REQUIRED)
 add_project_dependency(hpp-constraints REQUIRED)
 add_project_dependency(hpp-core REQUIRED)
-add_project_dependency(hpp-corbaserver REQUIRED)
 add_project_dependency(hpp-manipulation REQUIRED)
 add_project_dependency(hpp-manipulation-urdf REQUIRED)
 

doc/configure.py

@@ -116,7 +116,13 @@ def _xmlDirFromPkgConfig(pkg):
 
 nsToPackage = {
     "hpp::core": _xmlDirFromPkgConfig("hpp-core"),
+    "hpp::core::path": _xmlDirFromPkgConfig("hpp-core"),
     "hpp::constraints": _xmlDirFromPkgConfig("hpp-constraints"),
+    "hpp::constraints::solver": _xmlDirFromPkgConfig("hpp-constraints"),
+    "hpp::pinocchio": _xmlDirFromPkgConfig("hpp-pinocchio"),
+    "hpp::manipulation": _xmlDirFromPkgConfig("hpp-manipulation"),
+    "hpp::manipulation::graph": _xmlDirFromPkgConfig("hpp-manipulation"),
+    "hpp::manipulation::pathPlanner": _xmlDirFromPkgConfig("hpp-manipulation"),
 }
 
 
@@ -142,7 +148,7 @@ def make_doc_string(brief, detailled):
 
 
 def make_args_string(args):
-    return "(" + ",".join(['arg("' + a + '")' for a in args]) + ")"
+    return "(" + ",".join(['boost::python::arg("' + a + '")' for a in args]) + ")"
 
 
 def substitute(istr, ostr):

doc/doxygen_xml_parser.py

@@ -16,45 +16,112 @@ def _getCompound(self, kind, name):
 
     def classDoc(self, name):
         el = self._getCompound("class", name)
-        return ClassDoc(path.join(self.directory, el.get("refid") + ".xml"))
+        return ClassDoc(
+            path.join(self.directory, el.get("refid") + ".xml"), self.directory
+        )
 
 
 class ClassDoc:
-    def __init__(self, filename):
+    def __init__(self, filename, directory=None):
         self.tree = etree.parse(filename)
-        self.compound = self.tree.find("/compounddef")
+        self.compound = self.tree.find("./compounddef")
         self.classname = self.compound.find("compoundname").text.strip()
+        self.directory = directory if directory else path.dirname(filename)
+        self._group_cache = {}
 
     @staticmethod
     def _getDoc(el):
         b = el.find("briefdescription")
         d = el.find("detaileddescription")
-        return etree.tostring(b, method="text").strip(), d.text.strip()
+        brief = etree.tostring(b, method="text", encoding="unicode").strip()
+        detailed = d.text.strip() if d.text else ""
+        return brief, detailed
+
+    def _getMemberFromGroup(self, memberDefKind, name):
+        """Look for memberdef in a group file via member refid."""
+        members = self.compound.xpath(
+            "sectiondef/member[@kind='" + memberDefKind + "' and name='" + name + "']"
+        )
+        if not members:
+            return None
+        member = members[0]
+        refid = member.get("refid")
+        if not refid:
+            return None
+        group_id = refid.rsplit("_1", 1)[0]
+        if group_id not in self._group_cache:
+            group_file = path.join(self.directory, group_id + ".xml")
+            if not path.isfile(group_file):
+                return None
+            self._group_cache[group_id] = etree.parse(group_file)
+        group_tree = self._group_cache[group_id]
+        memberdefs = group_tree.xpath(
+            "//memberdef[@id='" + refid + "' and @kind='" + memberDefKind + "']"
+        )
+        if memberdefs:
+            return memberdefs[0]
+        return None
+
+    def _getMemberFromInherited(self, memberDefKind, name):
+        """Look for memberdef in base class XML via listofallmembers member refid."""
+        members = self.compound.xpath("listofallmembers/member[name='" + name + "']")
+        if not members:
+            return None
+        member = members[0]
+        refid = member.get("refid")
+        if not refid:
+            return None
+        # Extract base class file from refid
+        # e.g., "classhpp_1_1pinocchio_1_1AbstractDevice_1a312..." -> "classhpp_1_1pinocchio_1_1AbstractDevice"
+        parts = refid.rsplit("_1", 1)
+        if len(parts) < 2:
+            return None
+        base_class_id = parts[0]
+        base_class_file = path.join(self.directory, base_class_id + ".xml")
+        if not path.isfile(base_class_file):
+            return None
+        if base_class_id not in self._group_cache:
+            self._group_cache[base_class_id] = etree.parse(base_class_file)
+        base_tree = self._group_cache[base_class_id]
+        memberdefs = base_tree.xpath(
+            "//memberdef[@id='" + refid + "' and @kind='" + memberDefKind + "']"
+        )
+        if memberdefs:
+            return memberdefs[0]
+        return None
 
     def _getMember(self, sectionKind, memberDefKind, name):
-        # return self.compound.xpath ("sectiondef[@kind='" + sectionKind
-        try:
-            return self.compound.xpath(
-                "sectiondef[re:test(@kind,'"
-                + sectionKind
-                + "')]/memberdef[@kind='"
-                + memberDefKind
-                + "' and name='"
-                + name
-                + "']",
-                namespaces={"re": "http://exslt.org/regular-expressions"},
-            )[0]
-        except IndexError as e:
-            msg = (
-                "Error: Could not find member ("
-                + sectionKind
-                + ") "
-                + name
-                + " of class "
-                + self.classname
-            )
-            print(msg + "\n" + str(e), file=sys.stderr)
-            raise IndexError(msg)
+        # First try to find memberdef directly in class XML
+        results = self.compound.xpath(
+            "sectiondef[re:test(@kind,'"
+            + sectionKind
+            + "')]/memberdef[@kind='"
+            + memberDefKind
+            + "' and name='"
+            + name
+            + "']",
+            namespaces={"re": "http://exslt.org/regular-expressions"},
+        )
+        if results:
+            return results[0]
+        # Fall back to looking in group files (for @ingroup documented classes)
+        memberdef = self._getMemberFromGroup(memberDefKind, name)
+        if memberdef is not None:
+            return memberdef
+        # Fall back to looking in base class files (for inherited methods)
+        memberdef = self._getMemberFromInherited(memberDefKind, name)
+        if memberdef is not None:
+            return memberdef
+        msg = (
+            "Error: Could not find member ("
+            + sectionKind
+            + ") "
+            + name
+            + " of class "
+            + self.classname
+        )
+        print(msg, file=sys.stderr)
+        raise IndexError(msg)
 
     def getClassDoc(self):
         return self._getDoc(self.compound)
@@ -76,14 +143,16 @@ def getClassMethodDoc(self, methodname):
             ]
         else:
             args = []
-        args += [el.text.strip() for el in member.xpath("param/declname")]
+        args += [el.text.strip() for el in member.xpath("param/declname") if el.text]
         for parameters in dd.xpath("para/parameterlist/parameteritem"):
             pargs = [
                 el.text.strip()
                 for el in parameters.find("parameternamelist").findall("parametername")
+                if el.text
             ]
             pns = " ".join(pargs)
-            pd = parameters.find("parameterdescription").find("para").text.strip()
+            para_el = parameters.find("parameterdescription").find("para")
+            pd = para_el.text.strip() if para_el is not None and para_el.text else ""
             d += "\n:param " + pns + ":" + pd
         return b, d, args