Add generation of Python stubs

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

@@ -4,8 +4,10 @@ on: [push,pull_request]
 
 jobs:
   eigenpy-conda:
-    name: CI - EigenPy on ${{ matrix.os }} via Conda
+    name: CI on ${{ matrix.os }} via Conda
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_DIR: /github/home/.ccache # Enable ccache
 
     strategy:
       fail-fast: false
@@ -14,10 +16,8 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-
-    - name: Checkout submodules
-      run: |
-        git submodule update --init
+      with:
+        submodules: recursive
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
@@ -26,22 +26,27 @@ jobs:
         environment-file: .github/workflows/conda/environment.yml
         python-version: 3.8
 
+    - uses: actions/cache@v2
+      with:
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-${{ matrix.os }}
+
     - name: Install cmake and update conda
       shell: bash -l {0}
       run: |
         conda activate eigenpy
         conda install cmake -c main
-    
+
     - name: Build EigenPy
       shell: bash -l {0}
       run: |
         conda activate eigenpy
         echo $CONDA_PREFIX
-        
+
         mkdir build
         cd build
 
-        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3)
+        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) -DGENERATE_PYTHON_STUBS=ON
         make
         make build_tests
         export CTEST_OUTPUT_ON_FAILURE=1

.github/workflows/windows-conda.yml

@@ -39,6 +39,7 @@ jobs:
           -G "NMake Makefiles" ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
           -DCMAKE_BUILD_TYPE=Release ^
+          -DGENERATE_PYTHON_STUBS=ON ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           ..

CMakeLists.txt

@@ -44,6 +44,8 @@ INCLUDE(cmake/python.cmake)
 INCLUDE(cmake/ide.cmake)
 INCLUDE(cmake/apple.cmake)
 
+OPTION(GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF)
+
 STRING(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
 
 # If needed, fix CMake policy for APPLE systems
@@ -60,6 +62,16 @@ FIND_NUMPY()
 
 IF(WIN32)
   LINK_DIRECTORIES(${PYTHON_LIBRARY_DIRS})
+  # Set default Windows build paths
+  SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY
+    ${PROJECT_BINARY_DIR}/Bin
+    CACHE PATH "Single directory for all libraries")
+  SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY
+    ${PROJECT_BINARY_DIR}/Bin
+    CACHE PATH "Single directory for all executables")
+  SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
+    ${PROJECT_BINARY_DIR}/Bin
+    CACHE PATH "Sing$le directory for all archives")
 ENDIF(WIN32)
 
 # ----------------------------------------------------
@@ -150,7 +162,7 @@ SET(${PROJECT_NAME}_SOLVERS_SOURCES
 SET(${PROJECT_NAME}_DECOMPOSITIONS_SOURCES
   src/decompositions/decompositions.cpp
   )
-  
+
 SET(${PROJECT_NAME}_SOURCES
   ${${PROJECT_NAME}_SOLVERS_SOURCES}
   ${${PROJECT_NAME}_DECOMPOSITIONS_SOURCES}
@@ -175,11 +187,11 @@ SET(${PROJECT_NAME}_SOURCES
 )
 
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} 
-  SYSTEM PUBLIC 
-  ${Boost_INCLUDE_DIRS} 
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME}
+  SYSTEM PUBLIC
+  ${Boost_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
-  ${PYTHON_INCLUDE_DIRS} 
+  ${PYTHON_INCLUDE_DIRS}
   ${NUMPY_INCLUDE_DIRS}
   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
   $<INSTALL_INTERFACE:include>)

python/CMakeLists.txt

@@ -3,33 +3,34 @@
 #
 
 # --- LIBRARY --- #
-SET(PYWRAP ${PROJECT_NAME}_pywrap) 
+SET(PYWRAP ${PROJECT_NAME}_pywrap)
 SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/python/${PROJECT_NAME}")
+include(${PROJECT_SOURCE_DIR}/cmake/stubs.cmake)
 
 ADD_CUSTOM_TARGET(python)
 SET_TARGET_PROPERTIES(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
 ADD_LIBRARY(${PYWRAP} SHARED main.cpp)
 ADD_DEPENDENCIES(python ${PYWRAP})
-TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PROJECT_NAME}) 
+TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PROJECT_NAME})
 # BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS spews conversion warnings from int to long unsigned int.
 # Unfortunately, using literals does not work in a macro. As such, this turns them off for the entire wrapper:
 IF(NOT WIN32)
   TARGET_COMPILE_OPTIONS(${PYWRAP} PRIVATE "-Wno-conversion")
 ENDIF()
 IF(IS_ABSOLUTE ${PYTHON_SITELIB})
-  SET(${PYWRAP}_INSTALL_DIR ${PYTHON_SITELIB}/${PROJECT_NAME})
+  SET(ABSOLUTE_PYTHON_SITELIB ${PYTHON_SITELIB})
 ELSE()
-  SET(${PYWRAP}_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${PROJECT_NAME})
+  SET(ABSOLUTE_PYTHON_SITELIB ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB})
 ENDIF()
+SET(${PYWRAP}_INSTALL_DIR ${ABSOLUTE_PYTHON_SITELIB}/${PROJECT_NAME})
 
 SET_TARGET_PROPERTIES(${PYWRAP}
-  PROPERTIES 
+  PROPERTIES
   PREFIX ""
   SUFFIX ${PYTHON_EXT_SUFFIX}
-  OUTPUT_NAME "${PROJECT_NAME}"
   LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/${PROJECT_NAME}"
   )
 
@@ -39,12 +40,20 @@ ENDIF()
 
 INSTALL(TARGETS ${PYWRAP} DESTINATION ${${PYWRAP}_INSTALL_DIR})
 
-# --- INSTALL SCRIPTS 
+# --- GENERATE STUBS
+IF(GENERATE_PYTHON_STUBS)
+  LOAD_STUBGEN()
+
+  GENERATE_STUBS(${CMAKE_CURRENT_BINARY_DIR} ${PROJECT_NAME} ${ABSOLUTE_PYTHON_SITELIB})
+ENDIF(GENERATE_PYTHON_STUBS)
+
+# --- INSTALL SCRIPTS
 SET(PYTHON_FILES
   __init__.py
   )
 
 FOREACH(python ${PYTHON_FILES})
+  PYTHON_BUILD(${PROJECT_NAME} ${python})
   INSTALL(FILES
     "${CMAKE_CURRENT_SOURCE_DIR}/eigenpy/${python}"
     DESTINATION ${${PYWRAP}_INSTALL_DIR})

python/eigenpy/__init__.py

@@ -1,18 +1,6 @@
 #
-# Copyright (c) 2017-2019 CNRS INRIA
+# Copyright (c) 2017-2021 CNRS INRIA
 #
-# This file is part of eigenpy
-# eigenpy is free software: you can redistribute it
-# and/or modify it under the terms of the GNU Lesser General Public
-# License as published by the Free Software Foundation, either version
-# 3 of the License, or (at your option) any later version.
-# Pinocchio is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-# General Lesser Public License for more details. You should have
-# received a copy of the GNU Lesser General Public License along with
-# eigenpy If not, see
-# <http://www.gnu.org/licenses/>.
 
-from .eigenpy import *
-from .eigenpy import __version__, __raw_version__
+from .eigenpy_pywrap import *
+from .eigenpy_pywrap import __version__, __raw_version__

python/main.cpp

@@ -1,6 +1,6 @@
 /*
  * Copyright 2014-2019, CNRS
- * Copyright 2018-2020, INRIA
+ * Copyright 2018-2021, INRIA
  */
 
 #include "eigenpy/eigenpy.hpp"
@@ -19,42 +19,42 @@
 
 using namespace eigenpy;
 
-BOOST_PYTHON_MODULE(eigenpy)
+BOOST_PYTHON_MODULE(eigenpy_pywrap)
 {
   namespace bp = boost::python;
   enableEigenPy();
-  
+
   bp::scope().attr("__version__") = eigenpy::printVersion();
   bp::scope().attr("__raw_version__") = bp::str(EIGENPY_VERSION);
   bp::def("checkVersionAtLeast",&eigenpy::checkVersionAtLeast,
           bp::args("major_version","minor_version","patch_version"),
           "Checks if the current version of EigenPy is at least the version provided by the input arguments.");
-  
+
   exposeAngleAxis();
   exposeQuaternion();
   exposeGeometryConversion();
-  
+
   exposeComputationInfo();
-  
+
   {
     bp::scope solvers = boost::python::class_<SolversScope>("solvers");
     exposeSolvers();
     exposePreconditioners();
-    
+
     register_symbolic_link_to_registered_type<Eigen::ComputationInfo>();
   }
-  
+
   {
     using namespace Eigen;
-    
+
     bp::def("is_approx",(bool (*)(const Eigen::MatrixBase<MatrixXd> &, const Eigen::MatrixBase<MatrixXd> &, const double &))&is_approx<MatrixXd,MatrixXd>,
             bp::args("A","B","prec"),
             "Returns True if A is approximately equal to B, within the precision determined by prec.");
-    
+
     bp::def("is_approx",(bool (*)(const Eigen::MatrixBase<MatrixXd> &, const Eigen::MatrixBase<MatrixXd> &))&is_approx<MatrixXd,MatrixXd>,
             bp::args("A","B"),
             "Returns True if A is approximately equal to B.");
   }
-  
+
   exposeDecompositions();
 }

unittest/CMakeLists.txt

@@ -42,26 +42,26 @@ ADD_PYTHON_UNIT_TEST("py-return-by-ref" "unittest/python/test_return_by_ref.py"
 ADD_PYTHON_UNIT_TEST("py-eigen-ref" "unittest/python/test_eigen_ref.py" "unittest")
 ADD_PYTHON_UNIT_TEST("py-user-type" "unittest/python/test_user_type.py" "unittest")
 
-ADD_PYTHON_UNIT_TEST("py-switch" "unittest/python/test_switch.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-switch" "unittest/python/test_switch.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-switch" PROPERTIES DEPENDS ${PYWRAP})
 
-ADD_PYTHON_UNIT_TEST("py-dimensions" "unittest/python/test_dimensions.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-dimensions" "unittest/python/test_dimensions.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-dimensions" PROPERTIES DEPENDS ${PYWRAP})
 
-ADD_PYTHON_UNIT_TEST("py-version" "unittest/python/test_version.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-version" "unittest/python/test_version.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-version" PROPERTIES DEPENDS ${PYWRAP})
 
-ADD_PYTHON_UNIT_TEST("py-eigen-solver" "unittest/python/test_eigen_solver.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-eigen-solver" "unittest/python/test_eigen_solver.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-eigen-solver" PROPERTIES DEPENDS ${PYWRAP})
 
-ADD_PYTHON_UNIT_TEST("py-self-adjoint-eigen-solver" "unittest/python/test_self_adjoint_eigen_solver.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-self-adjoint-eigen-solver" "unittest/python/test_self_adjoint_eigen_solver.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-self-adjoint-eigen-solver" PROPERTIES DEPENDS ${PYWRAP})
 
-ADD_PYTHON_UNIT_TEST("py-LLT" "unittest/python/test_LLT.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-LLT" "unittest/python/test_LLT.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-LLT" PROPERTIES DEPENDS ${PYWRAP})
 
-ADD_PYTHON_UNIT_TEST("py-LDLT" "unittest/python/test_LDLT.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-LDLT" "unittest/python/test_LDLT.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-LDLT" PROPERTIES DEPENDS ${PYWRAP})
 
-ADD_PYTHON_UNIT_TEST("py-MINRES" "unittest/python/test_MINRES.py" "python/eigenpy;unittest")
+ADD_PYTHON_UNIT_TEST("py-MINRES" "unittest/python/test_MINRES.py" "python;unittest")
 SET_TESTS_PROPERTIES("py-MINRES" PROPERTIES DEPENDS ${PYWRAP})