First workspace draft

.gitattributes

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+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true

.gitignore

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+# pixi environments
+.pixi
+*.egg-info
+cmake
+eigenpy
+hpp-fcl
+coal
+pinocchio
+pycppad
+example-robot-data
+proxsuite
+proxsuite-nlp
+aligator
+LoIK
+Simple

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.12)
+project(root)
+include(CTest)
+
+set(PROJECT_WORKSPACE ON)
+set(PROJECT_PACKAGES_IN_WORKSPACE)
+set(PROJECT_PYTHON_PACKAGES_IN_WORKSPACE)
+
+macro(add_eigenpy)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE eigenpy)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/eigenpy/python)
+  add_subdirectory(eigenpy)
+endmacro()
+macro(add_coal)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE hpp-fcl coal)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/hpp-fcl/python ${PROJECT_BINARY_DIR}/coal/python)
+  add_subdirectory(coal)
+endmacro()
+macro(add_pinocchio)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE pinocchio)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/pinocchio/bindings/python)
+  add_subdirectory(pinocchio)
+endmacro()
+macro(add_pycppad)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE pycppad)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/pycppad/python)
+  add_subdirectory(pycppad)
+endmacro()
+macro(add_example_robot_data)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE example-robot-data)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/example-robot-data/python)
+  add_subdirectory(example-robot-data)
+endmacro()
+macro(add_proxsuite)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE proxsuite)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/proxsuite/bindings/python)
+  add_subdirectory(proxsuite)
+endmacro()
+macro(add_proxsuite_nlp)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE proxsuite-nlp)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/proxsuite-nlp/bindings/python)
+  add_subdirectory(proxsuite-nlp)
+endmacro()
+macro(add_aligator)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE aligator)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/aligator/bindings/python)
+  add_subdirectory(aligator)
+endmacro()
+macro(add_loik)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE loik)
+  add_subdirectory(LoIK)
+endmacro()
+macro(add_simple)
+  list(APPEND PROJECT_PACKAGES_IN_WORKSPACE simple)
+  list(APPEND PROJECT_PYTHON_PACKAGES_IN_WORKSPACE
+       ${PROJECT_BINARY_DIR}/Simple/bindings/python)
+  add_subdirectory(Simple)
+endmacro()
+
+# add_eigenpy()
+
+# add_coal()
+
+# add_pinocchio()
+
+# add_pycppad()
+
+# add_example_robot_data()
+
+# add_proxsuite()
+
+# add_proxsuite_nlp()
+
+# add_aligator()
+
+# add_loik()
+
+# add_simple()

README.md

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-# workspace
-This project aggregate scripts and files to work on multiple Simple-Robotics project at once
+# Simple-Robotics Workspace
+
+This project aggregates scripts and files to work on multiple Simple-Robotics projects at once.
+
+## How to use it
+
+To setup a workspace, follow these steps:
+
+1. Populate the workspace
+2. Configure CMakeLists.txt
+3. Configure pixi.toml
+4. Build the workspace
+
+Projects inside a workspace are called **edited projects**.
+
+### Populate the workspace
+
+Use the following commands to clone projects you want to **edit**.
+
+- eigenpy: `git clone [email protected]:stack-of-tasks/eigenpy.git --recursive -b devel`
+- hpp-fcl: `git clone [email protected]:lmontaut/hpp-fcl.git --recursive -b topic/coal`
+- pinocchio: `git clone [email protected]:stack-of-tasks/pinocchio.git --recursive -b devel`
+- pycppad: `git clone [email protected]:Simple-Robotics/pycppad.git --recursive -b devel`
+- example-robot-data: `git clone [email protected]:Gepetto/example-robot-data.git --recursive -b devel`
+- proxsuite: `git clone [email protected]:Simple-Robotics/proxsuite.git --recursive -b devel`
+- proxsuite-nlp: `git clone [email protected]:Simple-Robotics/proxsuite-nlp.git --recursive -b devel`
+- aligator: `git clone [email protected]:Simple-Robotics/aligator --recursive --recursive -b devel`
+
+### Configure CMakeLists.txt
+
+Uncomment the following lines corresponding to all **edited projects** in the [CMakeLists.txt](./CMakeLists.txt) file:
+
+- eigenpy: `add_eigenpy()`
+- hpp-fcl: `add_hpp_fcl()`
+- pinocchio: `add_pinocchio()`
+- pycppad: `add_pycppad()`
+- example-robot-data: `add_example_robot_data()`
+- proxsuite: `add_proxsuite()`
+- proxsuite-nlp: `add_proxsuite_nlp()`
+- aligator: `add_aligator()`
+
+### Configure pixi.toml
+
+This is the trickiest part.
+
+The [pixi.toml](./pixi.toml) file contains the following environments:
+
+- all: Allow to work on all projects at the same time
+- eigenpy-standalone: Allow to work only on eigenpy
+- hpp-fcl-standalone: Allow to work only on hpp-fcl
+- pinocchio-standalone: Allow to work only on pinocchio
+- pycppad-standalone: Allow to work only on pycppad
+- proxsuite-standalone: Allow to work only on proxsuite
+- proxsuite-nlp-standalone: Allow to work only on proxsuite-nlp
+- aligator-standalone: Allow to work only on aligator
+- loik-standalone: Allow to work only on loik
+
+It also contains the following features:
+
+- base: Dependencies used in a lot of projects
+- eigenpy: eigenpy dependencies
+- hpp-fcl: hpp-fcl dependencies without **editable projects**
+- hpp-fcl-standalone: hpp-fcl **editable projects** dependencies
+- pinocchio: pinocchio dependencies without **editable projects**
+- pinocchio-standalone: pinocchio **editable projects** dependencies
+- pycppad: pycppad dependencies without **editable projects**
+- pycppad-standalone: pycppad **editable projects** dependencies
+- proxsuite: proxsuite dependencies without **editable projects**
+- proxsuite-nlp: proxsuite-nlp dependencies without **editable projects**
+- proxsuite-nlp-standalone: proxsuite-nlp **editable projects** dependencies
+- aligator: aligator dependencies without **editable projects**
+- aligator-standalone: aligator **editable projects** dependencies
+- loik: loik dependencies without **editable projects**
+- loik-standalone: loik **editable projects** dependencies
+
+You have to create an environment with all **edited projects** dependencies but without **edited projects** inside.
+To achieve this, you can compose an environment with all defined features.
+
+As an example, if you want to work on hpp-fcl and pinocchio you will need:
+
+- All hpp-fcl dependencies: You can use the hpp-fcl and hpp-fcl-standalone feature
+- pinocchio dependencies without hpp-fcl: You can use the pinocchio feature
+
+You will have to add the following line in the [pixi.toml](./pixi.toml) environments section:
+
+```yaml
+my-env = { features = ["base", "hpp-fcl", "hpp-fcl-standalone", "pinocchio"] }
+```
+
+To help you build the right environment, here the **editable project** dependency graph:
+
+- eigenpy: nothing
+- hpp-fcl:
+    - eigenpy
+- pinocchio:
+    - eigenpy
+    - hpp-fcl
+- pycppad:
+    - eigenpy
+- proxsuite: nothing
+- proxsuite-nlp:
+    - eigenpy
+    - pinocchio
+    - example-robot-data
+    - proxsuite
+- aligator:
+    - eigenpy
+    - pinocchio
+    - example-robot-data
+    - proxsuite-nlp
+- loik:
+    - pinocchio
+    - example-robot-data
+
+### Build the workspace
+
+To build the workspace, open a pixi shell, then run CMake and make as usual:
+
+```bash
+pixi shell -e my-env
+mkdir build
+cd build
+cmake ..
+make
+```
+
+You can run all tests at once by running:
+
+```bash
+ctest
+```
+
+Or you can only select tests from a specific project:
+
+```bash
+ctest -R "pinocchio-.*"
+```