New python interface with documentation

.gitlab-ci.yml

@@ -1,38 +1,129 @@
-linux_builds:
+linux_python3_7:
   tags: 
   - linux
   only:
   - develop
   image: matteoragni/clothoids.build.antemotion.com:latest
+  before_script:
+  - apt install -y --no-install-recommends --no-install-suggests python3-pytest
   script:
   - |
     cd src_py
-    mkdir build3.6
-    cd build3.6
-    cmake -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3.6 ..
+    mkdir build
+    cd build
+    cmake -DPYTHON_EXECUTABLE:FILEPATH=$PYTHON_BIN ..
     make
-    cd ..
-    /usr/bin/python3.6 test
-    mkdir -p $CI_PROJECT_DIR/releases/linux/python3.6
-    cp build3.6/G2lib.cpython-36m-x86_64-linux-gnu.so $CI_PROJECT_DIR/releases/linux/python3.6
-    mkdir build3.7
-    cd build3.7
-    cmake -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3.7 ..
+    $PYTHON_BIN -m pytest --junitxml=$TEST_REPORT $CI_PROJECT_DIR/src_py/test
+    cp $PRODUCT_NAME $CI_PROJECT_DIR
+  artifacts:
+    paths:
+    - $PRODUCT_NAME
+    reports:
+      junit: $TEST_REPORT
+  variables:
+    GIT_SUBMODULE_STRATEGY: recursive
+    PYTHON_BIN: /usr/bin/python3.7
+    PRODUCT_NAME: G2lib.cpython-37m-x86_64-linux-gnu.so
+    TEST_REPORT: $CI_PROJECT_DIR/test_report.xml
+
+linux_python3_6:
+  tags: 
+  - linux
+  only:
+  - develop
+  image: matteoragni/clothoids.build.antemotion.com:latest
+  before_script:
+  - apt install -y --no-install-recommends --no-install-suggests python3-pytest
+  script:
+  - |
+    cd src_py
+    mkdir build
+    cd build
+    cmake -DPYTHON_EXECUTABLE:FILEPATH=$PYTHON_BIN ..
     make
-    cd ..
-    /usr/bin/python3.7 test
-    mkdir -p $CI_PROJECT_DIR/releases/linux/python3.7
-    cp build3.7/G2lib.cpython-37m-x86_64-linux-gnu.so $CI_PROJECT_DIR/releases/linux/python3.7
-    mkdir build2.7
-    cd build2.7
-    cmake -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python2.7 ..
+    $PYTHON_BIN -m pytest --junitxml=$TEST_REPORT $CI_PROJECT_DIR/src_py/test
+    cp $PRODUCT_NAME $CI_PROJECT_DIR
+  artifacts:
+    paths:
+    - $PRODUCT_NAME
+    reports:
+      junit: $TEST_REPORT
+  variables:
+    GIT_SUBMODULE_STRATEGY: recursive
+    PYTHON_BIN: /usr/bin/python3.6
+    PRODUCT_NAME: G2lib.cpython-36m-x86_64-linux-gnu.so
+    TEST_REPORT: $CI_PROJECT_DIR/test_report.xml
+
+linux_python2_7:
+  tags: 
+  - linux
+  only:
+  - develop
+  image: matteoragni/clothoids.build.antemotion.com:latest
+  before_script:
+  - apt install -y --no-install-recommends --no-install-suggests python-pytest
+  script:
+  - |
+    cd src_py
+    mkdir build
+    cd build
+    cmake -DPYTHON_EXECUTABLE:FILEPATH=$PYTHON_BIN ..
     make
-    cd ..
-    /usr/bin/python2.7 test
-    mkdir -p $CI_PROJECT_DIR/releases/linux/python2.7
-    cp build2.7/G2lib.so $CI_PROJECT_DIR/releases/linux/python2.7
+    $PYTHON_BIN -m pytest --junitxml=$TEST_REPORT $CI_PROJECT_DIR/src_py/test
+    cp $PRODUCT_NAME $CI_PROJECT_DIR
+  artifacts:
+    paths:
+    - $PRODUCT_NAME
+    reports:
+      junit: $TEST_REPORT
+  variables:
+    GIT_SUBMODULE_STRATEGY: recursive
+    PYTHON_BIN: /usr/bin/python2.7
+    PRODUCT_NAME: G2lib.so
+    TEST_REPORT: $CI_PROJECT_DIR/test_report.xml
+
+windows_python3_7:
+  tags: 
+  - win
+  only:
+  - develop
+  script:
+  - |
+    cd src_py
+    mkdir build
+    cd build
+    cmake -DPYTHON_EXECUTABLE:FILEPATH=$PYTHON_BIN -A x64 ..
+    cmake --build . --config Release
+    py.exe -3 -m pytest --junitxml=$TEST_REPORT $CI_PROJECT_DIR/src_py/test
+    cp Release/$PRODUCT_NAME $CI_PROJECT_DIR
+  artifacts:
+    paths:
+    - $PRODUCT_NAME
+  variables:
+    GIT_SUBMODULE_STRATEGY: recursive
+    PYTHON_BIN: C:\Python37\python.exe
+    PRODUCT_NAME: G2lib.cp37-win_amd64.pyd
+    TEST_REPORT: $CI_PROJECT_DIR/test_report.xml
+
+windows_python2_7:
+  tags: 
+  - win
+  only:
+  - develop
+  script:
+  - |
+    cd src_py
+    mkdir build
+    cd build
+    cmake -DPYTHON_EXECUTABLE:FILEPATH=$PYTHON_BIN -A x64 ..
+    cmake --build . --config Release
+    py.exe -2 -m pytest --junitxml=$TEST_REPORT $CI_PROJECT_DIR/src_py/test
+    cp Release/$PRODUCT_NAME $CI_PROJECT_DIR
   artifacts:
     paths:
-    - releases
+    - $PRODUCT_NAME
   variables:
-    GIT_SUBMODULE_STRATEGY: recursive
+    GIT_SUBMODULE_STRATEGY: recursive
+    PYTHON_BIN: C:\Python27\python.exe
+    PRODUCT_NAME: G2lib.pyd
+    TEST_REPORT: $CI_PROJECT_DIR/test_report.xml

.gitmodules

@@ -1,6 +1,9 @@
 [submodule "submodules/Utils"]
 	path = submodules/Utils
-	url = git@github.com:ebertolazzi/Utils.git
+	url = https://github.com/ebertolazzi/Utils.git
 [submodule "submodules/quarticRootsFlocke"]
 	path = submodules/quarticRootsFlocke
-	url = git@github.com:ebertolazzi/quarticRootsFlocke.git
+	url = https://github.com/ebertolazzi/quarticRootsFlocke.git
+[submodule "submodules/GenericContainer"]
+	path = submodules/GenericContainer
+	url = https://github.com/ebertolazzi/GenericContainer.git

CMakeInstall.txt

@@ -62,6 +62,7 @@ configure_package_config_file(
 )
 write_basic_package_version_file(
   "ClothoidsConfigVersion.cmake"
+  VERSION 2.0.9
   COMPATIBILITY SameMajorVersion
 )
 install(

src/ClothoidList.cc

@@ -558,7 +558,10 @@ namespace G2lib {
 
   real_type
   ClothoidList::length() const
-  { return m_s0.back() - m_s0.front(); }
+  { 
+    if ( m_clotoidList.empty() ) return 0.0;
+    return m_s0.back() - m_s0.front(); 
+  }
 
   real_type
   ClothoidList::length_ISO( real_type offs ) const {

src_py/CMakeLists.txt

@@ -40,11 +40,11 @@ set(G2LIB_SOURCES
   "src/python-ClothoidSpline-IpoptSolver.cc"
   "src/python-ClothoidSpline-Interpolation.cc")
 
-pybind11_add_module(${PROJECT_NAME} MODULE ${G2LIB_SOURCES} NO_EXTRAS)
+pybind11_add_module(${PROJECT_NAME} MODULE ${G2LIB_SOURCES})
 
 target_include_directories(${PROJECT_NAME} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_14)
-target_link_libraries(${PROJECT_NAME} PRIVATE ClothoidsStatic)
+target_link_libraries(${PROJECT_NAME} PRIVATE ClothoidsStatic UtilsStatic QuarticStatic)
 if (ipopt_FOUND)
   target_compile_definitions(${PROJECT_NAME} PRIVATE IPOPT_CLOTHOID_SPLINE)
   target_include_directories(${PROJECT_NAME} PRIVATE ${ipopt_INCLUDE_DIRS})
@@ -57,7 +57,5 @@ if (TARGET Eigen3::Eigen)
 endif()
 target_assign_flags(${PROJECT_NAME})
 
-
-
 set(INSTALL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/../lib/lib)
 install(TARGETS ${PROJECT_NAME} DESTINATION ${INSTALL_PREFIX})

src_py/include/python-G2libHeaders.hh

@@ -8,3 +8,12 @@
 
 #pragma once
 #include "Clothoids.hh"
+
+#ifdef _WIN32
+#ifdef min
+#undef min
+#endif
+#ifdef max
+#undef max
+#endif
+#endif