Fix package exports and Python binding ownership

This updates the installed CMake and Python package layouts so downstream consumers can find cddp headers and import pycddp after install.

It also replaces the unsafe raw-pointer Python ownership handoff with Python-backed solver adapters, acquires the GIL for Python callbacks, and removes the legacy Matplot-driven build surface from the default configuration.

Author: astomodynamics

CMakeLists.txt

@@ -25,6 +25,8 @@ project(
   HOMEPAGE_URL  "https://github.com/astomodynamics/cddp-cpp"
 )
 
+include(GNUInstallDirs)
+
 set(CMAKE_CXX_STANDARD 17) # Enforce C++17 as the minimum standard
 set(CMAKE_CXX_STANDARD_REQUIRED ON)  # Enforce C++17 as the minimum standard
 set(ABSL_PROPAGATE_CXX_STD ON) # Enforce C++17 for absl
@@ -44,7 +46,6 @@ endif()
 # Options
 option(CDDP_CPP_BUILD_TESTS "Whether to build tests." ON)
 option(CDDP_CPP_BUILD_EXAMPLES "Whether to build examples." ON)
-option(CDDP_CPP_ENABLE_PLOTTING "Enable matplotplusplus for visualization." ON)
 
 # CasADi Configuration
 option(CDDP_CPP_CASADI "Whether to use CasADi" OFF)
@@ -94,18 +95,6 @@ endif()
 # Enable FetchContent for downloading dependencies
 include(FetchContent)
 
-# Matplotplusplus (optional)
-if(CDDP_CPP_ENABLE_PLOTTING)
-  FetchContent_Declare(matplotplusplus
-    GIT_REPOSITORY https://github.com/alandefreitas/matplotplusplus
-    GIT_TAG origin/master)
-  FetchContent_GetProperties(matplotplusplus)
-  if(NOT matplotplusplus_POPULATED)
-      FetchContent_Populate(matplotplusplus)
-      add_subdirectory(${matplotplusplus_SOURCE_DIR} ${matplotplusplus_BINARY_DIR} EXCLUDE_FROM_ALL)
-  endif()
-endif()
-
 # autodiff
 set(AUTODIFF_BUILD_TESTS OFF CACHE BOOL "Don't build autodiff tests")
 set(AUTODIFF_BUILD_EXAMPLES OFF CACHE BOOL "Don't build autodiff examples")
@@ -190,18 +179,13 @@ target_link_libraries(${PROJECT_NAME}
     autodiff
 )
 
-if(CDDP_CPP_ENABLE_PLOTTING)
-  target_link_libraries(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:matplot>)
-  target_compile_definitions(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:CDDP_HAS_MATPLOT>)
-endif()
-
 if(NOT Eigen3_FOUND)
   target_include_directories(${PROJECT_NAME} PUBLIC ${EIGEN3_INCLUDE_DIRS})
 endif()
 
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/cddp-cpp>
-  $<INSTALL_INTERFACE:include>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/cddp-cpp>
 )
 
 if (CDDP_CPP_CASADI)
@@ -281,7 +265,6 @@ if(CDDP_CPP_BUILD_PYTHON)
 endif()
 
 # Install targets
-include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 
 install(TARGETS ${PROJECT_NAME}

Dockerfile

@@ -9,9 +9,6 @@ RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-ins
         curl \
         git \
         wget \
-        libjpeg-dev \
-        libpng-dev \
-        gnuplot \
         libeigen3-dev && \
     rm -rf /var/lib/apt/lists/*
 

README.md

@@ -29,119 +29,15 @@ $$
 $$
 
 ## Examples
-### Unicycle
-
-Simple car-like robot with velocity and steering control:
-
-```bash
-./examples/cddp_unicycle // after building
-```
-
-<img src="results/tests/unicycle.gif" width="300" alt="Unicycle Model CDDP">
-
-### Unicycle with Obstacle Avoidance
-
-Simple car-like robot with velocity and steering control:
-
-```bash
-./examples/cddp_unicycle_safe // after building
-```
-
-<img src="results/tests/unicycle_trajectory_comparison.png" width="300" alt="Unicycle Model CDDP with Obstacle Avoidance">
-
-### Unicycle with Obstacle Avoidance (infeasible initial guess)
-
-```bash
-./examples/cddp_unicycle_safe_ipddp // after building
-```
-
-<img src="results/tests/trajectory_comparison_ipddp.png" width="300" alt="Unicycle Model CDDP with Obstacle Avoidance">
-
-### Bicycle Model
-
-Bicycle model with velocity and steering control:
+The default C++ build currently includes a barrier-strategy comparison example:
 
 ```bash
-./examples/cddp_bicycle // after building
+./examples/test_barrier_strategies
 ```
 
-<img src="results/tests/bicycle.gif" width="300" alt="Bicycle Model CDDP">
-
-### Control-limited Car
-
-Car model with limited velocity and steering control:
-
-```bash
-./examples/cddp_car // after building
-```
-
-<img src="results/tests/car_parking.gif" width="300" alt="Car Model CDDP">
-
-```bash
-./examples/cddp_car_ipddp // after building
-```
-
-<img src="results/tests/car_parking_ipddp.gif" width="300" alt="Car Model CDDP">
-
-### Pendulum
-
-Simple pendulum with torque control:
-
-```bash
-./examples/cddp_pendulum // after building
-```
-
-
-<img src="results/tests/pendulum.gif" width="300" alt="Pendulum CDDP">
-
-### Cartpole
-
-Cartpole with cart control:
-
-```bash
-./examples/cddp_cartpole // after building
-```
-
-<img src="results/tests/cartpole.gif" width="300" alt="Cartpole CDDP">
-<img src="results/tests/cartpole_results.png" width="300" alt="Cartpole CDDP">
-
-
-### Quadrotor
-
-Quadrotor with thrust control:
-
-```bash
-./examples/cddp_quadrotor_point // after building
-```
-
-<img src="results/tests/quadrotor.gif" width="300" alt="Quadrotor CDDP">
-
-```bash
-./examples/cddp_quadrotor_circle // after building
-```
-
-<img src="results/tests/quadrotor_circle.gif" width="300" alt="Quadrotor CDDP">
-
-
-```bash
-./examples/cddp_quadrotor_figure_eight_horizontal // after building
-```
-<img src="results/tests/quadrotor_figure_eight_horizontal.gif" width="300" alt="Quadrotor CDDP">
-
-```bash
-./examples/cddp_quadrotor_figure_eight_vertical // after building
-```
-<img src="results/tests/quadrotor_figure_eight_vertical.gif" width="300" alt="Quadrotor CDDP">
-
-### Manipulator
-
-Manipulator with joint torque control:
-
-```bash
-./examples/cddp_manipulator // after building
-```
-
-<img src="results/tests/manipulator.gif" width="300" alt="Manipulator CDDP">
+Legacy visualization-heavy C++ examples remain in the repository as reference
+material, but they are no longer part of the default build. Python bindings are
+the supported plotting and notebook workflow.
 
 ## Installation
 ### Dependencies
@@ -157,18 +53,6 @@ sudo apt-get install libeigen3-dev # For Ubuntu
 brew install eigen # For macOS
 ```
 
-* [gnuplot](http://www.gnuplot.info/) (Plotting Library)
-```bash
-sudo apt-get install gnuplot # For Ubuntu
-brew install gnuplot # For macOS
-```
-* [imagemagick](https://imagemagick.org/) (Image Processing Library)
-```bash
-sudo apt-get install imagemagick # For Ubuntu
-brew install imagemagick # For macOS
-```
-
-
 ### Building
 ```bash
 git clone -b v0.3.2 https://github.com/astomodynamics/cddp-cpp
@@ -192,7 +76,6 @@ If you want to use this library for ROS2 MPC node, please refer [CDDP MPC Packag
 
 This library uses the following open-source libraries as core dependencies:
 
-* [matplotplusplus](https://github.com/alandefreitas/matplotplusplus) (MIT License)
 * [autodiff](https://github.com/autodiff/autodiff) (MIT License)
 
 This library also uses the following open-source libraries for optional features:
@@ -221,9 +104,9 @@ If you'd like to contribute:
 If you have ideas for collaboration, want to discuss potential research applications, or have any questions, please feel free to open an issue on GitHub or reach out to the @astomodynamics. We are particularly interested in exploring its use in novel robotic systems and complex motion planning scenarios.
 
 ## TODO
-* add **python binding**
+* improve python binding ergonomics
 * improve parallelization
-* add simulation and its plots
+* add simulation examples and Python visualizations
   * Quadruped robot
   * Manipulator
   * Humanoid

cmake/cddpConfig.cmake.in

@@ -2,6 +2,7 @@
 
 include(CMakeFindDependencyMacro)
 find_dependency(Eigen3)
+find_dependency(autodiff)
 
 include("${CMAKE_CURRENT_LIST_DIR}/cddpTargets.cmake")
 check_required_components(cddp)

examples/CMakeLists.txt

@@ -13,111 +13,10 @@
 #  limitations under the License.
 
 # CMakeLists.txt for the CDDP examples
+#
+# The legacy visualization-heavy C++ examples are kept in the repository as
+# reference material, but they no longer participate in the default build.
+# Python bindings are the supported plotting workflow going forward.
 
 add_executable(test_barrier_strategies test_barrier_strategies.cpp)
 target_link_libraries(test_barrier_strategies cddp)
-
-add_executable(cddp_bicycle cddp_bicycle.cpp)
-target_link_libraries(cddp_bicycle cddp)
-
-add_executable(cddp_car cddp_car.cpp)
-target_link_libraries(cddp_car cddp)
-
-add_executable(cddp_car_ipddp cddp_car_ipddp.cpp)
-target_link_libraries(cddp_car_ipddp cddp)
-
-add_executable(cddp_forklift_ipddp cddp_forklift_ipddp.cpp)
-target_link_libraries(cddp_forklift_ipddp cddp)
-
-add_executable(cddp_cartpole cddp_cartpole.cpp)
-target_link_libraries(cddp_cartpole cddp)
-
-add_executable(cddp_hcw cddp_hcw.cpp)
-target_link_libraries(cddp_hcw cddp)
-
-add_executable(cddp_lti_system cddp_lti_system.cpp)
-target_link_libraries(cddp_lti_system cddp)
-
-add_executable(cddp_manipulator cddp_manipulator.cpp)
-target_link_libraries(cddp_manipulator cddp)
-
-add_executable(cddp_pendulum cddp_pendulum.cpp)
-target_link_libraries(cddp_pendulum cddp)
-
-add_executable(cddp_acrobot cddp_acrobot.cpp)
-target_link_libraries(cddp_acrobot cddp)
-
-add_executable(cddp_quadrotor_circle cddp_quadrotor_circle.cpp)
-target_link_libraries(cddp_quadrotor_circle cddp)
-
-add_executable(cddp_quadrotor_figure_eight_horizontal cddp_quadrotor_figure_eight_horizontal.cpp)
-target_link_libraries(cddp_quadrotor_figure_eight_horizontal cddp)
-
-add_executable(cddp_quadrotor_figure_eight_vertical cddp_quadrotor_figure_eight_vertical.cpp)
-target_link_libraries(cddp_quadrotor_figure_eight_vertical cddp)
-
-add_executable(cddp_quadrotor_point cddp_quadrotor_point.cpp)
-target_link_libraries(cddp_quadrotor_point cddp)
-
-add_executable(cddp_quadrotor_figure_eight_horizontal_safe cddp_quadrotor_figure_eight_horizontal_safe.cpp)
-target_link_libraries(cddp_quadrotor_figure_eight_horizontal_safe cddp)
-
-add_executable(cddp_unicycle cddp_unicycle.cpp)
-target_link_libraries(cddp_unicycle cddp)
-
-add_executable(cddp_unicycle_safe cddp_unicycle_safe.cpp)
-target_link_libraries(cddp_unicycle_safe cddp)
-
-add_executable(cddp_unicycle_safe_ipddp cddp_unicycle_safe_ipddp.cpp)
-target_link_libraries(cddp_unicycle_safe_ipddp cddp)
-
-add_executable(cddp_unicycle_safe_ipddp_v2 cddp_unicycle_safe_ipddp_v2.cpp)
-target_link_libraries(cddp_unicycle_safe_ipddp_v2 cddp)
-
-add_executable(cddp_unicycle_safe_ipddp_v3 cddp_unicycle_safe_ipddp_v3.cpp)
-target_link_libraries(cddp_unicycle_safe_ipddp_v3 cddp)
-
-add_executable(cddp_spacecraft_linear_docking cddp_spacecraft_linear_docking.cpp)
-target_link_libraries(cddp_spacecraft_linear_docking cddp)
-
-add_executable(cddp_spacecraft_linear_rpo cddp_spacecraft_linear_rpo.cpp)
-target_link_libraries(cddp_spacecraft_linear_rpo cddp)
-
-add_executable(cddp_spacecraft_nonlinear_rpo cddp_spacecraft_nonlinear_rpo.cpp)
-target_link_libraries(cddp_spacecraft_nonlinear_rpo cddp)
-
-add_executable(cddp_spacecraft_rpo cddp_spacecraft_rpo.cpp)
-target_link_libraries(cddp_spacecraft_rpo cddp)
-
-add_executable(cddp_spacecraft_rpo_mc cddp_spacecraft_rpo_mc.cpp)
-target_link_libraries(cddp_spacecraft_rpo_mc cddp)
-
-add_executable(cddp_spacecraft_rpo_fuel cddp_spacecraft_rpo_fuel.cpp)
-target_link_libraries(cddp_spacecraft_rpo_fuel cddp)
-
-add_executable(cddp_spacecraft_roe_rpo cddp_spacecraft_roe_rpo.cpp)
-target_link_libraries(cddp_spacecraft_roe_rpo cddp)
-
-add_executable(mpc_hcw mpc_hcw.cpp)
-target_link_libraries(mpc_hcw cddp)
-
-add_executable(cddp_unicycle_mpc cddp_unicycle_mpc.cpp)
-target_link_libraries(cddp_unicycle_mpc cddp)
-
-# Ipopt examples
-if (CDDP_CPP_CASADI)
-    add_executable(ipopt_car ipopt_car.cpp)
-    target_link_libraries(ipopt_car cddp)
-
-    add_executable(ipopt_unicycle ipopt_unicycle.cpp)
-    target_link_libraries(ipopt_unicycle cddp)
-
-    add_executable(ipopt_cartpole ipopt_cartpole.cpp)
-    target_link_libraries(ipopt_cartpole cddp)
-
-    add_executable(ipopt_quadrotor ipopt_quadrotor.cpp)
-    target_link_libraries(ipopt_quadrotor cddp)
-
-    add_executable(ipopt_spacecrat_linear_fuel ipopt_spacecrat_linear_fuel.cpp)
-    target_link_libraries(ipopt_spacecrat_linear_fuel cddp)
-endif()

include/cddp-cpp/cddp.hpp

@@ -57,8 +57,4 @@
 #include "dynamics_model/quaternion_attitude.hpp"
 #include "dynamics_model/mrp_attitude.hpp"
 
-#ifdef CDDP_HAS_MATPLOT
-#include "matplot/matplot.h"
-#endif
-
 #endif // CDDP_HPP

pyproject.toml

@@ -19,5 +19,5 @@ viz = ["matplotlib>=3.5"]
 dev = ["pytest>=7.0", "matplotlib>=3.5"]
 
 [tool.scikit-build]
-cmake.args = ["-DCDDP_CPP_BUILD_PYTHON=ON", "-DCDDP_CPP_BUILD_TESTS=OFF", "-DCDDP_CPP_BUILD_EXAMPLES=OFF", "-DCDDP_CPP_ENABLE_PLOTTING=OFF"]
+cmake.args = ["-DCDDP_CPP_BUILD_PYTHON=ON", "-DCDDP_CPP_BUILD_TESTS=OFF", "-DCDDP_CPP_BUILD_EXAMPLES=OFF"]
 wheel.packages = ["python/pycddp"]

python/CMakeLists.txt

@@ -1,3 +1,5 @@
+find_package(Python3 COMPONENTS Interpreter Development.Module REQUIRED)
+
 find_package(pybind11 CONFIG QUIET)
 if(NOT pybind11_FOUND)
   message(STATUS "pybind11 not found, fetching...")
@@ -23,4 +25,14 @@ target_include_directories(_pycddp_core PRIVATE
   ${CMAKE_SOURCE_DIR}/include/cddp-cpp
 )
 
-install(TARGETS _pycddp_core DESTINATION pycddp)
+set(PYCDDP_INSTALL_DIR
+  "${CMAKE_INSTALL_LIBDIR}/python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}/site-packages/pycddp"
+)
+
+install(TARGETS _pycddp_core DESTINATION "${PYCDDP_INSTALL_DIR}")
+install(
+  FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/pycddp/__init__.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/pycddp/_version.py
+  DESTINATION "${PYCDDP_INSTALL_DIR}"
+)