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Add PyPI release and GitHub Pages automation (#163)
Add the release and documentation plumbing needed to publish pycddp to PyPI and host project docs on GitHub Pages.
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‎.github/workflows/pages.yml‎

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name: Docs
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on:
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push:
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branches: [master]
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paths:
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- "docs/**"
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- "mkdocs.yml"
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- ".github/workflows/pages.yml"
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workflow_dispatch:
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permissions:
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contents: read
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pages: write
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id-token: write
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concurrency:
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group: pages
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cancel-in-progress: true
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jobs:
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build:
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name: Build docs
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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Install uv
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run: python -m pip install uv
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- name: Configure GitHub Pages
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uses: actions/configure-pages@v5
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- name: Build site
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run: uvx --from mkdocs --with mkdocs-material mkdocs build --strict
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- name: Upload Pages artifact
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uses: actions/upload-pages-artifact@v3
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with:
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path: site
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deploy:
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name: Deploy docs
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runs-on: ubuntu-latest
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needs: build
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environment:
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name: github-pages
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url: ${{ steps.deployment.outputs.page_url }}
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steps:
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- name: Deploy to GitHub Pages
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id: deployment
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uses: actions/deploy-pages@v4

‎.github/workflows/publish.yml‎

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name: Publish PyPI
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on:
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push:
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tags:
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- "v*"
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permissions:
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contents: read
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jobs:
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build-sdist:
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name: Build sdist
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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Install build frontend
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run: python -m pip install build
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- name: Build source distribution
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run: python -m build --sdist
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- name: Upload source distribution
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uses: actions/upload-artifact@v4
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with:
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name: dist-sdist
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path: dist/*.tar.gz
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build-wheels:
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name: Build wheels (${{ matrix.os }})
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-latest, windows-latest, macos-13, macos-14]
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Install cibuildwheel
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run: python -m pip install cibuildwheel
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- name: Build wheels
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run: python -m cibuildwheel --output-dir wheelhouse
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env:
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CIBW_BUILD: cp310-* cp311-* cp312-* cp313-*
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CIBW_SKIP: *-musllinux_* *-win32
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CIBW_ARCHS_LINUX: auto64
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CIBW_ARCHS_WINDOWS: auto64
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CIBW_ARCHS_MACOS: auto64
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- name: Upload wheel artifacts
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uses: actions/upload-artifact@v4
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with:
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name: dist-wheels-${{ matrix.os }}
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path: wheelhouse/*.whl
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publish:
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name: Publish to PyPI
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runs-on: ubuntu-latest
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needs: [build-sdist, build-wheels]
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permissions:
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id-token: write
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contents: read
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environment:
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name: pypi
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url: https://pypi.org/p/pycddp
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steps:
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- name: Download distribution artifacts
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uses: actions/download-artifact@v4
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with:
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pattern: dist-*
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path: dist
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merge-multiple: true
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- name: Publish distributions
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uses: pypa/gh-action-pypi-publish@release/v1

‎.github/workflows/wheels.yml‎

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name: Wheel CI
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on:
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pull_request:
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push:
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branches: [master]
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workflow_dispatch:
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permissions:
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contents: read
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jobs:
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build-sdist:
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name: Build sdist
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runs-on: ubuntu-latest
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Install build frontend
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run: python -m pip install build
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- name: Build source distribution
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run: python -m build --sdist
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- name: Upload source distribution
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uses: actions/upload-artifact@v4
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with:
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name: dist-sdist
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path: dist/*.tar.gz
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build-wheels:
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name: Build wheels (${{ matrix.os }})
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-latest, windows-latest, macos-13, macos-14]
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Install cibuildwheel
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run: python -m pip install cibuildwheel
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- name: Build wheels
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run: python -m cibuildwheel --output-dir wheelhouse
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env:
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CIBW_BUILD: cp310-* cp311-* cp312-* cp313-*
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CIBW_SKIP: *-musllinux_* *-win32
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CIBW_ARCHS_LINUX: auto64
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CIBW_ARCHS_WINDOWS: auto64
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CIBW_ARCHS_MACOS: auto64
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- name: Upload wheel artifacts
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uses: actions/upload-artifact@v4
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with:
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name: dist-wheels-${{ matrix.os }}
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path: wheelhouse/*.whl

‎.gitignore‎

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# Python / uv
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.venv/
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uv.lock
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site/
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*.egg-info/
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__pycache__/
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*.so

‎CMakeLists.txt‎

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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.14)
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cmake_minimum_required(VERSION 3.15)
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# Set policy to support older CMake code
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cmake_policy(SET CMP0048 NEW)
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# Allow policy version minimum flag to be passed to sub-projects
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set(CMAKE_POLICY_VERSION_MINIMUM "3.5" CACHE STRING "Minimum CMake version for policy compatibility")
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set(CMAKE_POLICY_VERSION_MINIMUM "3.15" CACHE STRING "Minimum CMake version for policy compatibility")
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project(
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cddp
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)
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include(GNUInstallDirs)
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include(FetchContent)
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set(CMAKE_CXX_STANDARD 17) # Enforce C++17 as the minimum standard
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set(CMAKE_CXX_STANDARD_REQUIRED ON) # Enforce C++17 as the minimum standard
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endif()
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endif()
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# Enable FetchContent for downloading dependencies
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include(FetchContent)
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# autodiff
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set(AUTODIFF_BUILD_TESTS OFF CACHE BOOL "Don't build autodiff tests")
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set(AUTODIFF_BUILD_EXAMPLES OFF CACHE BOOL "Don't build autodiff examples")

‎CONTRIBUTING.md‎

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pytest -q python/tests
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```
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### Docs preview
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```bash
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uvx --from mkdocs --with mkdocs-material mkdocs serve
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```
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## Pull requests
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Before opening a pull request:
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4. Update documentation when user-facing behavior, examples, or public APIs change.
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5. Write a clear commit message and PR description.
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Tagged releases publish Python artifacts to PyPI via GitHub Actions. The
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project site deploys from `master` to GitHub Pages.
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PRs that include a minimal reproduction, exact validation commands, and a concise explanation of the design tradeoffs are much easier to review.
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## Issues

‎README.md‎

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brew install eigen # For macOS
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```
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### Building
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### Python package
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Tagged releases publish the Python bindings to PyPI:
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```bash
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pip install pycddp
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```
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Prebuilt wheels are intended for CPython 3.10-3.13 on Linux, macOS, and
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Windows. If a wheel is not available for your platform yet, install from
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source using the steps below.
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### Building from source
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```bash
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git clone https://github.com/astomodynamics/cddp-cpp
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cd cddp-cpp
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make test
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```
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### Documentation
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The project site is published through GitHub Pages at:
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<https://astomodynamics.github.io/cddp-cpp/>
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The Pages workflow builds the Markdown docs from `docs/` using MkDocs.
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## ROS
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If you want to use this library for ROS2 MPC node, please refer [CDDP MPC Package](https://github.com/astomodynamics/cddp_mpc). You do not need to install this library to use the package. MPC package will automatically install this library as a dependency.
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‎docs/cpp.md‎

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# C++ build
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The repository remains a first-class C++ library even when distributed through
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PyPI for Python users.
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## Core build
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```bash
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cmake -S . -B build
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cmake --build build -j4
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ctest --test-dir build --output-on-failure
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```
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## Python bindings from CMake
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```bash
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cmake -S . -B build-python -DCDDP_CPP_BUILD_PYTHON=ON -DCDDP_CPP_BUILD_TESTS=OFF -DCDDP_CPP_BUILD_EXAMPLES=OFF
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cmake --build build-python -j4
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```
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## Installed C++ assets
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The install rules export:
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- `libcddp` and CMake package metadata
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- public headers under `include/cddp-cpp/`
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- the Python extension when `CDDP_CPP_BUILD_PYTHON=ON`
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That lets the repository serve both as:
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- a source build for C++ consumers
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- the native backend for the `pycddp` wheel

‎docs/index.md‎

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# CDDP
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`cddp-cpp` is a constrained differential dynamic programming solver library with:
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- a C++17 core library for trajectory optimization and MPC
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- `pycddp` Python bindings built with `pybind11`
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- a small animation-oriented Python portfolio for demos and regression checks
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Use the navigation to get started with installation, local development, and
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the release workflow for PyPI and GitHub Pages.
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## Project scope
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- C++ library: reusable solver and dynamical-system implementations
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- Python package: importable bindings distributed as `pycddp`
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- Docs site: Markdown content from `docs/`, published to GitHub Pages
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## Quick start
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Install the Python package from PyPI:
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```bash
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pip install pycddp
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```
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Or build from source:
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```bash
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git clone https://github.com/astomodynamics/cddp-cpp
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cd cddp-cpp
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cmake -S . -B build
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cmake --build build -j4
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ctest --test-dir build --output-on-failure
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```

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