Add PyPI release and GitHub Pages automation

.github/workflows/pages.yml

@@ -0,0 +1,58 @@
+name: Docs
+
+on:
+  push:
+    branches: [master]
+    paths:
+      - "docs/**"
+      - "mkdocs.yml"
+      - ".github/workflows/pages.yml"
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: pages
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: Build docs
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install uv
+        run: python -m pip install uv
+
+      - name: Configure GitHub Pages
+        uses: actions/configure-pages@v5
+
+      - name: Build site
+        run: uvx --from mkdocs --with mkdocs-material mkdocs build --strict
+
+      - name: Upload Pages artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: site
+
+  deploy:
+    name: Deploy docs
+    runs-on: ubuntu-latest
+    needs: build
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/publish.yml

@@ -0,0 +1,91 @@
+name: Publish PyPI
+
+on:
+  push:
+    tags:
+      - "v*"
+
+permissions:
+  contents: read
+
+jobs:
+  build-sdist:
+    name: Build sdist
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install build frontend
+        run: python -m pip install build
+
+      - name: Build source distribution
+        run: python -m build --sdist
+
+      - name: Upload source distribution
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist-sdist
+          path: dist/*.tar.gz
+
+  build-wheels:
+    name: Build wheels (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-13, macos-14]
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel
+
+      - name: Build wheels
+        run: python -m cibuildwheel --output-dir wheelhouse
+        env:
+          CIBW_BUILD: cp310-* cp311-* cp312-* cp313-*
+          CIBW_SKIP: *-musllinux_* *-win32
+          CIBW_ARCHS_LINUX: auto64
+          CIBW_ARCHS_WINDOWS: auto64
+          CIBW_ARCHS_MACOS: auto64
+
+      - name: Upload wheel artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist-wheels-${{ matrix.os }}
+          path: wheelhouse/*.whl
+
+  publish:
+    name: Publish to PyPI
+    runs-on: ubuntu-latest
+    needs: [build-sdist, build-wheels]
+    permissions:
+      id-token: write
+      contents: read
+    environment:
+      name: pypi
+      url: https://pypi.org/p/pycddp
+
+    steps:
+      - name: Download distribution artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: dist-*
+          path: dist
+          merge-multiple: true
+
+      - name: Publish distributions
+        uses: pypa/gh-action-pypi-publish@release/v1

.github/workflows/wheels.yml

@@ -0,0 +1,70 @@
+name: Wheel CI
+
+on:
+  pull_request:
+  push:
+    branches: [master]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  build-sdist:
+    name: Build sdist
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install build frontend
+        run: python -m pip install build
+
+      - name: Build source distribution
+        run: python -m build --sdist
+
+      - name: Upload source distribution
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist-sdist
+          path: dist/*.tar.gz
+
+  build-wheels:
+    name: Build wheels (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-13, macos-14]
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel
+
+      - name: Build wheels
+        run: python -m cibuildwheel --output-dir wheelhouse
+        env:
+          CIBW_BUILD: cp310-* cp311-* cp312-* cp313-*
+          CIBW_SKIP: *-musllinux_* *-win32
+          CIBW_ARCHS_LINUX: auto64
+          CIBW_ARCHS_WINDOWS: auto64
+          CIBW_ARCHS_MACOS: auto64
+
+      - name: Upload wheel artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist-wheels-${{ matrix.os }}
+          path: wheelhouse/*.whl

.gitignore

@@ -25,6 +25,7 @@ solver_snopt.out
 # Python / uv
 .venv/
 uv.lock
+site/
 *.egg-info/
 __pycache__/
 *.so

CMakeLists.txt

@@ -12,11 +12,11 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 
-cmake_minimum_required(VERSION 3.14) 
+cmake_minimum_required(VERSION 3.15)
 # Set policy to support older CMake code
 cmake_policy(SET CMP0048 NEW)
 # Allow policy version minimum flag to be passed to sub-projects
-set(CMAKE_POLICY_VERSION_MINIMUM "3.5" CACHE STRING "Minimum CMake version for policy compatibility")
+set(CMAKE_POLICY_VERSION_MINIMUM "3.15" CACHE STRING "Minimum CMake version for policy compatibility")
 
 project(
   cddp
@@ -26,6 +26,7 @@ project(
 )
 
 include(GNUInstallDirs)
+include(FetchContent)
 
 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
@@ -92,9 +93,6 @@ if (CDDP_CPP_CASADI)
   endif()
 endif()
 
-# Enable FetchContent for downloading dependencies
-include(FetchContent)
-
 # 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")

CONTRIBUTING.md

@@ -40,6 +40,12 @@ source .venv/bin/activate
 pytest -q python/tests
 ```
 
+### Docs preview
+
+```bash
+uvx --from mkdocs --with mkdocs-material mkdocs serve
+```
+
 ## Pull requests
 
 Before opening a pull request:
@@ -50,6 +56,9 @@ Before opening a pull request:
 4. Update documentation when user-facing behavior, examples, or public APIs change.
 5. Write a clear commit message and PR description.
 
+Tagged releases publish Python artifacts to PyPI via GitHub Actions. The
+project site deploys from `master` to GitHub Pages.
+
 PRs that include a minimal reproduction, exact validation commands, and a concise explanation of the design tradeoffs are much easier to review.
 
 ## Issues

README.md

@@ -95,7 +95,18 @@ sudo apt-get install libeigen3-dev # For Ubuntu
 brew install eigen # For macOS
 ```
 
-### Building
+### Python package
+Tagged releases publish the Python bindings to PyPI:
+
+```bash
+pip install pycddp
+```
+
+Prebuilt wheels are intended for CPython 3.10-3.13 on Linux, macOS, and
+Windows. If a wheel is not available for your platform yet, install from
+source using the steps below.
+
+### Building from source
 ```bash
 git clone https://github.com/astomodynamics/cddp-cpp
 cd cddp-cpp
@@ -105,6 +116,13 @@ make -j4
 make test
 ```
 
+### Documentation
+The project site is published through GitHub Pages at:
+
+<https://astomodynamics.github.io/cddp-cpp/>
+
+The Pages workflow builds the Markdown docs from `docs/` using MkDocs.
+
 ## ROS 
 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.
 

docs/cpp.md

@@ -0,0 +1,32 @@
+# C++ build
+
+The repository remains a first-class C++ library even when distributed through
+PyPI for Python users.
+
+## Core build
+
+```bash
+cmake -S . -B build
+cmake --build build -j4
+ctest --test-dir build --output-on-failure
+```
+
+## Python bindings from CMake
+
+```bash
+cmake -S . -B build-python -DCDDP_CPP_BUILD_PYTHON=ON -DCDDP_CPP_BUILD_TESTS=OFF -DCDDP_CPP_BUILD_EXAMPLES=OFF
+cmake --build build-python -j4
+```
+
+## Installed C++ assets
+
+The install rules export:
+
+- `libcddp` and CMake package metadata
+- public headers under `include/cddp-cpp/`
+- the Python extension when `CDDP_CPP_BUILD_PYTHON=ON`
+
+That lets the repository serve both as:
+
+- a source build for C++ consumers
+- the native backend for the `pycddp` wheel

docs/index.md

@@ -0,0 +1,34 @@
+# CDDP
+
+`cddp-cpp` is a constrained differential dynamic programming solver library with:
+
+- a C++17 core library for trajectory optimization and MPC
+- `pycddp` Python bindings built with `pybind11`
+- a small animation-oriented Python portfolio for demos and regression checks
+
+Use the navigation to get started with installation, local development, and
+the release workflow for PyPI and GitHub Pages.
+
+## Project scope
+
+- C++ library: reusable solver and dynamical-system implementations
+- Python package: importable bindings distributed as `pycddp`
+- Docs site: Markdown content from `docs/`, published to GitHub Pages
+
+## Quick start
+
+Install the Python package from PyPI:
+
+```bash
+pip install pycddp
+```
+
+Or build from source:
+
+```bash
+git clone https://github.com/astomodynamics/cddp-cpp
+cd cddp-cpp
+cmake -S . -B build
+cmake --build build -j4
+ctest --test-dir build --output-on-failure
+```