Update pycddlib dependency version to 3.0.0

.github/workflows/ci.yml

@@ -16,14 +16,14 @@ jobs:
             - name: "Checkout sources"
               uses: actions/checkout@v3
 
-            - name: "Set up Python 3.8"
+            - name: "Set up Python 3.9"
               uses: actions/setup-python@v4
               with:
-                  python-version: "3.8"
+                  python-version: "3.9"
 
             - name: "Install Debian dependencies"
               run: |
-                  sudo apt install libgmp3-dev
+                  sudo apt-get install -y libcdd-dev libgmp3-dev
 
             - name: "Install PyPI dependencies"
               run: |
@@ -55,7 +55,7 @@ jobs:
 
             - name: "Install Debian dependencies"
               run: |
-                  sudo apt install libgmp3-dev
+                  sudo apt-get install -y libcdd-dev libgmp3-dev
 
             - name: "Install PyPI dependencies"
               run: |
@@ -74,48 +74,52 @@ jobs:
 
         strategy:
             matrix:
-                os: [ubuntu-latest, windows-latest]
-                python-version: ["3.8", "3.9", "3.10"]
+                os: [ubuntu-latest, macos-13]
+                python-version: ["3.9", "3.10", "3.11", "3.12"]
+
+        defaults:
+            run:
+                # See https://github.com/mamba-org/setup-micromamba?tab=readme-ov-file#about-login-shells
+                shell: bash -leo pipefail {0}
 
         steps:
             - name: "Checkout sources"
               uses: actions/checkout@v3
 
-            - name: "Set up Python ${{ matrix.python-version }}"
-              uses: actions/setup-python@v4
-              with:
-                  python-version: "${{ matrix.python-version }}"
-
-            - name: "Install Debian dependencies"
-              if: matrix.os == 'ubuntu-latest'
-              run: |
-                  sudo apt install libgmp-dev
-
-            - name: "Install macOS dependencies"
-              if: matrix.os == 'macos-latest'
-              run: |
-                  brew install gmp
-
-            - name: "Install PyPI dependencies"
-              run: |
-                  python -m pip install --upgrade pip
-                  python -m pip install tox tox-gh-actions
-
             - name: "Install GMP (Ubuntu)"
               if: matrix.os == 'ubuntu-latest'
               run: |
-                  sudo apt-get install -y libgmp-dev
+                  sudo apt-get install -y libgmp3-dev
 
             - name: "Install GMP (macOS)"
-              if: ${{ matrix.os == 'macos-latest' }}
+              if: ${{ matrix.os == 'macos-13' }}
               run: |
                   brew install gmp
 
-            - name: "Test with tox for ${{ matrix.os }}"
-              env:
-                  PLATFORM: ${{ matrix.os }}
+            - name: "Install Conda environment with Micromamba"
+              uses: mamba-org/setup-micromamba@v1
+              with:
+                  micromamba-version: '1.5.8-0'
+                  environment-name: pypoman_test_env
+                  create-args: >-
+                      python=${{ matrix.python-version }}
+                      cddlib
+                      cvxopt>=1.2.6
+                      matplotlib>=3.3.4
+                      numpy>=1.15.4
+                      pyclipper>=1.3.0
+                      qpsolvers>=3.3.1
+                      scipy>=1.7.0
+                  cache-environment: true
+                  post-cleanup: 'all'
+
+            - name: "Install cdd and pycddlib"
+              run: |
+                  pip install pycddlib
+
+            - name: "Run unit tests"
               run: |
-                  tox
+                  python -m unittest discover
 
     ci_success:
         name: "CI success"

CHANGELOG.md

@@ -4,6 +4,20 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Changed
+
+- Bump minimum supported Python version to 3.9
+- Update pycddlib to version 3.0.0
+
+### Fixed
+
+- CICD: Re-enable macOS testing
+
+### Removed
+
+- CICD: Dropped Windows support
+- Remove cdd reference from polyhedron submodule
+
 ## [1.1.1] - 2024-12-20
 
 ### Changed

doc/src/chebyshev-center.rst

@@ -0,0 +1,5 @@
+****************
+Chebyshev center
+****************
+
+.. autofunction:: pypoman.polyhedron.compute_chebyshev_center

doc/src/duality.rst

@@ -0,0 +1,7 @@
+*******
+Duality
+*******
+
+.. automodule:: pypoman.duality
+    :members:
+

doc/src/index.rst

@@ -3,47 +3,12 @@
 Welcome to the documentation of **pypoman**, a PYthon module for POlyhedral
 MANipulations.
 
-Chebyshev center
-================
-
-.. autofunction:: pypoman.polyhedron.compute_chebyshev_center
-
-Duality
-=======
-
-.. automodule:: pypoman.duality
-    :members:
-
-Intersection
-============
-
-.. automodule:: pypoman.intersection
-    :members:
-
-Linear programming
-==================
-
-.. autofunction:: pypoman.lp.solve_lp
-
-Polygon manipulation
-====================
-
-.. automodule:: pypoman.polygon
-    :members:
-
-Projection
-==========
-
-.. automodule:: pypoman.projection
-    :members:
-
-References
-==========
-
-.. [Boyd04] `Convex Optimization
-   <https://web.stanford.edu/~boyd/cvxbook/bv_cvxbook.pdf>`_, Stephen Boyd and
-   Lieven Vandenberghe, Cambridge University Press, 2004.
-
-.. [Bretl08] *Testing Static Equilibrium for Legged Robots*, T. Bretl and S.
-   Lall, IEEE Transactions on Robotics, vol. 24, no. 4, pp. 794-807, August
-   2008.
+.. toctree::
+    :maxdepth: 1
+
+    chebyshev-center.rst
+    duality.rst
+    intersection.rst
+    polygon.rst
+    projection.rst
+    references.rst

doc/src/intersection.rst

@@ -0,0 +1,6 @@
+************
+Intersection
+************
+
+.. automodule:: pypoman.intersection
+    :members:

doc/src/linear-programming.rst

@@ -0,0 +1,5 @@
+******************
+Linear programming
+******************
+
+.. autofunction:: pypoman.lp.solve_lp

doc/src/polygon.rst

@@ -0,0 +1,7 @@
+********************
+Polygon manipulation
+********************
+
+.. automodule:: pypoman.polygon
+    :members:
+

doc/src/projection.rst

@@ -0,0 +1,6 @@
+**********
+Projection
+**********
+
+.. automodule:: pypoman.projection
+    :members:

doc/src/references.rst

@@ -0,0 +1,11 @@
+**********
+References
+**********
+
+.. [Boyd04] `Convex Optimization
+   <https://web.stanford.edu/~boyd/cvxbook/bv_cvxbook.pdf>`_, Stephen Boyd and
+   Lieven Vandenberghe, Cambridge University Press, 2004.
+
+.. [Bretl08] *Testing Static Equilibrium for Legged Robots*, T. Bretl and S.
+   Lall, IEEE Transactions on Robotics, vol. 24, no. 4, pp. 794-807, August
+   2008.

pypoman/bretl.py

@@ -69,8 +69,9 @@ def expand(
         if (
             abs(
                 np.cross(
-                    [xopt - v1.x, yopt - v1.y], [v1.x - v2.x, v1.y - v2.y]
-                )
+                    [xopt - v1.x, yopt - v1.y, 0],
+                    [v1.x - v2.x, v1.y - v2.y, 0],
+                )[2]
             )
             < 1e-4
         ):

pypoman/duality.py

@@ -36,11 +36,11 @@ def compute_cone_face_matrix(S: np.ndarray) -> np.ndarray:
         ]
     )
     # V-representation: first column is 0 for rays
-    mat = cdd.Matrix(V, number_type="float")
+    mat = cdd.matrix_from_array(V)  # type: ignore
     mat.rep_type = cdd.RepType.GENERATOR
-    P = cdd.Polyhedron(mat)
-    ineq = P.get_inequalities()
-    H = np.array(ineq)
+    P = cdd.polyhedron_from_matrix(mat)
+    ineq = cdd.copy_inequalities(P)
+    H = np.array(ineq.array)
     if H.shape == (0,):  # H == []
         return H
     A = []
@@ -82,10 +82,10 @@ def compute_polytope_halfspaces(
     V = np.vstack(vertices)
     t = np.ones((V.shape[0], 1))  # first column is 1 for vertices
     tV = np.hstack([t, V])
-    mat = cdd.Matrix(tV, number_type="float")
+    mat = cdd.matrix_from_array(tV)  # type: ignore
     mat.rep_type = cdd.RepType.GENERATOR
-    P = cdd.Polyhedron(mat)
-    bA = np.array(P.get_inequalities())
+    P = cdd.polyhedron_from_matrix(mat)
+    bA = np.array(cdd.copy_inequalities(P).array)
     if bA.shape == (0,):  # bA == []
         return bA
     # the polyhedron is given by b + A x >= 0 where bA = [b|A]
@@ -121,11 +121,11 @@ def compute_polytope_vertices(
     <https://pycddlib.readthedocs.io/en/latest/matrix.html>`_.
     """
     b = b.reshape((b.shape[0], 1))
-    mat = cdd.Matrix(np.hstack([b, -A]), number_type="float")
+    mat = cdd.matrix_from_array(np.hstack([b, -A]))  # type: ignore
     mat.rep_type = cdd.RepType.INEQUALITY
-    P = cdd.Polyhedron(mat)
-    g = P.get_generators()
-    V = np.array(g)
+    P = cdd.polyhedron_from_matrix(mat)
+    g = cdd.copy_generators(P)
+    V = np.array(g.array)
     vertices = []
     for i in range(V.shape[0]):
         if V[i, 0] != 1:  # 1 = vertex, 0 = ray

pypoman/polyhedron.py

@@ -15,13 +15,6 @@
 from .lp import solve_lp
 from .misc import norm
 
-try:
-    import cdd
-except ImportError:
-    warn("Could not import cdd, some functions will not be available")
-    cdd = None
-
-
 try:
     import cvxopt
 except ImportError:
@@ -61,7 +54,6 @@ def compute_chebyshev_center(A: np.ndarray, b: np.ndarray) -> np.ndarray:
 
 
 __all__ = [
-    "cdd",
     "compute_chebyshev_center",
     "cvxopt",
 ]

pypoman/projection.py

@@ -69,24 +69,26 @@ def project_polyhedron(
     # see ftp://ftp.ifor.math.ethz.ch/pub/fukuda/cdd/cddlibman/node3.html
     (A, b) = ineq
     b = b.reshape((b.shape[0], 1))
-    linsys = cdd.Matrix(np.hstack([b, -A]), number_type="float")
+    linsys = cdd.matrix_from_array(np.hstack([b, -A]))  # type: ignore
     linsys.rep_type = cdd.RepType.INEQUALITY
 
-    # the input [d, -C] to cdd.Matrix.extend represents (d - C * x == 0)
+    # the input [d, -C] to the cdd function represents (d - C * x == 0)
     # see ftp://ftp.ifor.math.ethz.ch/pub/fukuda/cdd/cddlibman/node3.html
     if eq is not None:
         (C, d) = eq
         d = d.reshape((d.shape[0], 1))
-        linsys.extend(np.hstack([d, -C]), linear=True)
+        new_matrix = cdd.matrix_from_array(np.hstack([d, -C]))  # type: ignore
+        cdd.matrix_append_to(linsys, new_matrix)
+        linsys.rep_type = cdd.RepType.INEQUALITY
         if canonicalize:
-            linsys.canonicalize()
+            cdd.matrix_canonicalize(linsys)
 
     # Convert from H- to V-representation
-    P = cdd.Polyhedron(linsys)
-    generators = P.get_generators()
+    P = cdd.polyhedron_from_matrix(linsys)
+    generators = cdd.copy_generators(P)
     if generators.lin_set:
         print("Generators have linear set: {}".format(generators.lin_set))
-    V = np.array(generators)
+    V = np.array(generators.array)
 
     # Project output wrenches to 2D set
     (E, f) = proj

pyproject.toml

@@ -12,17 +12,17 @@ maintainers = [
     {name = "Stéphane Caron", email = "stephane.caron@normalesup.org"},
 ]
 dynamic = ['version', 'description']
-requires-python = ">=3.7"
+requires-python = ">=3.9"
 classifiers = [
     "Development Status :: 5 - Production/Stable",
     "Intended Audience :: Developers",
     "Intended Audience :: Science/Research",
     "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
     "Operating System :: OS Independent",
-    "Programming Language :: Python :: 3.7",
-    "Programming Language :: Python :: 3.8",
     "Programming Language :: Python :: 3.9",
     "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
     "Topic :: Scientific/Engineering :: Mathematics",
     "Intended Audience :: Developers",
     "Intended Audience :: Science/Research",
@@ -31,7 +31,7 @@ dependencies = [
     "cvxopt >=1.2.6",
     "matplotlib >=3.3.4",
     "numpy >=1.15.4",
-    "pycddlib >=2.1.4,<3",
+    "pycddlib >=3.0.0",
     "scipy >=1.7.0",
 ]
 keywords = ["convex, polyhedron, polyhedra, polytope, projection, duality"]

tox.ini

@@ -13,13 +13,6 @@ PLATFORM =
     ubuntu-latest: linux
     windows-latest: windows
 
-[testenv]
-deps =
-    pyclipper >=1.3.0
-    qpsolvers >=3.3.1
-commands =
-    python -m unittest discover
-
 [testenv:coverage]
 deps =
     coverage >=5.5