Add pycddp Python bindings and CMake install packaging (#160)

* Add a pybind11-based pycddp Python package exposing the full CDDP solver API (dynamics, objectives, constraints, options, solution)
* Add CMake install/export rules and a find_package(cddp) config so the C++ library is consumable as an installed package
* Remove Matplot++ dependency from the default build and clean up dead plotting code

Author: astomodynamics

.github/workflows/PR_TEMPLATE/pull_request_template.md

@@ -1,20 +1,14 @@
 ## Summary
-<!-- Provide 2-3 bullet points summarizing the key changes and their purpose -->
-- 
-- 
+<!-- Summarize the change and why it is needed. -->
 - 
 
 ## Changes
-<!-- List the specific changes made, grouped by component or functionality -->
-- **Component/Feature**: Description of changes
-- **Another Component**: Description of changes
+<!-- List the concrete code, API, or documentation changes. -->
 - 
 
 ## Test Plan
-<!-- Checklist of tests to validate the changes -->
-- [ ] Test item 1
-- [ ] Test item 2
-- [ ] Test item 3
+<!-- List the commands run or explain why testing was not performed. -->
+- [ ] 
 
-## Additional Notes
-<!-- Any additional context, design decisions, or concerns for reviewers -->
+## Notes
+<!-- Add reviewer context only when it is needed. -->

.github/workflows/python-dependency-guard.yaml

@@ -0,0 +1,41 @@
+name: Python Dependency Guard
+
+on:
+  pull_request:
+    branches: [ master ]
+    paths:
+      - "pyproject.toml"
+      - "uv.lock"
+      - "security/python-direct-deps-allowlist.txt"
+      - "tools/check_python_dependency_policy.py"
+
+permissions:
+  contents: read
+
+jobs:
+  policy:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Enforce dependency policy
+        run: python tools/check_python_dependency_policy.py --base-ref "origin/${{ github.base_ref }}"
+
+  dependency-review:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
+    steps:
+      - name: Check dependency review
+        uses: actions/dependency-review-action@v4
+        with:
+          fail-on-severity: high

.gitignore

@@ -21,3 +21,11 @@ pdf_images/
 
 # Solver output
 solver_snopt.out
+
+# Python / uv
+.venv/
+uv.lock
+*.egg-info/
+__pycache__/
+*.so
+*.pyd

.python-version

@@ -0,0 +1 @@
+3.13

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
@@ -43,6 +45,7 @@ endif()
 
 # Options
 option(CDDP_CPP_BUILD_TESTS "Whether to build tests." ON)
+option(CDDP_CPP_BUILD_EXAMPLES "Whether to build examples." ON)
 
 # CasADi Configuration
 option(CDDP_CPP_CASADI "Whether to use CasADi" OFF)
@@ -92,16 +95,6 @@ endif()
 # Enable FetchContent for downloading dependencies
 include(FetchContent)
 
-# Matplotplusplus
-FetchContent_Declare(matplotplusplus
-  GIT_REPOSITORY https://github.com/alandefreitas/matplotplusplus
-  GIT_TAG origin/master) # or whatever tag you want
-FetchContent_GetProperties(matplotplusplus)
-if(NOT matplotplusplus_POPULATED)
-    FetchContent_Populate(matplotplusplus)
-    add_subdirectory(${matplotplusplus_SOURCE_DIR} ${matplotplusplus_BINARY_DIR} EXCLUDE_FROM_ALL)
-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")
@@ -116,6 +109,7 @@ FetchContent_MakeAvailable(autodiff)
 # Googletest
 if (CDDP_CPP_BUILD_TESTS)
   enable_testing()
+  set(INSTALL_GTEST OFF CACHE BOOL "Don't install GTest alongside cddp" FORCE)
   FetchContent_Declare(
     googletest
     GIT_REPOSITORY https://github.com/google/googletest.git
@@ -172,29 +166,33 @@ set(dynamics_model_srcs
   src/dynamics_model/euler_attitude.cpp
 )
 
-add_library(${PROJECT_NAME} 
+add_library(${PROJECT_NAME}
   ${cddp_core_srcs}
   ${dynamics_model_srcs}
 )
 
-target_link_libraries(${PROJECT_NAME} 
-  $<IF:$<BOOL:${Eigen3_FOUND}>,Eigen3::Eigen,>
-  matplot
-  autodiff
-) 
+# Enable position-independent code (required for Python shared library linking)
+set_target_properties(${PROJECT_NAME} PROPERTIES POSITION_INDEPENDENT_CODE ON)
+
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+    $<IF:$<BOOL:${Eigen3_FOUND}>,Eigen3::Eigen,>
+    autodiff
+)
 
 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}>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/cddp-cpp>
 )
 
 if (CDDP_CPP_CASADI)
   target_include_directories(${PROJECT_NAME} PUBLIC ${CASADI_INCLUDE_DIR})
-  target_link_libraries(${PROJECT_NAME} ${CASADI_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME} PRIVATE ${CASADI_LIBRARIES})
 endif()
 
 # ACADOS
@@ -241,7 +239,7 @@ if (CDDP_CPP_ACADOS)
     include_directories(${BLASFEO_INCLUDE_DIR})
     include_directories(${HPIPM_INCLUDE_DIR})
     link_directories(${ACADOS_LIB_DIR})
-    target_link_libraries(${PROJECT_NAME} ${ACADOS_LIBRARIES})
+    target_link_libraries(${PROJECT_NAME} PRIVATE ${ACADOS_LIBRARIES})
 
     # Add preprocessor definition to enable ACADOS in code
     target_compile_definitions(${PROJECT_NAME} PRIVATE CDDP_CPP_ACADOS_ENABLED=1)
@@ -258,11 +256,52 @@ if (CDDP_CPP_BUILD_TESTS)
 endif()
 
 # Build examples
-add_subdirectory(examples)
-
-# Cmake compile commmand:
-# $ mkdir build
-# $ cd build
-# $ cmake -DCDDP_CPP_BUILD_TESTS=ON -DCDDP_CPP_CASADI=ON ..
-# $ make -j4
-# $ make test
+if (CDDP_CPP_BUILD_EXAMPLES)
+  add_subdirectory(examples)
+endif()
+
+# Python bindings (optional)
+option(CDDP_CPP_BUILD_PYTHON "Build Python bindings" OFF)
+if(CDDP_CPP_BUILD_PYTHON)
+  add_subdirectory(python)
+endif()
+
+# Install targets
+include(CMakePackageConfigHelpers)
+
+install(TARGETS ${PROJECT_NAME}
+  EXPORT cddpTargets
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(DIRECTORY include/cddp-cpp/
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/cddp-cpp
+  FILES_MATCHING PATTERN "*.hpp"
+)
+
+install(EXPORT cddpTargets
+  FILE cddpTargets.cmake
+  NAMESPACE cddp::
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/cddp
+)
+
+configure_package_config_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/cmake/cddpConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/cddpConfig.cmake
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/cddp
+)
+
+write_basic_package_version_file(
+  ${CMAKE_CURRENT_BINARY_DIR}/cddpConfigVersion.cmake
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/cddpConfig.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/cddpConfigVersion.cmake
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/cddp
+)

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/*
 
@@ -31,15 +28,12 @@ WORKDIR /app
 COPY . /app
 
 
-# # Configure and build your project
-RUN rm -rf build && \ 
-    mkdir build && \
-    cd build && \
-    cmake \
-            -DCMAKE_BUILD_TYPE=Release \
-            -DCDDP_CPP_BUILD_TESTS=ON \
-            -DCDDP_CPP_CASADI=OFF \
-            -DPython_EXECUTABLE=/usr/bin/python3 \
-            .. && \
-    make -j$(nproc) && \
-    make test
+# Configure and build the project
+RUN rm -rf build && \
+    cmake -S . -B build \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCDDP_CPP_BUILD_TESTS=ON \
+        -DCDDP_CPP_BUILD_EXAMPLES=ON \
+        -DCDDP_CPP_CASADI=OFF && \
+    cmake --build build -j$(nproc) && \
+    ctest --test-dir build --output-on-failure