Refactor CMake with JRL CMake Modules v2#437

Draft

ahoarau wants to merge 209 commits intoSimple-Robotics:develfrom

ahoarau:jrl-next

Commits on Apr 15, 2026

ignore more stuff
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update gersemi conf
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add KMP_DUPLICATE_LIB_OK directly in the __init__.py
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use raw string format in QPFunction to prevent warning during stub gen
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fix documentation compile option
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add pixi support
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remove submodules
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remove unused cmake-external
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remove external libraries
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update doc
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use cmake provided doxygen functions
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add white bg logo for documentation and readme
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factorize.hpp: fix conversion warning
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remove no longer needed condition in c++17
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remove extra Eigen?Core header
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workspace.hpp: fix local variable shadowing a struct member
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random_qp_problems.hpp: use static variables intead of global variables
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separate tests in cpp and python folders
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Refactor CMake with JRL CMake Modules v2
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intregrate get-jrl-cmakemodules.cmake
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update jrl url to point to fork
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require jrl-cmakemodules version 2.0.0
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include stubs pyi files in the installation
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ros-ci: add verbosity
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changelog: add jrl v2 entry
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get-jrl.cmake: update with latest version
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ci: minor cosmetics changes
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main cmake: add back copyright
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ci: add initial pixi ci
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ci: update deps on arch ci
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ci: use pixi to generate docs
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ci: add cache to pixi
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ci: condition pixi ci like the other cis
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ci: add catch2 dep (arch)
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ci: add catch2 dep in conda
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ci: add ceral and nanobind to conda env
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cmake: stubs depends on all targets built
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cmake: check vectorization support and add debug message
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ros: add cereal catch2 deps
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ros: add graphviz dep
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ci: enable caching for ros ci
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cmake: condition cereal dep
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cmake: use fetchcontent as fallback for catch2
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cmake: SYSTEM is not recognized on cmake 3.22
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dense_maros_meszaros: include header locally
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ci: add linux ci via APT
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cmake: disable maros meszaros for now they crash
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ci: add cereal on arch
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ci: add nanobind dep to arch
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ci: add graphviz dep to arch
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ci: add doxygen dep to arch
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cmake: fallback to fetchcontent for cereal
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cmake : remove version min for cereal
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pyproject: require nanobind >=2.5.0
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pyproject: no min for nanobind
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pyproject: nanobind is not compatible with python <3.9
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cmake: fallback to fetchcontent for nanobind
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README: add pixi section
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cmake: downgrade nanobind to 2.9.2 to support python 3.8
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cmake: change default options to mimic upstream
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cmake: fix property name
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cmake: use target_include_directories
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ci: build in build folder
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cmake: add components test
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ci: add components test
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pixi: add uninstall task
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cmake: add back LINK_PYTHON_INTERFACE_TO_OPENMP option
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ci: use multiline commands and cleanup
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cmake: fix link libs on python target
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ci: format
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cmake: format
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cmake: the generator expression does not seem to work
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ignore wheels
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pyproject: do not run tests when building wheels
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ci: executables are in build dir
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cmake: limit to version >=3.22
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cmake: disable testing by default
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ci: do not run executable
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ci: build with vectorization support for test to work
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ci: simplify conda script
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ci: activate conda env according to the doc
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ci: run on pwsh explicitely
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ci: use CMD for windows conda
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ci: rename jobs to include compiler
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c: add specific case for clang-cl
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ci: use cxx-compilers
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ci: reset to shell: bash -el {0}
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ci: cxx-compiler (no s)
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ci: use CMAKE_C_COMPILER
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ci: add msvc action
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ci: setup msvc first
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ci: use cmd
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ci: use CC and CXX
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ci: use local env vars
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ci: use set instead of env
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ci: temporarly disable nix ci
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ci: uniformize names
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pixi.toml: remove cmake profiling
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pixi.toml: add packaging tests
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cmake: use local fetchcontent repo
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ci: remove conda workflow for pixi
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ci: integrate the conda workflow tests and variants
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ci: merge configure and build to provide the cmake args
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pixi.toml: pass build type and cxx standard via cmdline/env
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ci: use env to pass args to pixi
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ci: rename to ci-ros
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ci: enable additional build options
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cmake: normalize PROXSUITE_FETCHCONTENT_SOURCE_DIR path for windows
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pixi.toml: use PROXSUITE_CXX_STANDARD instead
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ci: use PROXSUITE_CXX_STANDARD instead
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cmake: define PROXSUITE_CXX_STANDARD
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cmake: reformat with new gersemi version
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pre-commit: use new ruff-check id
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ci: make sure the env vars are available everywhere
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cmake: fix TO_CMAKE_PATH_LIST
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ci: build with --verbose
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pixi.toml: remove CMAKE_VERBOSE_MAKEFILE
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ci: build with only 2 jobs
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cmake: on windows, use fetchcontent to get catch2
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ci: remove the conda env
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cmake: DOWNLOAD_EXTRACT_TIMESTAMP is not available on cmake 3.22
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pixi.toml: relax deps contrains to allow to use cmake 3.22 exact
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pixi.toml: add verbosity to tests
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cmake: use only 3.22 to prevent the clang modules scanner to be triggerred
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pixi.toml: add cpp20 and cpp23 envs
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pixi.lock: update
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rename BENCHMARK to BENCHMARKS
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package.xml: drop ROS iron and python 2
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ci: update ROS CI and enable features
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ci: disabling tests on windows+debug (too slow)
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ci: disable fail-fast strategy
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package.xml: add python3-dev build depend
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python: import scipy.sparse.linalg explicitly for ubuntu 22
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ci: add build release and debug on ubuntu
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ci: cosmetics
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ci: only build with 1 core to prevent swapping
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rosci: add kilted and configure cache
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implement uint128 on msvc
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fix julia test example
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gitignore: ignore dist/
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cmake: remove extra cereal link
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cmake: make examples part of the test suite
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cmake: add comments on fetchcontent fallbacks
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python: import linalg explicitely for ubuntu 22
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cmake: add ros2 support
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ci: reorder the env vars
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cmake: generate ros2 python package files with condiition
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ci: use latest master commit
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pixi: numpy must be <2.4 due to nanobind limitation
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cmake: check Eigen3::Eigen target before calling find_package
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cmake: use proxsuite::proxsuite target
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cmake: use new option api
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gersemi: put back definitions
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cmake: reformat tests
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cmake: add PROXSUITE_EXPORT_PACKAGE option
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cmake: add eigen fetchcontent support for testing
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cmake: fix new option API
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pixi: isolate packaging tests
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pixi: update lock file
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pixi: update lock file
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cmake: only install the html folder, and putit in doc component
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cpp: make sure maros sparse test finds the helper header
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cmake: add maros_meszaros label
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cmake: remove the eigen3 find_package fallback
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pixi: refactor into features
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ci: update with new pixi file
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pixi: update lock file
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rosci: do not use prerelease
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cmake: update the get-jrl messages
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pyproject.toml: add version constraints, use ninja, and format
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pixi: build wheels
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pixi: update lock file
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ci: update wheel ci to use pixi
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ci: pypi only on release
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cmake: require jrl >=1.2 to get the jrl-v2
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cmake: update python and nanobind min required
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pixi: update min python and nanobind version
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pixi.toml: remove wheels and merge doc with default
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pixi: update lock file
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ci: refactor with new pixi api
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pixi.toml: isolate doc feature
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pixi: update lock file
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pixi: add pixi build support
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gitignore: ignore conda files
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pixi: fix pixi build tests
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pixi: update lock file
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ci: add pixi-build test
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ci: add explicit pixi env
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ci: no need to install the env it's done in the setup
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cmake: require min macos SDK 10.14 (nanobind)
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ci: on pixi only keep 1 ubuntu and 1 windows
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cmake: include project version in config header generation
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ci: bump action versions
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pixi: uniformize constraints
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pixi: comment out pixi-build
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pixi: update lock file
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cmake: disable AVX512 GEMM kernel for MSVC to avoid long compilation times with Eigen5
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pixi: update lock file
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uint128: constify and constexperify
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tests: add more uint128_t tests
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ci: build tests on arch
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Commits on Apr 16, 2026

tests: add shift operation tests for uint128_t with large shift amounts
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uint128: use int32_t instead of int
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uint128: remove comments
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