Merge pull request #10 from GiorgioMedico:dev

  Summary                                 
                                                                                                                                                                             
  InterpolatePy v3.0.0 — Full C++ Port with Python Bindings                                                                                                                  
                                              
  This major release adds a complete C++ implementation (interpolatecpp) of all 22+ algorithms alongside the existing pure-Python library, with a transparent backend system 
  that lets users switch between implementations.       
                                                                                                                                                                             
  Highlights                                                                                                                                                                 
                                                                                                                                                                             
  - Complete C++ library (cpp/) — headers, sources, CMake build system, and GoogleTest suite covering splines, B-splines, motion profiles, quaternion interpolation, and path
   planning                                             
  - Python bindings via pybind11 (cpp/bindings/) exposing the C++ library as interpolatecpp
  - Backend adapter layer (interpolatepy/_adapters/) — seamless bridge between C++ and Python implementations with automatic fallback                                        
  - Protocol-based architecture (interpolatepy/protocols.py) — structural typing contracts enabling algorithm interchangeability
  - 16 C++ examples demonstrating every algorithm family                                                                                                                     
  - Expanded documentation — new tutorials (path planning, quaternion interpolation), architecture guide, and updated API reference                                          
                                                                                                                                                                             
  Breaking Changes                                                                                                                                                           
                                                                                                                                                                             
  - Dropped Python 3.10 support                                                                                                                                              
  - Version bumped from 2.0.1 to 3.0.0                  
  - Removed requirements.txt / requirements-dev.txt in favor of pyproject.toml dependency groups                                                                             
  - __init__.py public API reorganized with adapter-based exports
                                              
  Other Changes                           

  - Modernized GitHub Actions workflows for pyproject.toml-based dependency management                                                                                       
  - Added docs optional dependency group
  - Fixed package discovery to include _adapters subpackage

Author: GiorgioMedico

.github/workflows/docs.yml

@@ -32,6 +32,8 @@ jobs:
     steps:
     - name: Checkout repository
       uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
     - name: Set up Python
       uses: actions/setup-python@v5
@@ -42,8 +44,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        pip install -r requirements-dev.txt
-        pip install -e .
+        pip install -e '.[docs]'
     
     - name: Build documentation
       run: |

.github/workflows/pre-commit.yml

@@ -13,5 +13,5 @@ jobs:
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: '3.11'
+        python-version: '3.12'
     - uses: pre-commit/action@v3.0.1

.github/workflows/publish.yml

@@ -7,23 +7,26 @@ on:
 jobs:
   deploy:
     runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: read
+    environment: pypi
     steps:
     - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
         python-version: '3.12'
-    - name: Install dependencies
+        cache: 'pip'
+    - name: Install build tools
       run: |
         python -m pip install --upgrade pip
-        pip install --upgrade setuptools
-        pip install --upgrade build
-        pip install --upgrade twine
-        pip install -r requirements.txt
-    - name: Build and publish
-      env:
-        TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
-        TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
-      run: |
-        python -m build
-        python -m twine upload dist/*
+        pip install build twine
+    - name: Build package
+      run: python -m build
+    - name: Verify package
+      run: twine check dist/*
+    - name: Publish to PyPI
+      uses: pypa/gh-action-pypi-publish@release/v1

.github/workflows/test.yml

@@ -8,55 +8,32 @@ on:
     branches: [ main, master ]
 
 jobs:
-  build-linux:
-    runs-on: ubuntu-latest
+  test:
+    runs-on: ${{ matrix.os }}
     strategy:
       matrix:
+        os: [ubuntu-latest, macos-latest]
         python-version: ['3.11', '3.12', '3.13']
     steps:
       - uses: actions/checkout@v4
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python-version }}
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -r requirements-dev.txt
-          pip install -e .
-      - name: Testing with coverage
-        run: |
-          python -m pytest tests --cov=interpolatepy --cov-report=xml --cov-report=term-missing
-      - name: Upload coverage to Codecov
-        uses: codecov/codecov-action@v5
         with:
-          file: ./coverage.xml
-          flags: unittests
-          name: codecov-umbrella
-          fail_ci_if_error: false
-
-  build-macos:
-    runs-on: macos-latest
-    strategy:
-      matrix:
-        python-version: ['3.11', '3.12', '3.13']
-    steps:
-      - uses: actions/checkout@v4
+          fetch-depth: 0
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
+          cache: 'pip'
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install -r requirements-dev.txt
-          pip install -e .
+          pip install -e '.[test]'
       - name: Testing with coverage
         run: |
           python -m pytest tests --cov=interpolatepy --cov-report=xml --cov-report=term-missing
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v5
         with:
+          token: ${{ secrets.CODECOV_TOKEN }}
           file: ./coverage.xml
           flags: unittests
           name: codecov-umbrella

.gitignore

@@ -141,3 +141,13 @@ venv.bak/
 .history
 
 CLAUDE.md
+
+################################
+########### C++ BUILD ##########
+################################
+cpp/build/
+*.o
+*.a
+*.so
+*.dylib
+compile_commands.json

.pre-commit-config.yaml

@@ -12,14 +12,14 @@ repos:
       - id: check-toml
 
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: 'v0.12.8'
+    rev: 'v0.15.7'
     hooks:
     -   id: ruff
         types_or: [python, pyi, jupyter]
         args: [ --fix, --exit-non-zero-on-fix, --preview ]
 
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.17.1
+    rev: v1.19.1
     hooks:
     -   id: mypy
         args: [--ignore-missing-imports]

README.md

@@ -1,6 +1,6 @@
 # InterpolatePy
 
-![Python](https://img.shields.io/badge/python-3.10+-blue)
+![Python](https://img.shields.io/badge/python-3.11+-blue)
 [![PyPI Downloads](https://static.pepy.tech/badge/interpolatepy)](https://pepy.tech/projects/interpolatepy)
 [![pre-commit](https://github.com/GiorgioMedico/InterpolatePy/actions/workflows/pre-commit.yml/badge.svg)](https://github.com/GiorgioMedico/InterpolatePy/actions/workflows/pre-commit.yml)
 [![ci-test](https://github.com/GiorgioMedico/InterpolatePy/actions/workflows/test.yml/badge.svg)](https://github.com/GiorgioMedico/InterpolatePy/actions/workflows/test.yml)
@@ -10,9 +10,9 @@
 
 InterpolatePy provides 20+ algorithms for smooth trajectory generation with precise control over position, velocity, acceleration, and jerk. From cubic splines and B-curves to quaternion interpolation and S-curve motion profiles — everything you need for professional motion control.
 
-**⚡ Fast:** Vectorized NumPy operations, ~1ms for 1000-point cubic splines  
-**🎯 Precise:** Research-grade algorithms with C² continuity and bounded derivatives  
-**📊 Visual:** Built-in plotting for every algorithm  
+**⚡ Fast:** Optional C++ backend with pybind11; pure-Python fallback uses vectorized NumPy
+**🎯 Precise:** Research-grade algorithms with C² continuity and bounded derivatives
+**📊 Visual:** Built-in plotting for every algorithm
 **🔧 Complete:** Splines, motion profiles, quaternions, and path planning in one library
 
 ---
@@ -23,7 +23,7 @@ InterpolatePy provides 20+ algorithms for smooth trajectory generation with prec
 pip install InterpolatePy
 ```
 
-**Requirements:** Python ≥3.10, NumPy ≥2.0, SciPy ≥1.15, Matplotlib ≥3.10
+**Requirements:** Python ≥3.11, NumPy ≥2.3, SciPy ≥1.16, Matplotlib ≥3.10.5
 
 <details>
 <summary><strong>Development Installation</strong></summary>
@@ -222,12 +222,23 @@ plt.show()
 
 ## Performance & Quality
 
-- **Fast:** Vectorized NumPy operations, optimized algorithms
-- **Reliable:** 85%+ test coverage, continuous integration
-- **Modern:** Python 3.10+, strict typing, dataclass-based APIs
+- **Fast:** Optional C++ backend (Eigen + pybind11) for maximum performance; pure-Python fallback uses vectorized NumPy
+- **Reliable:** 85%+ test coverage, continuous integration, 142 additional C++ unit tests
+- **Modern:** Python 3.11+, strict typing, dataclass-based APIs
 - **Research-grade:** Peer-reviewed algorithms from robotics literature
 
-**Typical Performance:**
+**C++ Backend:**
+
+InterpolatePy includes an optional compiled C++ extension for performance-critical workloads. The API is identical regardless of backend:
+
+```python
+import interpolatepy
+print(f"C++ backend: {interpolatepy.HAS_CPP}")  # True if extension is available
+```
+
+Set `INTERPOLATEPY_NO_CPP=1` to force pure-Python mode.
+
+**Typical Performance (pure-Python):**
 - Cubic spline (1000 points): ~1ms
 - B-spline evaluation (10k points): ~5ms
 - S-curve trajectory planning: ~0.5ms
@@ -256,6 +267,8 @@ ruff format interpolatepy/
 ruff check interpolatepy/
 mypy interpolatepy/
 
+# Run all pre-commit hooks
+pre-commit run --all-files
 ```
 </details>
 

codecov.yml

@@ -23,5 +23,3 @@ ignore:
   - "tests/*"
   - "docs/*"
   - "examples/*"
-  - "setup.py"
-  - "**/__init__.py"