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Merged
Mr-tooth merged 3 commits into from
Mar 17, 2026
Merged

Fix/static library #4

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32304e7
docs: update README - header-only → static library description
Mar 17, 2026
f21986d
docs: update README_zh - header-only → static library
Mar 17, 2026
6046207
fix: CI trigger branch master → main + add workflow_dispatch
Mar 17, 2026
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5 changes: 3 additions & 2 deletions .github/workflows/ci.yml
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Expand Up @@ -8,9 +8,10 @@ name: CI

on:
push:
branches: [master, feature/*]
branches: [main, feature/*]
pull_request:
branches: [master]
branches: [main]
workflow_dispatch:

jobs:
build:
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -20,15 +20,15 @@

## Overview

**Heuclid** is a lightweight, header-only C++ library providing fundamental Euclidean geometry primitives and algorithms. Built on [Eigen](https://eigen.tuxfamily.org/), it is designed for robotics simulation, motion planning, and computational geometry applications.
**Heuclid** is a lightweight static C++ library providing fundamental Euclidean geometry primitives and algorithms. Built on [Eigen](https://eigen.tuxfamily.org/), it is designed for robotics simulation, motion planning, and computational geometry applications.

## Features

- **2D/3D Primitives** — Points, vectors, unit vectors, quaternions, poses
- **Convex Hull** — Graham scan and Gift wrapping algorithms with half-space representation (A*x ≤ b)
- **Bézier Curves** — N-th order Bézier with analytical derivatives
- **Eigen Interoperability** — Seamless conversion between Heuclid types and Eigen matrices
- **Header-Only** — No linking required, just include and use
- **CMake Integration** — `find_package(Heuclid)` or FetchContent, link and build
- **C++11 Compatible** — Works with any C++11-compliant compiler
- **Cross-Platform** — CI-tested on Linux, macOS, and Windows

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4 changes: 2 additions & 2 deletions README_zh.md
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## 概述

**Heuclid** 是一个轻量级的 header-only C++ 库，提供基础欧几里得几何原语和算法。基于 [Eigen](https://eigen.tuxfamily.org/) 构建，适用于机器人仿真、运动规划和计算几何应用。
**Heuclid** 是一个轻量级的静态 C++ 库，提供基础欧几里得几何原语和算法。基于 [Eigen](https://eigen.tuxfamily.org/) 构建，适用于机器人仿真、运动规划和计算几何应用。

## 特性

- **2D/3D 基础类型** — 点、向量、单位向量、四元数、位姿
- **凸包计算** — Graham 扫描和 Gift wrapping 算法，支持半空间表达 (A*x ≤ b)
- **贝塞尔曲线** — N 阶贝塞尔曲线及其解析导数
- **Eigen 互操作** — Heuclid 类型与 Eigen 矩阵无缝转换
- **Header-Only** — 无需链接，include 即用
- **CMake 集成** — 支持 `find_package` 或 FetchContent，链接构建即可使用
- **C++11 兼容** — 支持所有 C++11 标准编译器
- **跨平台** — CI 测试覆盖 Linux、macOS、Windows

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