Release v0.1.1

.clang-format

@@ -1,2 +1,25 @@
 BasedOnStyle: Google
 ColumnLimit: 100
+SortIncludes: CaseSensitive
+IncludeBlocks: Regroup
+IncludeCategories:
+  # 1. C system headers
+  - Regex: '^<c(assert|errno|math|stddef|stdint|stdio|stdlib|string)>'
+    Priority: 1
+    CaseSensitive: true
+  # 2. Third-party (path-based includes: Eigen/, ompl/, nanobind/, gtest/, etc.)
+  - Regex: '^<.+/'
+    Priority: 3
+  # 3. Platform / architecture headers
+  - Regex: '^<(arm_neon|immintrin|xmmintrin|emmintrin)\.h>'
+    Priority: 3
+    CaseSensitive: true
+  # 4. C++ standard library (lowercase start, catch-all for remaining <...>)
+  - Regex: '^<'
+    Priority: 2
+  # 5. Local project headers (quoted)
+  - Regex: '^"geodex/'
+    Priority: 4
+  # 6. Relative local headers (quoted, no path prefix)
+  - Regex: '^"'
+    Priority: 5

CHANGELOG.md

@@ -17,6 +17,43 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Released
 
+### [0.1.1] - 2026-04-23
+
+#### Added - new major features
+- Discrete geodesic interpolation algorithm (`discrete_geodesic`).
+- New collision checking module: smooth-SDF primitives (`CircleSmoothSDF`, `RectangleSmoothSDF`), `GridSDF`, `PolygonFootprint`, `FootprintGridChecker`.
+- `SDFConformalMetric` — turns any base metric into an obstacle-aware metric via a smooth SDF callable.
+- `smooth_path()` - metric-aware shortcutting and collision-constrained L-BFGS energy minimization.
+- `SE2LeftInvariantMetric::car_like(radius, lateral_penalty)` static factory for turning-radius-constrained SE(2) planning.
+- n-dimensional Sphere
+    - Sphere<Dim> now supports any dimensions
+- OMPL integration
+  - GeodexStateSpace<Manifold> adapts any RiemannianManifold to OMPL's StateSpace.
+  - GeodexOptimizationObjective<Manifold, Heuristic> for geodesic distance cost + admissible heuristic.
+  - GeodexDirectInfSampler<Manifold, Heuristic> for informed sampling (PHS for Euclidean heuristic, rejection otherwise).
+  - GeodexValidityChecker for OMPL motion validation.
+- `Sampler` concept with `StochasticSampler` and `HaltonSampler`; all manifolds take a `SamplerT` template parameter.
+- CMake install targets and find_package(geodex) support
+- New python bindings and tests
+- Examples: `sphere_interpolation` (C++ and Python), `se2_tutorial` (holonomic / diff-drive / clearance / parking on a real costmap), `minimum_energy_planning` (planar arm under KE and Jacobi metrics).
+- Documentation updates
+    - New SE2 planning tutorial
+    - Minimum energy planning tutorial now includes planning with OMPL section
+    - New concept page for discrete geodesic interpolation algorithm
+    - Redesigned landing page, and vendored MathJax for offline builds.
+
+#### Changed
+- `SE2` sampling bounds unified into `lo`/`hi` `Vector3d` over `(x, y, θ)`; default θ bounds `[−π, π)`.
+- `injectivity_radius()` moved from metrics onto manifolds.
+- `Sphere` exp/log/distance parameterized on the metric (was round-metric-only).
+- Composable metric refactors
+    - WeightedMetric — uniform scalar (or configuration-dependent callable) scaling wrapper around any base metric.
+    - JacobiMetric — now composed over KineticEnergyMetric + WeightedMetric; static_assert callability checks on construction.
+    - SE2LeftInvariantMetric — composed over WeightedMetric + ConstantSPDMetric.
+- `type_name<T>()` moved to `core/debug.hpp`; `MetricHasInnerMatrix` concept and `is_riemannian_log()` resolver added in `core/metric.hpp`.
+- All manifolds preallocate a sample_buf_ for random_point() (no per-call allocation)
+- clang-format applied repo-wide
+
 ### [0.1.0] - 2026-04-02
 
 Initial public release.

CMakeLists.txt

@@ -1,10 +1,12 @@
 cmake_minimum_required(VERSION 3.20)
-project(geodex VERSION 0.1.0 LANGUAGES CXX)
+project(geodex VERSION 0.1.1 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
 include(FetchContent)
 
 # Eigen3
@@ -14,24 +16,19 @@ FetchContent_Declare(
   GIT_TAG 5.0.0
   GIT_SHALLOW TRUE
 )
-set(EIGEN_BUILD_DOC OFF CACHE BOOL "" FORCE)
-set(EIGEN_BUILD_TESTING OFF CACHE BOOL "" FORCE)
-set(BUILD_TESTING_SAVE ${BUILD_TESTING})
-set(BUILD_TESTING OFF CACHE BOOL "" FORCE)
 FetchContent_GetProperties(eigen)
 if(NOT eigen_POPULATED)
   FetchContent_Populate(eigen)
-  add_subdirectory(${eigen_SOURCE_DIR} ${eigen_BINARY_DIR} EXCLUDE_FROM_ALL)
 endif()
-set(BUILD_TESTING ${BUILD_TESTING_SAVE} CACHE BOOL "" FORCE)
 
 # Header-only interface library
 add_library(geodex INTERFACE)
+add_library(geodex::geodex ALIAS geodex)
 target_include_directories(geodex INTERFACE
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
+  $<BUILD_INTERFACE:${eigen_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
-target_link_libraries(geodex INTERFACE Eigen3::Eigen)
 target_compile_features(geodex INTERFACE cxx_std_20)
 
 # Tests
@@ -75,3 +72,40 @@ if(BUILD_DOCS)
       VERBATIM)
   endif()
 endif()
+
+# Install
+install(TARGETS geodex
+  EXPORT geodexTargets
+)
+
+install(DIRECTORY include/
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(DIRECTORY ${eigen_SOURCE_DIR}/Eigen
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(EXPORT geodexTargets
+  FILE geodexTargets.cmake
+  NAMESPACE geodex::
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/geodex
+)
+
+configure_package_config_file(
+  cmake/geodexConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/geodexConfig.cmake
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/geodex
+)
+
+write_basic_package_version_file(
+  ${CMAKE_CURRENT_BINARY_DIR}/geodexConfigVersion.cmake
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/geodexConfig.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/geodexConfigVersion.cmake
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/geodex
+)

README.md

@@ -29,14 +29,20 @@ All installation instructions, C++/Python tutorials, and API references are avai
 
 geodex accompanies the paper "[Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds](https://arxiv.org/abs/2602.00992)" accepted to [WAFR 2026](https://algorithmic-robotics.org/):
 ```bibtex
-@article{kyaw2026geometry,
-  title={Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds},
-  author={Kyaw, Phone Thiha and Kelly, Jonathan},
-  journal={arXiv preprint arXiv:2602.00992},
-  year={2026}
+@inproceedings{kyaw2026geometry,
+  address = {Oulu, Finland},
+  author = {Phone Thiha Kyaw and Jonathan Kelly},
+  booktitle = {Proceedings of the 17th World Symposium on the Algorithmic Foundations of Robotics {(WAFR)}},
+  date = {2026-06-15/2026-06-17},
+  month = {Jun. 15--17},
+  title = {Geometry-Aware Sampling-Based Motion Planning on {Riemannian} Manifolds},
+  url = {https://arxiv.org/abs/2602.00992},
+  year = {2026}
 }
 ```
 
 ## License
 
+Copyright © 2026 Space and Terrestrial Autonomous Robotic Systems (STARS) Lab.
+
 geodex is licensed under the [Apache License 2.0](LICENSE).

benchmarks/CMakeLists.txt

@@ -0,0 +1,34 @@
+include(FetchContent)
+
+FetchContent_Declare(
+  googlebenchmark
+  GIT_REPOSITORY https://github.com/google/benchmark.git
+  GIT_TAG v1.9.1
+  GIT_SHALLOW TRUE
+)
+set(BENCHMARK_ENABLE_TESTING OFF CACHE BOOL "" FORCE)
+set(BENCHMARK_ENABLE_INSTALL OFF CACHE BOOL "" FORCE)
+set(BENCHMARK_INSTALL_DOCS   OFF CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(googlebenchmark)
+
+add_executable(bench_manifold_ops bench_manifold_ops.cpp)
+target_link_libraries(bench_manifold_ops PRIVATE geodex benchmark::benchmark benchmark::benchmark_main)
+
+add_executable(bench_algorithms bench_algorithms.cpp)
+target_link_libraries(bench_algorithms PRIVATE geodex benchmark::benchmark benchmark::benchmark_main)
+target_include_directories(bench_algorithms PRIVATE ${CMAKE_SOURCE_DIR}/tests/fixtures)
+
+add_executable(bench_metrics bench_metrics.cpp)
+target_link_libraries(bench_metrics PRIVATE geodex benchmark::benchmark benchmark::benchmark_main)
+target_include_directories(bench_metrics PRIVATE ${CMAKE_SOURCE_DIR}/tests/fixtures)
+
+add_executable(bench_retractions bench_retractions.cpp)
+target_link_libraries(bench_retractions PRIVATE geodex benchmark::benchmark benchmark::benchmark_main)
+
+add_executable(bench_collision bench_collision.cpp)
+target_link_libraries(bench_collision PRIVATE geodex benchmark::benchmark benchmark::benchmark_main)
+
+if(TARGET ompl::ompl)
+  add_executable(bench_ompl_interpolation bench_ompl_interpolation.cpp)
+  target_link_libraries(bench_ompl_interpolation PRIVATE geodex benchmark::benchmark benchmark::benchmark_main ompl::ompl)
+endif()