Refresh examples and add Python portfolio demos

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,55 @@
+name: Bug report
+description: Report a reproducible defect in the solver, bindings, build, or docs
+title: "[bug] "
+labels:
+  - bug
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to report a problem.
+
+        Please include a minimal reproduction and the exact commands you ran.
+  - type: textarea
+    id: summary
+    attributes:
+      label: Summary
+      description: What happened, and what did you expect to happen instead?
+      placeholder: A concise description of the bug and expected behavior.
+    validations:
+      required: true
+  - type: textarea
+    id: reproduction
+    attributes:
+      label: Reproduction
+      description: Provide the smallest reproduction you can, including commands and inputs.
+      placeholder: |
+        1. Configure with ...
+        2. Run ...
+        3. Observe ...
+    validations:
+      required: true
+  - type: textarea
+    id: logs
+    attributes:
+      label: Logs and output
+      description: Paste the relevant error message, stack trace, or failing test output.
+      render: text
+  - type: textarea
+    id: environment
+    attributes:
+      label: Environment
+      description: Share the platform and toolchain details relevant to the bug.
+      placeholder: |
+        OS:
+        Compiler:
+        CMake:
+        Python:
+        Build flags:
+    validations:
+      required: true
+  - type: textarea
+    id: context
+    attributes:
+      label: Additional context
+      description: Add anything else that might help debug the issue.

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: true
+contact_links:
+  - name: Security policy
+    url: https://github.com/astomodynamics/cddp-cpp/blob/master/SECURITY.md
+    about: Read the security reporting guidance before disclosing a vulnerability.

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -0,0 +1,36 @@
+name: Feature request
+description: Propose an improvement to the solver, examples, bindings, or docs
+title: "[feature] "
+labels:
+  - enhancement
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Please describe the problem first, then the change you want.
+  - type: textarea
+    id: problem
+    attributes:
+      label: Problem or use case
+      description: What limitation, missing capability, or workflow pain does this address?
+      placeholder: I am trying to ...
+    validations:
+      required: true
+  - type: textarea
+    id: proposal
+    attributes:
+      label: Proposed change
+      description: Describe the API, behavior, or workflow you would like to see.
+      placeholder: Add support for ...
+    validations:
+      required: true
+  - type: textarea
+    id: alternatives
+    attributes:
+      label: Alternatives considered
+      description: What workarounds or alternative designs have you considered?
+  - type: textarea
+    id: context
+    attributes:
+      label: Additional context
+      description: Benchmarks, references, examples, or prior art that help clarify the request.

.github/PULL_REQUEST_TEMPLATE.md

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+## Summary
+- Describe the change and why it is needed.
+
+## Changes
+- List the concrete code, API, testing, or documentation updates.
+
+## Validation
+- [ ] `...`
+
+## Checklist
+- [ ] I ran the relevant tests or explained why they were not run.
+- [ ] I updated documentation when behavior or public interfaces changed.
+- [ ] I kept the change focused and avoided unrelated cleanup.
+
+## Notes
+- Add reviewer context only when it is needed.

.gitignore

@@ -6,7 +6,7 @@ build/
 
 # Output
 plots/
-results/frames/
+results/
 
 # Models
 models/

CMakeLists.txt

@@ -157,7 +157,6 @@ set(dynamics_model_srcs
   src/dynamics_model/spacecraft_nonlinear.cpp
   src/dynamics_model/dreyfus_rocket.cpp
   src/dynamics_model/spacecraft_landing2d.cpp
-  src/dynamics_model/spacecraft_roe.cpp
   src/dynamics_model/lti_system.cpp
   src/dynamics_model/spacecraft_twobody.cpp
   src/dynamics_model/usv_3dof.cpp

CODE_OF_CONDUCT.md

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+# Code of Conduct
+
+## Our standard
+
+This project expects respectful, technical, and constructive collaboration.
+
+Examples of expected behavior:
+
+- focusing feedback on the code, design, and evidence
+- being clear, patient, and specific in reviews and discussions
+- assuming good intent while still challenging weak technical arguments
+- helping other contributors understand project constraints and expectations
+
+Examples of unacceptable behavior:
+
+- personal attacks, harassment, or discriminatory language
+- hostile or deliberately dismissive review behavior
+- repeated bad-faith argumentation or thread derailment
+- publishing private or sensitive information without permission
+
+## Enforcement
+
+Project maintainers may remove, edit, or reject comments, issues, pull requests, code, and other contributions that violate this code of conduct.
+
+## Reporting
+
+If you experience or witness unacceptable behavior, contact the maintainers through the repository owners' preferred contact path. For security-sensitive matters, use the process described in [SECURITY.md](SECURITY.md).

CONTRIBUTING.md

@@ -0,0 +1,59 @@
+# Contributing
+
+Thanks for contributing to `cddp-cpp`.
+
+## Scope
+
+This project contains:
+
+- the core C++ trajectory optimization library
+- a curated set of C++ reference examples
+- optional Python bindings and portfolio demos
+
+Keep changes focused. Avoid mixing bug fixes, refactors, formatting churn, and documentation cleanup in one pull request unless they are tightly coupled.
+
+## Development setup
+
+### C++ build
+
+```bash
+cmake -S . -B build
+cmake --build build -j4
+ctest --test-dir build --output-on-failure
+```
+
+### C++ examples
+
+```bash
+cmake -S . -B build -DCDDP_CPP_BUILD_EXAMPLES=ON
+cmake --build build --target cddp_pendulum cddp_cartpole cddp_unicycle cddp_quadrotor_point cddp_manipulator -j4
+```
+
+### Python bindings
+
+This repository uses `uv` for Python environment management.
+
+```bash
+uv venv .venv --python 3.12
+uv sync
+source .venv/bin/activate
+pytest -q python/tests
+```
+
+## Pull requests
+
+Before opening a pull request:
+
+1. Make the smallest reasonable change for the problem you are solving.
+2. Add or update tests when behavior changes.
+3. Run the relevant build and test commands for the area you touched.
+4. Update documentation when user-facing behavior, examples, or public APIs change.
+5. Write a clear commit message and PR description.
+
+PRs that include a minimal reproduction, exact validation commands, and a concise explanation of the design tradeoffs are much easier to review.
+
+## Issues
+
+- Use bug reports for reproducible defects.
+- Use feature requests for API additions, solver improvements, or workflow changes.
+- For sensitive security issues, follow [SECURITY.md](SECURITY.md) instead of opening a detailed public issue.

README.md

@@ -29,15 +29,57 @@ $$
 $$
 
 ## Examples
-The default C++ build currently includes a barrier-strategy comparison example:
+The maintained example surface is now split:
+
+* a small C++ reference set in `examples/`, built when `CDDP_CPP_BUILD_EXAMPLES=ON`
+* the Python portfolio for plotting, animation, and notebook workflows
+
+The kept C++ examples are:
+
+* `cddp_pendulum.cpp`
+* `cddp_cartpole.cpp`
+* `cddp_unicycle.cpp`
+* `cddp_quadrotor_point.cpp`
+* `cddp_manipulator.cpp`
+
+The wider historical C++ example inventory has been removed to keep the example
+surface focused. The kept C++ examples are intentionally minimal and do not depend on
+visualization libraries.
+
+### Python Portfolio
+The Python bindings now ship with a small animation-focused portfolio built on
+top of the same solver models used by the C++ examples:
 
 ```bash
-./examples/test_barrier_strategies
+source .venv/bin/activate
+python examples/python_portfolio.py --demo all
 ```
 
-Several visualization-focused C++ examples remain in the repository, but they
-are not part of the default build. Use the Python bindings for plotting and
-notebook workflows.
+This generates GIFs under `docs/assets/python_portfolio/` for:
+
+* pendulum swing-up
+* cart-pole swing-up
+* unicycle obstacle avoidance
+* full-lap MPCC racing line tracking
+
+See [docs/python_portfolio.md](docs/python_portfolio.md) for the gallery and
+regeneration command.
+
+Pendulum swing-up:
+<img src="docs/assets/python_portfolio/pendulum_swing_up.gif" width="820" alt="Python pendulum swing-up portfolio demo">
+
+Cart-pole swing-up:
+<img src="docs/assets/python_portfolio/cartpole_swing_up.gif" width="820" alt="Python cart-pole swing-up portfolio demo">
+
+Unicycle obstacle avoidance:
+<img src="docs/assets/python_portfolio/unicycle_obstacle_avoidance.gif" width="820" alt="Python unicycle obstacle avoidance portfolio demo">
+
+MPCC racing line tracking:
+<img src="docs/assets/python_portfolio/mpcc_racing_line.gif" width="820" alt="Python MPCC racing line portfolio demo">
+
+The MPCC portfolio example is a lightweight kinematic contouring-control demo.
+Its vendored track data in `examples/data/` is derived from the
+[`alexliniger/MPCC`](https://github.com/alexliniger/MPCC) project.
 
 ## Installation
 ### Dependencies
@@ -69,8 +111,7 @@ If you want to use this library for ROS2 MPC node, please refer [CDDP MPC Packag
 ## References
 * Y. Tassa, N. Mansard and E. Todorov, "Control-limited differential dynamic programming," 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 1168-1175, doi: <10.1109/ICRA.2014.6907001>.
 * Pavlov, A., Shames, I., and Manzie, C., “Interior Point Differential Dynamic Programming,” IEEE Transactions on Control Systems Technology, Vol. 29, No. 6, 2021, pp. 2720–2727.
-* Yuval Tassa's iLQG/DDP trajectory optimization: <https://www.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization>
-* Andrei Pavlov's GitHub repository: <https://github.com/xapavlov/ipddp>
+* Liniger, A., Domahidi, A., and Morari, M., “Optimization-based autonomous racing of 1:43 scale RC cars,” Optimal Control Applications and Methods, 2015. doi: <10.1002/oca.2123>.
 
 ## Third Party Libraries
 
@@ -93,15 +134,13 @@ This project is licensed under the Apache License 2.0 - see the [LICENSE](LICENS
 ## Collaboration
 Contributions are welcome.
 
-If you'd like to contribute:
-1.  Fork the repository.
-2.  Create a branch for your change, for example `feature/your-feature-name` or `fix/your-bug-fix`.
-3.  Make the change and add or update tests as needed.
-4.  Commit with a descriptive message.
-5.  Push the branch.
-6.  Open a pull request against `master`.
+Start with:
+
+- [CONTRIBUTING.md](CONTRIBUTING.md) for setup, validation, and PR expectations
+- [CODE_OF_CONDUCT.md](CODE_OF_CONDUCT.md) for community standards
+- [SECURITY.md](SECURITY.md) for vulnerability reporting guidance
 
-Use GitHub issues for bug reports, questions, or proposed changes.
+Use GitHub issues for bug reports and feature requests, and open pull requests against `master`.
 
 ## TODO
 * improve python binding ergonomics

SECURITY.md

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+# Security Policy
+
+## Supported versions
+
+Security fixes are best-effort and are typically made against the current `master` branch.
+
+## Reporting a vulnerability
+
+Please do not publish vulnerability details in a public issue.
+
+Preferred process:
+
+1. Use GitHub's private vulnerability reporting flow for this repository if it is enabled.
+2. If private reporting is not available, open a minimal public issue requesting a secure reporting path, without including exploit details, secrets, or full reproduction steps.
+
+When reporting an issue, include:
+
+- affected version or commit
+- impact and attack surface
+- reproduction steps
+- proof-of-concept details only through a private channel
+- any suggested mitigation or patch direction
+
+## Disclosure
+
+Please allow maintainers reasonable time to investigate and prepare a fix before public disclosure.