105 lines
3 KiB
Nix
105 lines
3 KiB
Nix
{ lib
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, stdenv
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, fetchFromGitHub
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, casadi
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, cmake
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, boost
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, eigen
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, example-robot-data
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, casadiSupport ? true
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, collisionSupport ? true
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, console-bridge
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, jrl-cmakemodules
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, hpp-fcl
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, urdfdom
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, pythonSupport ? false
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, python3Packages
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}:
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stdenv.mkDerivation (finalAttrs: {
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pname = "pinocchio";
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version = "3.2.0";
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src = fetchFromGitHub {
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owner = "stack-of-tasks";
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repo = "pinocchio";
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rev = "v${finalAttrs.version}";
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hash = "sha256-8V+n1TwFojXKOVkGG8k9aXVadt2NBFlZKba93L+NRNU=";
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};
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# test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277
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prePatch = lib.optionalString (stdenv.isLinux && stdenv.isAarch64) ''
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substituteInPlace unittest/algorithm/utils/CMakeLists.txt \
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--replace-fail "add_pinocchio_unit_test(force)" ""
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'';
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postPatch = ''
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# example-robot-data models are used in checks.
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# Upstream provide them as git submodule, but we can use our own version instead.
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test -d models/example-robot-data && rmdir models/example-robot-data
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ln -s ${example-robot-data.src} models/example-robot-data
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# allow package:// uri use in examples
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export ROS_PACKAGE_PATH=${example-robot-data}/share
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'';
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# CMAKE_BUILD_TYPE defaults to Release in this package,
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# which enable -O3, which break some tests
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# ref. https://github.com/stack-of-tasks/pinocchio/issues/2304#issuecomment-2231018300
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postConfigure = ''
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substituteInPlace CMakeCache.txt --replace-fail '-O3' '-O2'
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'';
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strictDeps = true;
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nativeBuildInputs = [
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cmake
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] ++ lib.optionals pythonSupport [
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python3Packages.python
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];
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propagatedBuildInputs = [
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console-bridge
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jrl-cmakemodules
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urdfdom
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] ++ lib.optionals (!pythonSupport) [
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boost
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eigen
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] ++ lib.optionals (!pythonSupport && collisionSupport) [
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hpp-fcl
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] ++ lib.optionals pythonSupport [
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python3Packages.boost
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python3Packages.eigenpy
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] ++ lib.optionals (pythonSupport && collisionSupport) [
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python3Packages.hpp-fcl
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] ++ lib.optionals (!pythonSupport && casadiSupport) [
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casadi
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] ++ lib.optionals (pythonSupport && casadiSupport) [
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python3Packages.casadi
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];
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checkInputs = lib.optionals (pythonSupport && casadiSupport) [ python3Packages.matplotlib ];
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cmakeFlags = [
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(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
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(lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
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(lib.cmakeBool "BUILD_WITH_CASADI_SUPPORT" casadiSupport)
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(lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
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];
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doCheck = true;
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# pythonImportsCheck, but in stdenv.mkDerivation
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postInstall = lib.optionalString pythonSupport ''
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PYTHONPATH=$out/${python3Packages.python.sitePackages}:$PYTHONPATH
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python -c "import pinocchio"
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'';
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meta = {
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description = "Fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
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homepage = "https://github.com/stack-of-tasks/pinocchio";
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license = lib.licenses.bsd2;
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maintainers = with lib.maintainers; [ nim65s wegank ];
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platforms = lib.platforms.unix;
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};
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})
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