76 lines
1.9 KiB
Nix
76 lines
1.9 KiB
Nix
{ lib
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, stdenv
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, fetchFromGitHub
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, cmake
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, boost
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, eigen
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, collisionSupport ? !stdenv.isDarwin
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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 = "2.6.20";
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src = fetchFromGitHub {
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owner = "stack-of-tasks";
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repo = finalAttrs.pname;
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rev = "v${finalAttrs.version}";
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fetchSubmodules = true;
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hash = "sha256-Pu/trCpqdue7sQKDbLhyxTfgj/+xRiVcG7Luz6ZQXtM=";
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};
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# error: use of undeclared identifier '__sincos'
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postPatch = lib.optionalString (stdenv.isDarwin && stdenv.isx86_64) ''
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substituteInPlace src/math/sincos.hpp \
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--replace "__APPLE__" "0"
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'';
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strictDeps = true;
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nativeBuildInputs = [
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cmake
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];
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propagatedBuildInputs = [
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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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];
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cmakeFlags = lib.optionals collisionSupport [
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"-DBUILD_WITH_COLLISION_SUPPORT=ON"
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] ++ lib.optionals pythonSupport [
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"-DBUILD_WITH_LIBPYTHON=ON"
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] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
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# AssertionError: '.' != '/tmp/nix-build-pinocchio-2.6.20.drv/sou[84 chars].dae'
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"-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
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] ++ lib.optionals (!pythonSupport) [
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"-DBUILD_PYTHON_INTERFACE=OFF"
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];
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doCheck = true;
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pythonImportsCheck = lib.optionals (!pythonSupport) [
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"pinocchio"
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];
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meta = with lib; {
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description = "A 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 = licenses.bsd2;
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maintainers = with maintainers; [ nim65s wegank ];
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platforms = platforms.unix;
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};
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})
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