68 lines
1.4 KiB
Nix
68 lines
1.4 KiB
Nix
{
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cmake,
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doxygen,
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eiquadprog,
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fetchFromGitHub,
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lib,
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osqp-eigen,
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pkg-config,
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pinocchio,
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proxsuite,
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stdenv,
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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 = "tsid";
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version = "1.7.1";
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src = fetchFromGitHub {
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owner = "stack-of-tasks";
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repo = "tsid";
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rev = "v${finalAttrs.version}";
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hash = "sha256-id6OCOX01o41Z5kqzwvjYa5uoQZtzhRaFBuOBhbLcTA=";
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};
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cmakeFlags = [
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(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
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(lib.cmakeBool "BUILD_WITH_OSQP" true)
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(lib.cmakeBool "BUILD_WITH_PROXQP" true)
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(lib.cmakeBool "INSTALL_DOCUMENTATION" true)
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];
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outputs = [
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"out"
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"doc"
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];
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nativeBuildInputs =
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[
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doxygen
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cmake
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pkg-config
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]
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++ lib.optionals pythonSupport [
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python3Packages.python
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python3Packages.pythonImportsCheckHook
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];
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propagatedBuildInputs =
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[
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eiquadprog
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osqp-eigen
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proxsuite
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]
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++ lib.optional (!pythonSupport) pinocchio ++ lib.optional pythonSupport python3Packages.pinocchio;
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doCheck = true;
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pythonImportsCheck = [ "tsid" ];
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meta = {
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description = "Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio";
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homepage = "https://github.com/stack-of-tasks/tsid";
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license = lib.licenses.bsd2;
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maintainers = with lib.maintainers; [ nim65s ];
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platforms = lib.platforms.unix;
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};
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})
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