97 lines
2.6 KiB
Nix
97 lines
2.6 KiB
Nix
{
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cmake,
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crocoddyl,
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doxygen,
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fetchFromGitHub,
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fmt,
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fontconfig,
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gbenchmark,
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graphviz,
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lib,
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llvmPackages, # llvm/Support/Host.h required by casadi 3.6.5 and not available in llvm 18
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pinocchio,
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pkg-config,
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proxsuite-nlp,
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python3Packages,
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pythonSupport ? false,
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stdenv,
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suitesparse,
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}:
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stdenv.mkDerivation (finalAttrs: {
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pname = "aligator";
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version = "0.8.0";
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src = fetchFromGitHub {
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owner = "Simple-Robotics";
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repo = "aligator";
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rev = "v${finalAttrs.version}";
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hash = "sha256-o4QjxTaZUa17hZsCv4hCI2cedaHoojBtLe8SVUkl0bo=";
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};
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outputs = [
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"doc"
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"out"
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];
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strictDeps = true;
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nativeBuildInputs = [
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doxygen
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cmake
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graphviz
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pkg-config
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] ++ lib.optional pythonSupport python3Packages.pythonImportsCheckHook;
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buildInputs = [ fmt ] ++ lib.optional stdenv.hostPlatform.isDarwin llvmPackages.openmp;
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propagatedBuildInputs =
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[ suitesparse ]
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++ lib.optionals pythonSupport [
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python3Packages.crocoddyl
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python3Packages.matplotlib
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python3Packages.pinocchio
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python3Packages.proxsuite-nlp
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]
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++ lib.optionals (!pythonSupport) [
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crocoddyl
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pinocchio
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proxsuite-nlp
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];
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checkInputs =
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[ gbenchmark ]
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++ lib.optionals pythonSupport [
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python3Packages.matplotlib
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python3Packages.pytest
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];
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cmakeFlags =
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[
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(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
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(lib.cmakeBool "BUILD_WITH_PINOCCHIO_SUPPORT" true)
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(lib.cmakeBool "BUILD_CROCODDYL_COMPAT" true)
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(lib.cmakeBool "BUILD_WITH_OPENMP_SUPPORT" true)
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(lib.cmakeBool "BUILD_WITH_CHOLMOD_SUPPORT" true)
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(lib.cmakeBool "GENERATE_PYTHON_STUBS" false) # this need git at configure time
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]
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++ lib.optionals (stdenv.hostPlatform.isDarwin && pythonSupport) [
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# ignore one failing test for now
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(lib.cmakeFeature "CMAKE_CTEST_ARGUMENTS" "--exclude-regex;aligator-test-py-integrators")
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];
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# Fontconfig error: Cannot load default config file: No such file: (null)
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env.FONTCONFIG_FILE = "${fontconfig.out}/etc/fonts/fonts.conf";
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# Fontconfig error: No writable cache directories
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preBuild = "export XDG_CACHE_HOME=$(mktemp -d)";
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doCheck = true;
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pythonImportsCheck = [ "aligator" ];
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meta = {
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description = "Versatile and efficient framework for constrained trajectory optimization";
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homepage = "https://github.com/Simple-Robotics/aligator";
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changelog = "https://github.com/Simple-Robotics/aligator/blob/v${finalAttrs.version}/CHANGELOG.md";
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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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