Add tests for polar and spherical coordinate system calculations #72
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| name: CI | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| branches: | |
| - master | |
| jobs: | |
| build: | |
| name: Build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| name: | |
| - macos-11 | |
| - ubuntu-20.04-clang | |
| - ubuntu-20.04-gcc | |
| - windows-2019-msvc | |
| - windows-2019-msys2 | |
| include: | |
| - name: macos-11 | |
| cmake_compiler_launcher: ccache | |
| cmake_prefix_path: /usr/local/opt/qt/lib/cmake | |
| os: macos-11 | |
| - name: ubuntu-20.04-clang | |
| cc: clang | |
| cmake_compiler_launcher: ccache | |
| cxx: clang++ | |
| os: ubuntu-20.04 | |
| - name: ubuntu-20.04-gcc | |
| cc: gcc | |
| cmake_compiler_launcher: ccache | |
| cxx: g++ | |
| os: ubuntu-20.04 | |
| - name: windows-2019-msvc | |
| os: windows-2019 | |
| - name: windows-2019-msys2 | |
| cmake_compiler_launcher: ccache | |
| os: windows-2019 | |
| env: | |
| CC: ${{ matrix.cc }} | |
| CCACHE_COMPRESS: true | |
| CCACHE_MAXSIZE: 500M | |
| CMAKE_C_COMPILER_LAUNCHER: ${{ matrix.cmake_compiler_launcher }} | |
| CMAKE_CXX_COMPILER_LAUNCHER: ${{ matrix.cmake_compiler_launcher }} | |
| CMAKE_PREFIX_PATH: ${{ matrix.cmake_prefix_path }} | |
| CXX: ${{ matrix.cxx }} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| - if: matrix.os == 'macos-11' | |
| name: Set up Tap | |
| run: brew tap roboticslibrary/rl | |
| - if: matrix.os == 'ubuntu-20.04' | |
| name: Set up PPA | |
| run: | | |
| sudo apt-get install -y software-properties-common | |
| sudo apt-add-repository -y -u ppa:roblib/ppa | |
| - if: matrix.os == 'macos-11' | |
| name: Install dependencies for macOS | |
| run: > | |
| brew install | |
| boost | |
| bullet | |
| ccache | |
| cmake | |
| coin | |
| eigen | |
| fcl | |
| ninja | |
| nlopt | |
| ode | |
| pqp | |
| qt | |
| solid | |
| soqt | |
| - if: matrix.os == 'ubuntu-20.04' | |
| name: Install dependencies for Ubuntu | |
| run: > | |
| sudo apt-get install -y | |
| build-essential | |
| ccache | |
| clang | |
| cmake | |
| libboost-dev | |
| libbullet-dev | |
| libcomedi-dev | |
| libdc1394-22-dev | |
| libeigen3-dev | |
| libfcl-dev | |
| libnlopt-dev | |
| libode-dev | |
| libpqp-dev | |
| libsimage-dev | |
| libsolid3d-dev | |
| libsoqt-dev | |
| libxml2-dev | |
| libxslt1-dev | |
| ninja-build | |
| - if: matrix.name == 'windows-2019-msvc' | |
| name: Enable Developer Command Prompt | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| - if: matrix.name == 'windows-2019-msvc' | |
| name: Install dependencies for MSVC | |
| working-directory: ${{ runner.workspace }} | |
| run: | | |
| curl -L https://github.com/roboticslibrary/rl-3rdparty/releases/download/latest/rl-3rdparty-msvc-14.2-x64.7z -o rl-3rdparty-msvc-14.2-x64.7z | |
| 7z x rl-3rdparty-msvc-14.2-x64.7z -orl-3rdparty-install | |
| Write-Output "${{ runner.workspace }}\rl-3rdparty-install\bin" | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append | |
| - if: matrix.name == 'windows-2019-msys2' | |
| name: Set up MSYS2 | |
| uses: msys2/setup-msys2@v2 | |
| with: | |
| install: >- | |
| mingw-w64-x86_64-boost | |
| mingw-w64-x86_64-bullet | |
| mingw-w64-x86_64-ccache | |
| mingw-w64-x86_64-cmake | |
| mingw-w64-x86_64-coin | |
| mingw-w64-x86_64-eigen3 | |
| mingw-w64-x86_64-gcc | |
| mingw-w64-x86_64-libxml2 | |
| mingw-w64-x86_64-libxslt | |
| mingw-w64-x86_64-ninja | |
| mingw-w64-x86_64-nlopt | |
| mingw-w64-x86_64-ode | |
| mingw-w64-x86_64-pqp | |
| mingw-w64-x86_64-qt5 | |
| mingw-w64-x86_64-solid3 | |
| mingw-w64-x86_64-soqt | |
| update: true | |
| - if: matrix.name == 'windows-2019-msys2' | |
| name: Add MSYS2 to PATH | |
| run: | | |
| Write-Output (msys2 -c "cygpath -w /mingw64/bin") | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append | |
| - if: matrix.os != 'windows-2019' | |
| name: Update environment variables | |
| run: | | |
| echo "CCACHE_BASEDIR=${{ runner.workspace }}" >> $GITHUB_ENV | |
| echo "CCACHE_DIR=${{ runner.workspace }}/.ccache" >> $GITHUB_ENV | |
| - if: matrix.os == 'windows-2019' | |
| name: Update environment variables | |
| run: | | |
| Write-Output "CCACHE_BASEDIR=${{ runner.workspace }}" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append | |
| Write-Output "CCACHE_DIR=${{ runner.workspace }}\.ccache" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append | |
| - if: matrix.cmake_compiler_launcher != '' | |
| name: Cache compiler | |
| uses: actions/cache@v3 | |
| with: | |
| path: ${{ runner.workspace }}/.ccache | |
| key: ${{ matrix.name }}-ccache-${{ github.sha }} | |
| restore-keys: ${{ matrix.name }}-ccache- | |
| - name: Configure CMake | |
| run: > | |
| cmake | |
| -GNinja | |
| -DCMAKE_BUILD_TYPE=Release | |
| -S"${{ github.workspace }}" | |
| -B"${{ runner.workspace }}/rl-build" | |
| - name: Build | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cmake --build . | |
| - name: Test | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: ctest --output-on-failure | |
| - name: Create archive | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cpack -G 7Z | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: ${{ matrix.name }} | |
| path: ${{ runner.workspace }}/rl-build/rl-*.7z |