Add bipedal-locomotion-framework #526
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| # Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia | ||
| # Authors: Giulio Romualdi <gulio.romualdi@iit.it> | ||
| # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT | ||
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| include(YCMEPHelper) | ||
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| ycm_ep_helper(CppAD TYPE GIT | ||
| STYLE GITHUB | ||
| REPOSITORY coin-or/CppAD.git | ||
| TAG master | ||
| COMPONENT external | ||
| FOLDER external) |
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| # Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia | ||||||
| # Authors: Giulio Romualdi <gulio.romualdi@iit.it> | ||||||
| # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT | ||||||
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| include(YCMEPHelper) | ||||||
| include(FindOrBuildPackage) | ||||||
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| find_or_build_package(YARP QUIET) | ||||||
| find_or_build_package(iDynTree QUIET) | ||||||
| find_or_build_package(matio-cpp QUIET) | ||||||
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| set(bipedal-locomotion-framework_DEPENDS "") | ||||||
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There was a problem hiding this comment. Probably in the CMake world we can stick to the CMake package name for consistency, so:
Suggested change
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| list(APPEND bipedal-locomotion-framework_DEPENDS YARP) | ||||||
| list(APPEND bipedal-locomotion-framework_DEPENDS iDynTree) | ||||||
| list(APPEND bipedal-locomotion-framework_DEPENDS matio-cpp) | ||||||
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| set(bipedal-locomotion-framework_USES_CppAD OFF) | ||||||
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| if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS) | ||||||
| find_or_build_package(manif QUIET) | ||||||
| find_or_build_package(qhull QUIET) | ||||||
| find_or_build_package(casadi QUIET) | ||||||
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| # cppad is currently disabled on windows | ||||||
| # https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/pull/37 | ||||||
| if(NOT WIN32) | ||||||
| find_or_build_package(CppAD) | ||||||
| list(APPEND bipedal-locomotion-framework_DEPENDS CppAD) | ||||||
| set(bipedal-locomotion-framework_USES_CppAD ON) | ||||||
| endif() | ||||||
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| list(APPEND bipedal-locomotion-framework_DEPENDS manif) | ||||||
| list(APPEND bipedal-locomotion-framework_DEPENDS qhull) | ||||||
| list(APPEND bipedal-locomotion-framework_DEPENDS casadi) | ||||||
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| endif() | ||||||
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| ycm_ep_helper(bipedal-locomotion-framework TYPE GIT | ||||||
| STYLE GITHUB | ||||||
| REPOSITORY dic-iit/bipedal-locomotion-framework.git | ||||||
| TAG master | ||||||
| COMPONENT dynamics | ||||||
| FOLDER robotology | ||||||
| CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF | ||||||
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There was a problem hiding this comment. Could it make sense to pass the options on enabling/disabling the dependencies explicitly? There was a problem hiding this comment. do you mean passing |
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| -DFRAMEWORK_USE_manif:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS} | ||||||
| -DFRAMEWORK_USE_Qhull:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS} | ||||||
| -DFRAMEWORK_USE_cppad:BOOL=${bipedal-locomotion-framework_USES_CppAD} | ||||||
| -DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS} | ||||||
| DEPENDS ${bipedal-locomotion-framework_DEPENDS}) | ||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| # Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia | ||
| # Authors: Giulio Romualdi <gulio.romualdi@iit.it> | ||
| # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT | ||
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| include(YCMEPHelper) | ||
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| include(FindOrBuildPackage) | ||
| find_or_build_package(osqp QUIET) | ||
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| ycm_ep_helper(casadi TYPE GIT | ||
| STYLE GITHUB | ||
| REPOSITORY GiulioRomualdi/casadi.git | ||
| TAG feature/support_osqp_0.6.0 | ||
| COMPONENT external | ||
| FOLDER external | ||
| CMAKE_ARGS -DWITH_IPOPT:BOOL=ON | ||
| -DWITH_OSQP:BOOL=ON | ||
| -DUSE_SYSTEM_WISE_OSQP:BOOL=ON | ||
| -DINCLUDE_PREFIX:PATH=include | ||
| -DCMAKE_PREFIX:PATH=lib/cmake/casadi | ||
| -DLIB_PREFIX:PATH=lib | ||
| -DBIN_PREFIX:PATH=bin | ||
| DEPENDS osqp) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| # Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia | ||
| # Authors: Giulio Romualdi <gulio.romualdi@iit.it> | ||
| # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT | ||
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| include(YCMEPHelper) | ||
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| ycm_ep_helper(manif TYPE GIT | ||
| STYLE GITHUB | ||
| REPOSITORY artivis/manif.git | ||
| TAG master | ||
| COMPONENT external | ||
| FOLDER external | ||
| CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| # Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia | ||
| # Authors: Giulio Romualdi <giulio.romualdi@iit.it> | ||
| # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT | ||
| include(YCMEPHelper) | ||
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| ycm_ep_helper(matio-cpp TYPE GIT | ||
| STYLE GITHUB | ||
| REPOSITORY dic-iit/matio-cpp.git | ||
| TAG master | ||
| COMPONENT dynamics | ||
| FOLDER robotology | ||
| CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| # Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia | ||
| # Authors: Giulio Romualdi <gulio.romualdi@iit.it> | ||
| # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT | ||
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| include(YCMEPHelper) | ||
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| ycm_ep_helper(qhull TYPE GIT | ||
| STYLE GITHUB | ||
| REPOSITORY qhull/qhull.git | ||
| TAG master | ||
| COMPONENT external | ||
| CMAKE_ARGS -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON) |
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The name here should match the one of the
Build<package>.cmakeand the one passed toycm_ep_helper. Even if not strictly necessary, it is a good idea to just use the cmake package name (so in this caseBipedalLocomotionFramework), becausefind_or_build_packagemirrorsfind_package, so if we have:we should also have: