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{
cmake,
doxygen,
eiquadprog,
fetchFromGitHub,
lib,
osqp-eigen,
pkg-config,
pinocchio,
proxsuite,
stdenv,
pythonSupport ? false,
python3Packages,
}:
stdenv.mkDerivation (finalAttrs: {
pname = "tsid";
version = "1.7.1";
src = fetchFromGitHub {
owner = "stack-of-tasks";
repo = "tsid";
rev = "v${finalAttrs.version}";
hash = "sha256-id6OCOX01o41Z5kqzwvjYa5uoQZtzhRaFBuOBhbLcTA=";
};
cmakeFlags = [
(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
(lib.cmakeBool "BUILD_WITH_OSQP" true)
(lib.cmakeBool "BUILD_WITH_PROXQP" true)
(lib.cmakeBool "INSTALL_DOCUMENTATION" true)
];
outputs = [
"doc"
"out"
];
nativeBuildInputs = [
doxygen
cmake
pkg-config
] ++ lib.optional pythonSupport python3Packages.python;
propagatedBuildInputs =
[
eiquadprog
osqp-eigen
proxsuite
]
++ lib.optional (!pythonSupport) pinocchio ++ lib.optional pythonSupport python3Packages.pinocchio;
doCheck = true;
# pythonImportsCheck, but in stdenv.mkDerivation
postInstall = lib.optionalString pythonSupport ''
PYTHONPATH=$out/${python3Packages.python.sitePackages}:$PYTHONPATH
python -c "import tsid"
'';
meta = {
description = "Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio";
homepage = "https://github.com/stack-of-tasks/tsid";
license = lib.licenses.bsd2;
maintainers = with lib.maintainers; [ nim65s ];
};
})
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