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{ lib
, stdenv
, fetchFromGitHub
, casadi
, cmake
, boost
, eigen
, example-robot-data
, casadiSupport ? true
, collisionSupport ? true
, console-bridge
, jrl-cmakemodules
, hpp-fcl
, urdfdom
, pythonSupport ? false
, python3Packages
}:
stdenv.mkDerivation (finalAttrs: {
pname = "pinocchio";
version = "3.2.0";
src = fetchFromGitHub {
owner = "stack-of-tasks";
repo = "pinocchio";
rev = "v${finalAttrs.version}";
hash = "sha256-8V+n1TwFojXKOVkGG8k9aXVadt2NBFlZKba93L+NRNU=";
};
# test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277
prePatch = lib.optionalString (stdenv.isLinux && stdenv.isAarch64) ''
substituteInPlace unittest/algorithm/utils/CMakeLists.txt \
--replace-fail "add_pinocchio_unit_test(force)" ""
'';
postPatch = ''
# example-robot-data models are used in checks.
# Upstream provide them as git submodule, but we can use our own version instead.
test -d models/example-robot-data && rmdir models/example-robot-data
ln -s ${example-robot-data.src} models/example-robot-data
# allow package:// uri use in examples
export ROS_PACKAGE_PATH=${example-robot-data}/share
'';
# CMAKE_BUILD_TYPE defaults to Release in this package,
# which enable -O3, which break some tests
# ref. https://github.com/stack-of-tasks/pinocchio/issues/2304#issuecomment-2231018300
postConfigure = ''
substituteInPlace CMakeCache.txt --replace-fail '-O3' '-O2'
'';
strictDeps = true;
nativeBuildInputs = [
cmake
] ++ lib.optionals pythonSupport [
python3Packages.python
];
propagatedBuildInputs = [
console-bridge
jrl-cmakemodules
urdfdom
] ++ lib.optionals (!pythonSupport) [
boost
eigen
] ++ lib.optionals (!pythonSupport && collisionSupport) [
hpp-fcl
] ++ lib.optionals pythonSupport [
python3Packages.boost
python3Packages.eigenpy
] ++ lib.optionals (pythonSupport && collisionSupport) [
python3Packages.hpp-fcl
] ++ lib.optionals (!pythonSupport && casadiSupport) [
casadi
] ++ lib.optionals (pythonSupport && casadiSupport) [
python3Packages.casadi
];
checkInputs = lib.optionals (pythonSupport && casadiSupport) [ python3Packages.matplotlib ];
cmakeFlags = [
(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
(lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
(lib.cmakeBool "BUILD_WITH_CASADI_SUPPORT" casadiSupport)
(lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
];
doCheck = true;
# pythonImportsCheck, but in stdenv.mkDerivation
postInstall = lib.optionalString pythonSupport ''
PYTHONPATH=$out/${python3Packages.python.sitePackages}:$PYTHONPATH
python -c "import pinocchio"
'';
meta = {
description = "Fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
homepage = "https://github.com/stack-of-tasks/pinocchio";
license = lib.licenses.bsd2;
maintainers = with lib.maintainers; [ nim65s wegank ];
platforms = lib.platforms.unix;
};
})
|
