Commit 67464977 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

mim-solvers: 0.1.1 -> 0.3.0 

Diff: https://github.com/machines-in-motion/mim_solvers/compare/v0.1.1...v0.3.0
parent 104fcdce

pkgs/by-name/mi/mim-solvers/fix-croco-310.patch

deleted100644 → 0
+0 −52
Original line number Diff line number Diff line 
From 1cb7fe38e3ec43117c646cae521eb8347145965a Mon Sep 17 00:00:00 2001

From: Guilhem Saurel <guilhem.saurel@laas.fr>

Date: Tue, 14 Oct 2025 19:37:16 +0200

Subject: [PATCH] fix for crocoddyl v3.1.0 explicit template instanciation



ref. https://github.com/loco-3d/crocoddyl/pull/1367



Yes, that was a breaking change

---

 tests/factory/point-mass.hpp | 22 ++++++++++++++++++++++

 1 file changed, 22 insertions(+)



diff --git a/tests/factory/point-mass.hpp b/tests/factory/point-mass.hpp

index e82c977..c2e93af 100644

--- a/tests/factory/point-mass.hpp

+++ b/tests/factory/point-mass.hpp

@@ -60,6 +60,17 @@ class DAMPointMass1D : public crocoddyl::DifferentialActionModelAbstract {

   // Destructor

   virtual ~DAMPointMass1D();

 

+  // Explicit template instanciation

+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()

+      const override {

+    return std::make_shared<DAMPointMass1D>(*this);

+  }

+

+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()

+      const override {

+    return std::make_shared<DAMPointMass1D>(*this);

+  }

+

   // Cost & dynamics

   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,

             const Eigen::Ref<const VectorXd>& x,

@@ -135,6 +146,17 @@ class DAMPointMass2D : public crocoddyl::DifferentialActionModelAbstract {

   // Destructor

   virtual ~DAMPointMass2D();

 

+  // Explicit template instanciation

+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()

+      const override {

+    return std::make_shared<DAMPointMass2D>(*this);

+  }

+

+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()

+      const override {

+    return std::make_shared<DAMPointMass2D>(*this);

+  }

+

   // Cost & dynamics

   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,

             const Eigen::Ref<const VectorXd>& x,

pkgs/by-name/mi/mim-solvers/package.nix

+2 −14
Original line number Diff line number Diff line
@@ -14,27 +14,15 @@ 


stdenv.mkDerivation (finalAttrs: {

  pname = "mim-solvers";

  version = "0.1.1";

  version = "0.3.0";



  src = fetchFromGitHub {

    owner = "machines-in-motion";

    repo = "mim_solvers";

    rev = "v${finalAttrs.version}";

    hash = "sha256-1Mqu9Hfy65HUIOVG/gJBpSMlOwDWVcH+LrR8CaWz0BE=";

    hash = "sha256-t21zzUo+Oiqvr3lYN9v1lCeoki3I1FWPqo3gWzM6Kdw=";

  };



  patches = [

    # ref. https://github.com/machines-in-motion/mim_solvers/pull/71 merged upstream

    (fetchpatch {

      name = "build-standalone-python-interface.patch";

      url = "https://github.com/machines-in-motion/mim_solvers/commit/796eecf05dd9165dd0795aa562ead17de4f19633.patch";

      hash = "sha256-/OiMzyDVEbpC/Dr/HcguwAdhmbQNxnIRsHAVkX68xqA=";

    })

    # Fix for crocoddyl 3.1.0

    # ref. https://github.com/machines-in-motion/mim_solvers/pull/72

    ./fix-croco-310.patch

  ];



  nativeBuildInputs = [

    cmake

    pkg-config