Commit 73f6b8ac authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

pinocchio: add casadiSupport

parent 7c9c23c5

pkgs/development/libraries/pinocchio/default.nix

+14 −2
Original line number Diff line number Diff line
@@ -2,10 +2,12 @@ 
, stdenv

, fetchFromGitHub

, fetchpatch

, casadi

, cmake

, boost

, eigen

, example-robot-data

, casadiSupport ? !stdenv.isDarwin

, collisionSupport ? true

, console-bridge

, jrl-cmakemodules
@@ -41,11 +43,14 @@ stdenv.mkDerivation (finalAttrs: { 
    })

  ];



  postPatch = ''

    # example-robot-data models are used in checks.

    # Upstream provide them as git submodule, but we can use our own version instead.

  postPatch = ''

    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,
@@ -75,11 +80,18 @@ stdenv.mkDerivation (finalAttrs: { 
    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)

  ];