pkgs/by-name/pi/pinocchio/package.nix

   1 {
   2   boost,
   3   casadi,
   4   casadiSupport ? true,
   5   cmake,
   6   collisionSupport ? true,
   7   console-bridge,
   8   doxygen,
   9   eigen,
  10   example-robot-data,
  11   fetchFromGitHub,
  12   hpp-fcl,
  13   jrl-cmakemodules,
  14   lib,
  15   pkg-config,
  16   pythonSupport ? false,
  17   python3Packages,
  18   stdenv,
  19   urdfdom,
  20 }:
  21
  22 stdenv.mkDerivation (finalAttrs: {
  23   pname = "pinocchio";
  24   version = "3.2.0";
  25
  26   src = fetchFromGitHub {
  27     owner = "stack-of-tasks";
  28     repo = "pinocchio";
  29     rev = "v${finalAttrs.version}";
  30     hash = "sha256-8V+n1TwFojXKOVkGG8k9aXVadt2NBFlZKba93L+NRNU=";
  31   };
  32
  33   outputs = [
  34     "out"
  35     "doc"
  36   ];
  37
  38   # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277
  39   prePatch = lib.optionalString (stdenv.hostPlatform.isLinux && stdenv.hostPlatform.isAarch64) ''
  40     substituteInPlace unittest/algorithm/utils/CMakeLists.txt \
  41       --replace-fail "add_pinocchio_unit_test(force)" ""
  42   '';
  43
  44   postPatch = ''
  45     # example-robot-data models are used in checks.
  46     # Upstream provide them as git submodule, but we can use our own version instead.
  47     test -d models/example-robot-data && rmdir models/example-robot-data
  48     ln -s ${example-robot-data.src} models/example-robot-data
  49
  50     # allow package:// uri use in examples
  51     export ROS_PACKAGE_PATH=${example-robot-data}/share
  52
  53     # silence matplotlib warning
  54     export MPLCONFIGDIR=$(mktemp -d)
  55   '';
  56
  57   # CMAKE_BUILD_TYPE defaults to Release in this package,
  58   # which enable -O3, which break some tests
  59   # ref. https://github.com/stack-of-tasks/pinocchio/issues/2304#issuecomment-2231018300
  60   postConfigure = ''
  61     substituteInPlace CMakeCache.txt --replace-fail '-O3' '-O2'
  62   '';
  63
  64   strictDeps = true;
  65
  66   nativeBuildInputs =
  67     [
  68       cmake
  69       doxygen
  70       pkg-config
  71     ]
  72     ++ lib.optionals pythonSupport [
  73       python3Packages.python
  74       python3Packages.pythonImportsCheckHook
  75     ];
  76
  77   propagatedBuildInputs =
  78     [
  79       console-bridge
  80       jrl-cmakemodules
  81       urdfdom
  82     ]
  83     ++ lib.optionals (!pythonSupport) [
  84       boost
  85       eigen
  86     ]
  87     ++ lib.optionals (!pythonSupport && collisionSupport) [ hpp-fcl ]
  88     ++ lib.optionals pythonSupport [
  89       python3Packages.boost
  90       python3Packages.eigenpy
  91     ]
  92     ++ lib.optionals (pythonSupport && collisionSupport) [ python3Packages.hpp-fcl ]
  93     ++ lib.optionals (!pythonSupport && casadiSupport) [ casadi ]
  94     ++ lib.optionals (pythonSupport && casadiSupport) [ python3Packages.casadi ];
  95
  96   checkInputs = lib.optionals (pythonSupport && casadiSupport) [ python3Packages.matplotlib ];
  97
  98   cmakeFlags = [
  99     (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
 100     (lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
 101     (lib.cmakeBool "BUILD_WITH_CASADI_SUPPORT" casadiSupport)
 102     (lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
 103     (lib.cmakeBool "INSTALL_DOCUMENTATION" true)
 104   ];
 105
 106   doCheck = true;
 107   pythonImportsCheck = [ "pinocchio" ];
 108
 109   meta = {
 110     description = "Fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
 111     homepage = "https://github.com/stack-of-tasks/pinocchio";
 112     license = lib.licenses.bsd2;
 113     maintainers = with lib.maintainers; [
 114       nim65s
 115       wegank
 116     ];
 117     platforms = lib.platforms.unix;
 118   };
 119 })