tjh.dev
1{ lib, stdenv, toPythonModule, fetchpatch, cmake, pybind11, orocos-kdl, eigen
2, python }:
3
4toPythonModule (stdenv.mkDerivation {
5 pname = "pykdl";
6 inherit (orocos-kdl) version src;
7
8 sourceRoot = "${orocos-kdl.src.name}/python_orocos_kdl";
9
10 patches = [
11 # Support system pybind11; the vendored copy doesn't support Python 3.11
12 (fetchpatch {
13 url = "https://github.com/orocos/orocos_kinematics_dynamics/commit/e25a13fc5820dbca6b23d10506407bca9bcdd25f.patch";
14 hash = "sha256-NGMVGEYsa7hVX+SgRZgeSm93BqxFR1uiyFvzyF5H0Y4=";
15 stripLen = 1;
16 })
17 ];
18
19 # Fix hardcoded installation path
20 postPatch = ''
21 substituteInPlace CMakeLists.txt \
22 --replace dist-packages site-packages
23 '';
24
25 nativeBuildInputs = [ cmake pybind11 ];
26 buildInputs = [ orocos-kdl eigen ];
27 propagatedBuildInputs = [ python ];
28
29 meta = with lib; {
30 description = "Kinematics and Dynamics Library (Python bindings)";
31 homepage = "https://www.orocos.org/kdl.html";
32 license = licenses.lgpl21Only;
33 maintainers = with maintainers; [ lopsided98 ];
34 platforms = platforms.all;
35 };
36})