tjh.dev
Clone of https://github.com/NixOS/nixpkgs.git (to stress-test knotserver)
1{ lib
2, stdenv
3, fetchFromGitHub
4, fetchpatch
5, cmake
6, example-robot-data
7, pinocchio
8, pythonSupport ? false
9, python3Packages
10}:
11
12stdenv.mkDerivation rec {
13 pname = "crocoddyl";
14 version = "2.0.0";
15
16 src = fetchFromGitHub {
17 owner = "loco-3d";
18 repo = pname;
19 rev = "v${version}";
20 fetchSubmodules = true;
21 hash = "sha256-wDHCHTJXmJjU7mhQ2huUVdEc9ap7PMeqlHPrKm//jBQ=";
22 };
23
24 patches = [
25 # error: no matching function for call to 'max(double&, int)'
26 (fetchpatch {
27 url = "https://github.com/loco-3d/crocoddyl/commit/d2e4116257595317740975e745739bb76b92e5c0.patch";
28 hash = "sha256-M79jNdIxzx9PfW3TStRny76dVo/HDf/Rp08ZPx+ymBg";
29 })
30 ];
31
32 strictDeps = true;
33
34 nativeBuildInputs = [
35 cmake
36 ];
37
38 propagatedBuildInputs = lib.optionals (!pythonSupport) [
39 example-robot-data
40 pinocchio
41 ] ++ lib.optionals pythonSupport [
42 python3Packages.example-robot-data
43 python3Packages.pinocchio
44 ];
45
46 cmakeFlags = lib.optionals (!pythonSupport) [
47 "-DBUILD_EXAMPLES=OFF"
48 "-DBUILD_PYTHON_INTERFACE=OFF"
49 ];
50
51 meta = with lib; {
52 description = "Crocoddyl optimal control library";
53 homepage = "https://github.com/loco-3d/crocoddyl";
54 license = licenses.bsd3;
55 maintainers = with maintainers; [ wegank ];
56 platforms = platforms.unix;
57 };
58}