From 0d37624ae638e5d4ae22fee73e531dc3e90b9dd7 Mon Sep 17 00:00:00 2001 From: John Wason Date: Sat, 30 Nov 2024 13:17:39 -0500 Subject: [PATCH 1/3] Add trajopt_ifopt builds for Windows and MacOS --- .github/workflows/mac.yml | 4 ++-- .github/workflows/windows.yml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml index 8cd717c0..48004cb2 100644 --- a/.github/workflows/mac.yml +++ b/.github/workflows/mac.yml @@ -83,7 +83,7 @@ jobs: export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }} colcon build --merge-install \ - --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \ + --packages-ignore tesseract_examples vhacd tesseract_python \ --event-handlers console_cohesion+ \ --cmake-force-configure \ --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \ @@ -103,6 +103,6 @@ jobs: export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }} colcon test --merge-install \ - --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \ + --packages-ignore tesseract_examples vhacd tesseract_python \ --event-handlers console_cohesion+ diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml index e558b782..17f1dc10 100644 --- a/.github/workflows/windows.yml +++ b/.github/workflows/windows.yml @@ -38,6 +38,7 @@ jobs: benchmark tinyxml2 assimp orocos-kdl pcl lapack-reference boost-dll boost-filesystem boost-filesystem boost-format boost-serialization boost-program-options boost-graph urdfdom ccd[double-precision] gtest jsoncpp + coin-or-ipopt triplet: x64-windows-release extra-args: --clean-after-build token: ${{ github.token }} @@ -62,5 +63,4 @@ jobs: vcs-file: .github/workflows/windows_dependencies.repos upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF target-path: target_ws/src - target-args: --packages-ignore trajopt_ifopt trajopt_sqp --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON - run-tests-args: --packages-ignore trajopt_ifopt trajopt_sqp + target-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON From 9c9a9e5f4d19ff59e0cb2459e48980fc4348e93a Mon Sep 17 00:00:00 2001 From: John Wason Date: Sat, 30 Nov 2024 13:19:51 -0500 Subject: [PATCH 2/3] Add trajopt_ifopt builds for Windows and MacOS --- .github/workflows/mac.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml index 48004cb2..9585c3d9 100644 --- a/.github/workflows/mac.yml +++ b/.github/workflows/mac.yml @@ -28,6 +28,7 @@ env: fcl ompl taskflow bullet3[multithreading,double-precision,rtti] ccd[double-precision] gperftools + coin-or-ipopt jobs: build-macos: From 021976a6f237ec003190d275872e76ff62f4eb00 Mon Sep 17 00:00:00 2001 From: John Wason Date: Sat, 30 Nov 2024 14:05:00 -0500 Subject: [PATCH 3/3] BUILD_IPOPT=ON --- .github/workflows/mac.yml | 2 +- .github/workflows/windows.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml index 9585c3d9..24a40eb0 100644 --- a/.github/workflows/mac.yml +++ b/.github/workflows/mac.yml @@ -88,7 +88,7 @@ jobs: --event-handlers console_cohesion+ \ --cmake-force-configure \ --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \ - -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \ + -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=ON -DBUILD_SNOPT=OFF \ -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF \ -DVCPKG_APPLOCAL_DEPS=OFF -DTRAJOPT_ENABLE_TESTING=ON \ -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \ diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml index 17f1dc10..b982f42e 100644 --- a/.github/workflows/windows.yml +++ b/.github/workflows/windows.yml @@ -61,6 +61,6 @@ jobs: with: ccache-prefix: ${{ matrix.distro }} vcs-file: .github/workflows/windows_dependencies.repos - upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF + upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=ON -DBUILD_SNOPT=OFF target-path: target_ws/src target-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON