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Add qpsolvers-eigen and sharedlibpp to the robotology-superbuild #1735

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Nov 10, 2024
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4 changes: 4 additions & 0 deletions cmake/BuildBlockFactory.cmake
Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,15 @@ else()
set(BLOCKFACTORY_USES_SIMULINK OFF)
endif()

find_or_build_package(sharedlibpp QUIET)

ycm_ep_helper(BlockFactory TYPE GIT
STYLE GITHUB
REPOSITORY robotology/blockfactory.git
TAG master
COMPONENT dynamics
FOLDER src
DEPENDS sharedlibpp
CMAKE_ARGS -DUSES_MATLAB:BOOL=${BLOCKFACTORY_USES_SIMULINK}
-DBLOCKFACTORY_USES_SYSTEM_SHAREDLIBPP:BOOL=ON
-DENABLE_WARNINGS:BOOL=OFF)
39 changes: 39 additions & 0 deletions cmake/BuildQpSolversEigen.cmake
Original file line number Diff line number Diff line change
@@ -0,0 +1,39 @@
# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
# SPDX-License-Identifier: BSD-3-Clause

include(YCMEPHelper)
include(FindOrBuildPackage)

set(QpSolversEigen_DEPENDS "")
find_or_build_package(sharedlibpp QUIET)
list(APPEND QpSolversEigen_DEPENDS sharedlibpp)
find_or_build_package(YCM QUIET)
list(APPEND QpSolversEigen_DEPENDS YCM)
find_or_build_package(OsqpEigen QUIET)
list(APPEND QpSolversEigen_DEPENDS OsqpEigen)


# proxqp only supports MSVC Toolset v143, i.e. Visual Studio 2022
if(NOT MSVC OR MSVC_VERSION VERSION_GREATER_EQUAL 1930)
find_or_build_package(proxsuite QUIET)
list(APPEND QpSolversEigen_DEPENDS proxsuite)
set(QPSOLVERSEIGEN_ENABLE_PROXQP ON)
else()
set(QPSOLVERSEIGEN_ENABLE_PROXQP OFF)
endif()

ycm_ep_helper(QpSolversEigen TYPE GIT
STYLE GITHUB
REPOSITORY ami-iit/qpsolvers-eigen.git
TAG main
COMPONENT dynamics
FOLDER src
CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF
-DQPSOLVERSEIGEN_USES_SYSTEM_SHAREDLIBPP:BOOL=ON
-DQPSOLVERSEIGEN_USES_SYSTEM_YCM:BOOL=ON
-DQPSOLVERSEIGEN_ENABLE_OSQP:BOOL=ON
-DQPSOLVERSEIGEN_ENABLE_PROXQP:BOOL=${QPSOLVERSEIGEN_ENABLE_PROXQP}
DEPENDS ${QpSolversEigen_DEPENDS})

set(QpSolversEigen_CONDA_PKG_NAME qpsolvers-eigen)
set(QpSolversEigen_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
6 changes: 5 additions & 1 deletion cmake/BuildWBToolbox.cmake
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,10 @@ find_or_build_package(YARP QUIET)
find_or_build_package(ICUB QUIET)
find_or_build_package(iDynTree QUIET)
find_or_build_package(qpOASES QUIET)
find_or_build_package(sharedlibpp QUIET)
find_or_build_package(BlockFactory QUIET)
find_or_build_package(OsqpEigen QUIET)
find_or_build_package(QpSolversEigen QUIET)

ycm_ep_helper(WBToolbox TYPE GIT
STYLE GITHUB
Expand All @@ -27,6 +29,8 @@ ycm_ep_helper(WBToolbox TYPE GIT
iDynTree
qpOASES
BlockFactory
OsqpEigen)
OsqpEigen
sharedlibpp
QpSolversEigen)

set(WBToolbox_CONDA_DEPENDENCIES eigen)
18 changes: 18 additions & 0 deletions cmake/Buildsharedlibpp.cmake
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
# SPDX-License-Identifier: BSD-3-Clause

include(YCMEPHelper)

find_or_build_package(YCM QUIET)

ycm_ep_helper(sharedlibpp TYPE GIT
STYLE GITHUB
REPOSITORY ami-iit/sharedlibpp.git
TAG main
COMPONENT dynamics
FOLDER src
DEPENDS YCM
CMAKE_ARGS)

set(sharedlibpp_CONDA_PKG_NAME libsharedlibpp)
set(sharedlibpp_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
12 changes: 10 additions & 2 deletions releases/latest.releases.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -82,11 +82,11 @@ repositories:
BlockFactory:
type: git
url: https://github.com/robotology/blockfactory.git
version: v0.8.6
version: v1.0.1
WBToolbox:
type: git
url: https://github.com/robotology/wb-toolbox.git
version: v5.7.0
version: v6.0.0
OsqpEigen:
type: git
url: https://github.com/robotology/osqp-eigen.git
Expand Down Expand Up @@ -275,3 +275,11 @@ repositories:
type: git
url: https://github.com/robotology/gz-sim-yarp-plugins.git
version: v0.3.0
sharedlibpp:
type: git
url: https://github.com/ami-iit/sharedlibpp.git
version: v0.0.3
QpSolversEigen:
type: git
url: https://github.com/ami-iit/qpsolvers-eigen.git
version: v0.0.1
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