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Add trajopt_ifopt builds for Windows and MacOS #431

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0d37624
Add trajopt_ifopt builds for Windows and MacOS
johnwason Nov 30, 2024
9c9a9e5
Add trajopt_ifopt builds for Windows and MacOS
johnwason Nov 30, 2024
021976a
BUILD_IPOPT=ON
johnwason Nov 30, 2024
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7 changes: 4 additions & 3 deletions .github/workflows/mac.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ env:
fcl ompl taskflow
bullet3[multithreading,double-precision,rtti]
ccd[double-precision] gperftools
coin-or-ipopt

jobs:
build-macos:
Expand Down Expand Up @@ -83,11 +84,11 @@ 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 \
-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 \
Expand All @@ -103,6 +104,6 @@ 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+

6 changes: 3 additions & 3 deletions .github/workflows/windows.yml
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Expand Up @@ -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 }}
Expand All @@ -60,7 +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: --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
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