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{ lib
, stdenv
, fetchFromGitHub
, fetchpatch
, cmake
, example-robot-data
, pinocchio
, pythonSupport ? false
, python3Packages
}:
stdenv.mkDerivation (finalAttrs: {
pname = "crocoddyl";
version = "2.0.1";
src = fetchFromGitHub {
owner = "loco-3d";
repo = finalAttrs.pname;
rev = "v${finalAttrs.version}";
fetchSubmodules = true;
hash = "sha256-h7rzLSvmWOZCP8rvmUEhFeMEiPhojfbvkt+fNKpgoXo=";
};
strictDeps = true;
nativeBuildInputs = [
cmake
];
propagatedBuildInputs = lib.optionals (!pythonSupport) [
example-robot-data
pinocchio
] ++ lib.optionals pythonSupport [
python3Packages.example-robot-data
python3Packages.pinocchio
];
cmakeFlags = lib.optionals (!pythonSupport) [
"-DBUILD_EXAMPLES=OFF"
"-DBUILD_PYTHON_INTERFACE=OFF"
];
prePatch = ''
substituteInPlace \
examples/CMakeLists.txt \
examples/log/check_logfiles.sh \
--replace /bin/bash ${stdenv.shell}
'';
doCheck = true;
pythonImportsCheck = [
"crocoddyl"
];
checkInputs = lib.optionals (pythonSupport) [
python3Packages.scipy
];
meta = with lib; {
description = "Crocoddyl optimal control library";
homepage = "https://github.com/loco-3d/crocoddyl";
license = licenses.bsd3;
maintainers = with maintainers; [ nim65s wegank ];
platforms = platforms.unix;
};
})
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