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{ lib
, stdenv
, fetchFromGitHub
, fetchpatch
, cmake
, example-robot-data
, pinocchio
, pythonSupport ? false
, python3Packages
}:
stdenv.mkDerivation rec {
pname = "crocoddyl";
version = "2.0.0";
src = fetchFromGitHub {
owner = "loco-3d";
repo = pname;
rev = "v${version}";
fetchSubmodules = true;
hash = "sha256-wDHCHTJXmJjU7mhQ2huUVdEc9ap7PMeqlHPrKm//jBQ=";
};
patches = [
# error: no matching function for call to 'max(double&, int)'
(fetchpatch {
url = "https://github.com/loco-3d/crocoddyl/commit/d2e4116257595317740975e745739bb76b92e5c0.patch";
hash = "sha256-M79jNdIxzx9PfW3TStRny76dVo/HDf/Rp08ZPx+ymBg";
})
];
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"
];
meta = with lib; {
description = "Crocoddyl optimal control library";
homepage = "https://github.com/loco-3d/crocoddyl";
license = licenses.bsd3;
maintainers = with maintainers; [ wegank ];
platforms = platforms.unix;
};
}
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