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{ lib
, stdenv
, fetchFromGitHub
, cmake
, boost
, eigen
, urdfdom
, pythonSupport ? false
, python3Packages
}:
stdenv.mkDerivation rec {
pname = "pinocchio";
version = "2.6.19";
src = fetchFromGitHub {
owner = "stack-of-tasks";
repo = pname;
rev = "v${version}";
fetchSubmodules = true;
hash = "sha256-P7jSAQ6LYcboJHqtpneT4W8Pu5G3fd3/a8Gju9im1e8=";
};
# error: use of undeclared identifier '__sincos'
postPatch = lib.optionalString (stdenv.isDarwin && stdenv.isx86_64) ''
substituteInPlace src/math/sincos.hpp \
--replace "__APPLE__" "0"
'';
strictDeps = true;
nativeBuildInputs = [
cmake
];
propagatedBuildInputs = [
urdfdom
] ++ lib.optionals (!pythonSupport) [
boost
eigen
] ++ lib.optionals pythonSupport [
python3Packages.boost
python3Packages.eigenpy
];
cmakeFlags = lib.optionals (!pythonSupport) [
"-DBUILD_PYTHON_INTERFACE=OFF"
];
meta = with lib; {
description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
homepage = "https://github.com/stack-of-tasks/pinocchio";
license = licenses.bsd2;
maintainers = with maintainers; [ wegank ];
platforms = platforms.unix;
};
}
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