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Merge pull request #4905 from david-german-tri/static_ipopt
Add IPOPT to the Bazel build
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| # -*- python -*- | ||
| # This file contains rules for Bazel; see drake/doc/bazel.rst. | ||
|
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| load("//tools:cpplint.bzl", "cpplint") | ||
| load("//tools:drake.bzl", "cc_googletest") | ||
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| cc_library( | ||
| name = "pendulum_state_vector", | ||
| srcs = ["gen/pendulum_state_vector.cc"], | ||
| hdrs = ["gen/pendulum_state_vector.h"], | ||
| linkstatic = 1, | ||
| deps = [ | ||
| "//drake/systems/framework:vector", | ||
| ], | ||
| ) | ||
|
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| cc_library( | ||
| name = "pendulum_plant", | ||
| srcs = ["pendulum_plant.cc"], | ||
| hdrs = ["pendulum_plant.h"], | ||
| deps = [ | ||
| ":pendulum_state_vector", | ||
| "//drake/systems/framework", | ||
| ], | ||
| ) | ||
|
|
||
| cc_library( | ||
| name = "pendulum_swing_up", | ||
| srcs = ["pendulum_swing_up.cc"], | ||
| hdrs = ["pendulum_swing_up.h"], | ||
| deps = [ | ||
| ":pendulum_plant", | ||
| "//drake/systems/trajectory_optimization:direct_collocation", | ||
| ], | ||
| ) | ||
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| # === test/ === | ||
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| cc_googletest( | ||
| name = "pendulum_urdf_dynamics_test", | ||
| data = ["Pendulum.urdf"], | ||
| deps = [ | ||
| ":pendulum_plant", | ||
| "//drake/common:eigen_matrix_compare", | ||
| "//drake/multibody:rigid_body_tree", | ||
| "//drake/multibody/parsers", | ||
| "//drake/multibody/rigid_body_plant", | ||
| ], | ||
| ) | ||
|
|
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| cc_googletest( | ||
| name = "pendulum_dynamic_constraint_test", | ||
| deps = [ | ||
| ":pendulum_plant", | ||
| "//drake/common:eigen_matrix_compare", | ||
| "//drake/systems/trajectory_optimization:direct_collocation", | ||
| ], | ||
| ) | ||
|
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| cc_googletest( | ||
| name = "pendulum_trajectory_optimization_test", | ||
| deps = [ | ||
| ":pendulum_swing_up", | ||
| "//drake/common:eigen_matrix_compare", | ||
| ], | ||
| ) | ||
|
|
||
| cpplint() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,132 @@ | ||
| # We build IPOPT by shelling out to autotools. | ||
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| # A prefix-string for genrule cmd attributes, which uses the Kythe cdexec tool, | ||
| # in quiet mode, to execute in the genrule output directory. | ||
| CDEXEC = "$(location @//tools/third_party/kythe/tools/cdexec:cdexec) -q $(@D)" | ||
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| # We run autotools in a genrule, and only files explicitly identified as outputs | ||
| # of that genrule can be made available to other rules. Therefore, we need a | ||
| # list of every file in the IPOPT install. | ||
| # See https://github.com/bazelbuild/bazel/issues/281. | ||
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| # find include/coin -name "*.h" -o -name "*.hpp" -o -name "*.hdd" | sort | | ||
| # sed 's/$/",/g'| sed 's/^/"/g' | ||
| IPOPT_HDRS = [ | ||
| "include/coin/AmplTNLP.hpp", | ||
| "include/coin/HSLLoader.h", | ||
| "include/coin/IpAlgTypes.hpp", | ||
| "include/coin/IpBlas.hpp", | ||
| "include/coin/IpCachedResults.hpp", | ||
| "include/coin/IpCompoundVector.hpp", | ||
| "include/coin/IpDebug.hpp", | ||
| "include/coin/IpDenseVector.hpp", | ||
| "include/coin/IpException.hpp", | ||
| "include/coin/IpExpansionMatrix.hpp", | ||
| "include/coin/IpIpoptApplication.hpp", | ||
| "include/coin/IpIpoptCalculatedQuantities.hpp", | ||
| "include/coin/IpIpoptData.hpp", | ||
| "include/coin/IpIpoptNLP.hpp", | ||
| "include/coin/IpIteratesVector.hpp", | ||
| "include/coin/IpJournalist.hpp", | ||
| "include/coin/IpLapack.hpp", | ||
| "include/coin/IpMatrix.hpp", | ||
| "include/coin/IpNLP.hpp", | ||
| "include/coin/IpNLPScaling.hpp", | ||
| "include/coin/IpObserver.hpp", | ||
| "include/coin/IpoptConfig.h", | ||
| "include/coin/IpOptionsList.hpp", | ||
| "include/coin/IpOrigIpoptNLP.hpp", | ||
| "include/coin/IpReferenced.hpp", | ||
| "include/coin/IpRegOptions.hpp", | ||
| "include/coin/IpReturnCodes.h", | ||
| "include/coin/IpReturnCodes.hpp", | ||
| "include/coin/IpReturnCodes_inc.h", | ||
| "include/coin/IpSmartPtr.hpp", | ||
| "include/coin/IpSolveStatistics.hpp", | ||
| "include/coin/IpStdCInterface.h", | ||
| "include/coin/IpSymMatrix.hpp", | ||
| "include/coin/IpTaggedObject.hpp", | ||
| "include/coin/IpTimedTask.hpp", | ||
| "include/coin/IpTimingStatistics.hpp", | ||
| "include/coin/IpTNLPAdapter.hpp", | ||
| "include/coin/IpTNLP.hpp", | ||
| "include/coin/IpTNLPReducer.hpp", | ||
| "include/coin/IpTypes.hpp", | ||
| "include/coin/IpUtils.hpp", | ||
| "include/coin/IpVector.hpp", | ||
| "include/coin/PardisoLoader.h", | ||
| "include/coin/ThirdParty/arith.h", | ||
| "include/coin/ThirdParty/asl.h", | ||
| "include/coin/ThirdParty/asl_pfg.h", | ||
| "include/coin/ThirdParty/asl_pfgh.h", | ||
| "include/coin/ThirdParty/defs.h", | ||
| "include/coin/ThirdParty/dmumps_c.h", | ||
| "include/coin/ThirdParty/funcadd.h", | ||
| "include/coin/ThirdParty/getstub.h", | ||
| "include/coin/ThirdParty/macros.h", | ||
| "include/coin/ThirdParty/metis.h", | ||
| "include/coin/ThirdParty/mpi.h", | ||
| "include/coin/ThirdParty/mumps_compat.h", | ||
| "include/coin/ThirdParty/mumps_c_types.h", | ||
| "include/coin/ThirdParty/nlp2.h", | ||
| "include/coin/ThirdParty/nlp.h", | ||
| "include/coin/ThirdParty/proto.h", | ||
| "include/coin/ThirdParty/psinfo.h", | ||
| "include/coin/ThirdParty/rename.h", | ||
| "include/coin/ThirdParty/stdio1.h", | ||
| "include/coin/ThirdParty/struct.h", | ||
| ] | ||
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| # ls lib | grep "\.a$" | sed 's/$/",/g'| sed 's/^/"lib\//g' | ||
| # These are artisanally topo-sorted: demand before supply. | ||
| # If you change the order, you may get undefined-reference linker errors. | ||
| IPOPT_LIBS = [ | ||
| "lib/libipopt.a", | ||
| "lib/libipoptamplinterface.a", | ||
| "lib/libcoinmumps.a", | ||
| # TODO(#4913): Remove the dependency on METIS. | ||
| "lib/libcoinmetis.a", | ||
| "lib/libcoinasl.a", | ||
| "lib/libcoinlapack.a", | ||
| "lib/libcoinblas.a", | ||
| ] | ||
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| # Invokes ./configure, make, and make install to build IPOPT. We arbitrarily | ||
| # use make -j 8 and hope for the best in terms of overall CPU consumption, since | ||
| # Bazel has no way to tell a genrule how many cores it should use. | ||
| # | ||
| # We emit static libraries because dynamic libraries would have different names | ||
| # on OS X and on Linux, and Bazel genrules don't allow platform-dependent outs. | ||
| # https://github.com/bazelbuild/bazel/issues/281 | ||
| BUILD_IPOPT_CMD = ( | ||
| CDEXEC + " `pwd`/external/ipopt/configure --enable-shared=no 2> /dev/null" + | ||
| " && " + CDEXEC + " make -j 32 2> /dev/null" + | ||
| " && " + CDEXEC + " make install 2> /dev/null" | ||
| ) | ||
|
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| genrule( | ||
| name = "build_with_autotools", | ||
| srcs = glob(["**/*"]), | ||
| outs = IPOPT_HDRS + IPOPT_LIBS, | ||
| cmd = BUILD_IPOPT_CMD, | ||
| tools = ["@//tools/third_party/kythe/tools/cdexec:cdexec"], | ||
| visibility = ["//visibility:private"], | ||
| ) | ||
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| # Only Linux builds should depend on this target. gfortran is not available as | ||
| # a system library on OS X. | ||
| # TODO(david-german-tri): Ingest the fortran library path from the pkg-config | ||
| # files generated during the IPOPT build. | ||
| cc_library( | ||
| name = "lib", | ||
| srcs = IPOPT_LIBS, | ||
| hdrs = IPOPT_HDRS, | ||
| includes = ["include/coin"], | ||
| linkopts = [ | ||
| "-lgfortran", | ||
| "-ldl", | ||
| ], | ||
| linkstatic = 1, | ||
| visibility = ["//visibility:public"], | ||
| alwayslink = 1, | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| package( | ||
| default_visibility = ["//visibility:public"], | ||
| ) | ||
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| exports_files(["cdexec.bzl"]) | ||
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| sh_binary( | ||
| name = "cdexec", | ||
| srcs = ["cdexec.sh"], | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| """Skylark module with utilities and macros for running actions with cdexec.""" | ||
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| def rootpath(path): | ||
| """Returns a string which cdexec will interpret as absolute. | ||
| Specifically, if the path starts with '/', it is returned unmodified. | ||
| Otherwise, the returns the path prefixed by the literal string '${PWD}/' | ||
| which will be expanded by the `cdexec` script into the Bazel exec root. | ||
| """ | ||
| if path.startswith("/"): | ||
| return path | ||
| return "${PWD}/" + path |
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