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Merged
GiulioRomualdi merged 6 commits into from
Sep 4, 2020
Merged

Enable cppad on Windows #89

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2f8bcb1
Add Windows support to Findcppad.cmake
GiulioRomualdi Sep 2, 2020
4e83cf6
Enable the compilation of cppad on GitHub CI [Windows]
GiulioRomualdi Aug 31, 2020
80aa9dc
Bugfix in CppADTest
GiulioRomualdi Sep 2, 2020
333ed92
Update ci.yml
GiulioRomualdi Sep 4, 2020
bdaddbd
Merge branch 'master' into feature/cppad_windows
GiulioRomualdi Sep 4, 2020
1689cef
Update ci.yml
GiulioRomualdi Sep 4, 2020
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12 changes: 9 additions & 3 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ on:

env:
vcpkg_robotology_TAG: v0.4.0
vcpkg_TAG: 222c35e3bcb8f28cd63fc526e591bb4ef6b99e4f
YCM_TAG: v0.11.1
YARP_TAG: 964bb26fa4791d83d72882711ea7509306248106
iDynTree_TAG: v1.1.0
Expand Down Expand Up @@ -61,9 +62,14 @@ jobs:
# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
echo "::set-env name=VCPKG_INSTALLATION_ROOT::C:/robotology/vcpkg"

# Install Catch2
# Install Catch2 and cppad
cd C:/robotology/vcpkg
./vcpkg.exe install --overlay-ports=C:/robotology/robotology-vcpkg-binary-ports catch2:x64-windows
git fetch
git checkout $env:vcpkg_TAG
./bootstrap-vcpkg.bat
./vcpkg.exe install --overlay-ports=C:/robotology/robotology-vcpkg-binary-ports catch2:x64-windows cppad:x64-windows
echo "::set-env name=cppad_DIR::C:/robotology/vcpkg/installed/x64-windows"


- name: Dependencies [macOS]
if: matrix.os == 'macOS-latest'
Expand All @@ -85,7 +91,7 @@ jobs:
with:
path: ${{ github.workspace }}/install/deps
# Including ${{ runner.temp }} is a workaround taken from https://github.com/robotology/whole-body-estimators/pull/62 to fix macos configuration failure on https://github.com/dic-iit/bipedal-locomotion-framework/pull/45
key: source-deps-${{ runner.os }}-${{runner.temp}}-build-type-${{ matrix.build_type }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-catch2-${{ env.Catch2_TAG }}-qhull-${{ env.Qhull_TAG }}-casADi-${{ env.CasADi_TAG }}-manif-${{ env.manif_TAG }}
key: source-deps-${{ runner.os }}-${{runner.temp}}-build-type-${{ matrix.build_type }}-vcpkg-${{ env.vcpkg_TAG }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-catch2-${{ env.Catch2_TAG }}-qhull-${{ env.Qhull_TAG }}-casADi-${{ env.CasADi_TAG }}-manif-${{ env.manif_TAG }}


- name: Source-based Dependencies [Windows]
Expand Down
48 changes: 47 additions & 1 deletion cmake/Findcppad.cmake
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Expand Up @@ -73,7 +73,53 @@ if(NOT WIN32)

# Windows platforms
else()
message(WARNING "Windows is not supported yet.")

find_package(PkgConfig QUIET)
if(PKG_CONFIG_FOUND)

if(cppad_FIND_VERSION)
if(cppad_FIND_VERSION_EXACT)
pkg_check_modules(_PC_cppad QUIET cppad=${cppad_FIND_VERSION})
else()
pkg_check_modules(_PC_cppad QUIET cppad>=${cppad_FIND_VERSION})
endif()
else()
pkg_check_modules(_PC_cppad QUIET cppad)
endif()

if(_PC_cppad_FOUND)
set(cppad_INCLUDE_DIRS ${_PC_cppad_INCLUDE_DIRS} CACHE PATH "cppad include directory")
set(cppad_DEFINITIONS ${_PC_cppad_CFLAGS} CACHE STRING "Additional compiler flags for cppad")

find_library(${_PC_cppad_LIBRARIES}_PATH
NAMES ${_PC_cppad_LIBRARIES}
PATHS ${_PC_cppad_LIBRARY_DIRS})

set(cppad_LIBRARIES ${${_PC_cppad_LIBRARIES}_PATH} CACHE PATH "cppad libraries" FORCE)

else()
set(cppad_DEFINITIONS "")
endif()

endif()

set(cppad_LINK_FLAGS "")

# If pkg-config fails, try to find the package using cppad_DIR
if(NOT _PC_cppad_FOUND)
set(cppad_DIR $ENV{cppad_DIR} CACHE PATH "Path to cppad build directory")

find_path(cppad_INCLUDE_DIRS
NAMES cppad.hpp PATH_SUFFIXES cppad PATHS ${cppad_DIR}/include/cppad)

find_library(cppad_LIBRARIES
NAMES cppad cppad_lib
PATHS ${cppad_DIR}/lib ${cppad_DIR}/lib/cppad)

set(cppad_DEFINITIONS "")
set(cppad_LINK_FLAGS "")
endif()

endif()


Expand Down
2 changes: 1 addition & 1 deletion src/AutoDiff/tests/CppADTest.cpp
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Expand Up @@ -33,7 +33,7 @@ TEST_CASE("CppAD and Eigen")
Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> jacMatrix(jac.data());

// Compute the analytic Jacobian
auto analyticJacobian = [&a, &b](const Eigen::Ref<Eigen::Vector3d>& x) -> Eigen::Matrix3d {
auto analyticJacobian = [&a, &b, &c](const Eigen::Ref<Eigen::Vector3d>& x) -> Eigen::Matrix3d {
Eigen::Vector3d jacobian;
jacobian = a + c * b * (b * x.array()).cos();
return jacobian.asDiagonal();
Expand Down