[workspace] Upgrade nlopt_internal to latest release v2.9.1 (#22257)

* [workspace] Upgrade nlopt_internal to latest release v2.9.1 --------- Co-authored-by: Rick Poyner <[email protected]>
RobotLocomotion · Dec 5, 2024 · 1f1c684 · 1f1c684
1 parent f12b3a6
commit 1f1c684
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Showing 5 changed files with 32 additions and 46 deletions.
diff --git a/tools/workspace/nlopt_internal/package.BUILD.bazel b/tools/workspace/nlopt_internal/package.BUILD.bazel
@@ -37,6 +37,10 @@ cmake_configure_file(
         "SIZEOF_UNSIGNED_INT=",
         "SIZEOF_UNSIGNED_LONG=",
     ],
+    undefines = [
+        # Avoid incompatible licensed luksan.
+        "NLOPT_LUKSAN",
+    ],
 )
 
 # Make the config header available as a private library.

diff --git a/tools/workspace/nlopt_internal/patches/gen_enums.patch b/tools/workspace/nlopt_internal/patches/gen_enums.patch
@@ -8,7 +8,7 @@ Reasoning for not upstreaming this patch: Drake-specific build hack.
 
 --- src/api/nlopt-in.hpp.orig
 +++ src/api/nlopt-in.hpp
-@@ -46,6 +46,68 @@
+@@ -46,4 +46,65 @@
    // nlopt::* namespace versions of the C enumerated types
    //          AUTOMATICALLY GENERATED, DO NOT EDIT
    // GEN_ENUMS_HERE
@@ -23,7 +23,6 @@ Reasoning for not upstreaming this patch: Drake-specific build hack.
 +    GN_ORIG_DIRECT_L,
 +    GD_STOGO,
 +    GD_STOGO_RAND,
-+    LD_LBFGS_NOCEDAL,
 +    LD_LBFGS,
 +    LN_PRAXIS,
 +    LD_VAR1,

diff --git a/tools/workspace/nlopt_internal/patches/remove_luksan.patch b/tools/workspace/nlopt_internal/patches/remove_luksan.patch
diff --git a/tools/workspace/nlopt_internal/patches/upstream/repair_luksan_config.patch b/tools/workspace/nlopt_internal/patches/upstream/repair_luksan_config.patch
@@ -0,0 +1,24 @@
+Repair NLopt's configuration scheme for the Luksan dependency.
+
+That library is licensed under LGPL-2.1+ but the rest of NLopt is
+licensed under MIT or similar notice-only licenses, and we really
+don't want to distribute this code using dynamic linking.
+
+Recent versions of NLopt offer a configuration setting to remove Luksan,
+but the piece shown below is missing.
+
+This patch should probably be upstreamed.
+
+
+--- nlopt_config.h.in
++++ nlopt_config.h.in
+@@ -129,6 +129,9 @@
+ /* Define if compiled including C++-based routines */
+ #cmakedefine NLOPT_CXX
+
++/* Define if using LGPL Luksan solvers */
++#cmakedefine NLOPT_LUKSAN
++
+ /* Define to empty if `const' does not conform to ANSI C. */
+ #undef const
+
diff --git a/tools/workspace/nlopt_internal/repository.bzl b/tools/workspace/nlopt_internal/repository.bzl
@@ -6,11 +6,11 @@ def nlopt_internal_repository(
     github_archive(
         name = name,
         repository = "stevengj/nlopt",
-        commit = "v2.8.0",
-        sha256 = "e02a4956a69d323775d79fdaec7ba7a23ed912c7d45e439bc933d991ea3193fd",  # noqa
+        commit = "v2.9.1",
+        sha256 = "1e6c33f8cbdc4138d525f3326c231f14ed50d99345561e85285638c49b64ee93",  # noqa
         build_file = ":package.BUILD.bazel",
         patches = [
-            ":patches/remove_luksan.patch",
+            ":patches/upstream/repair_luksan_config.patch",
             ":patches/vendor.patch",
         ],
         mirrors = mirrors,