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pixi.toml
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pixi.toml
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[project]
name = "aligator"
version = "0.9.0"
channels = ["conda-forge"]
description = "A primal-dual augmented Lagrangian-type solver for trajectory optimization"
platforms = ["linux-64", "osx-64", "osx-arm64"]
license = "BSD-2-Clause"
license-file = "LICENSE"
[build-dependencies]
ccache = ">=4.9.1"
cmake = ">=3.10"
cxx-compiler = ">=1.7.0"
ninja = ">=1.11"
pkg-config = ">=0.29.2"
[dependencies]
libboost-devel = ">=1.80.0"
libboost-python-devel = ">=1.80.0"
eigen = ">=3.4.0"
python = ">=3.9.0"
eigenpy = ">=3.8.0,!=3.10.0"
proxsuite-nlp = ">=0.8.0"
fmt = ">=10.0.0"
benchmark = ">=1.8.0"
pytest = ">=8.3.0"
matplotlib-base = ">=3.9.0"
typed-argument-parser = ">=1.10.0"
meshcat-python = ">=0.3"
[activation]
scripts = ["build_scripts/pixi/activation.sh"]
[tasks]
# We must avoid to set CMAKE_CXX_FLAGS because of WIN32
# https://discourse.cmake.org/t/strictly-appending-to-cmake-lang-flags/6478
configure = { cmd = [
"CXXFLAGS=$ALIGATOR_CXX_FLAGS",
"cmake",
"-G",
"Ninja",
"-B",
"build",
"-S",
".",
"-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
"-DCMAKE_BUILD_TYPE=$ALIGATOR_BUILD_TYPE",
"-DBUILD_WITH_PINOCCHIO_SUPPORT=$ALIGATOR_PINOCCHIO_SUPPORT",
"-DBUILD_CROCODDYL_COMPAT=$ALIGATOR_CROCODDYL_COMPAT",
"-DBUILD_WITH_OPENMP_SUPPORT=$ALIGATOR_OPENMP_SUPPORT",
"-DBUILD_WITH_CHOLMOD_SUPPORT=$ALIGATOR_CHOLMOD_SUPPORT",
"-DBUILD_BENCHMARKS=$ALIGATOR_BENCHMARKS",
"-DBUILD_EXAMPLES=$ALIGATOR_EXAMPLES",
"-DGENERATE_PYTHON_STUBS=$ALIGATOR_PYTHON_STUBS",
] }
build = { cmd = "cmake --build build --target all", depends_on = ["configure"] }
clean = { cmd = "rm -rf build" }
test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
"build",
] }
[feature.lint]
dependencies = { pre-commit = ">=3.6.2" }
tasks = { lint = { cmd = "pre-commit run --all" } }
# tracy-client is not built on osx-arm64
[feature.tracy]
[feature.tracy.target.linux-64]
dependencies = { tracy-client = ">=0.11.1" }
activation = { env = { ALIGATOR_TRACY_ENABLE = "ON" } }
[feature.tracy.target.osx-64]
dependencies = { tracy-client = ">=0.11.1" }
activation = { env = { ALIGATOR_TRACY_ENABLE = "ON" } }
[feature.pinocchio]
dependencies = { pinocchio = ">=3.1", example-robot-data = ">=4.1.0" }
activation = { env = { ALIGATOR_PINOCCHIO_SUPPORT = "ON" } }
[feature.crocoddyl]
dependencies = { crocoddyl = ">=2.1" }
activation = { env = { ALIGATOR_CROCODDYL_COMPAT = "ON" } }
[feature.cholmod]
dependencies = { suitesparse = ">=5" }
activation = { env = { ALIGATOR_CHOLMOD_SUPPORT = "ON" } }
# Not supported by Windows (because of conda-forge issue)
[feature.openmp]
[feature.openmp.target.linux]
dependencies = { libgomp = ">=14.2" }
activation = { env = { ALIGATOR_OPENMP_SUPPORT = "ON" } }
[feature.openmp.target.osx]
dependencies = { llvm-openmp = ">=19.1" }
activation = { env = { ALIGATOR_OPENMP_SUPPORT = "ON" } }
[feature.py312.dependencies]
python = "3.12.*"
[feature.py39.dependencies]
python = "3.9.*"
# Use clang on GNU/Linux.
# We must use scripts instead of env to setup CC and CXX
# to avoid cxx-compiler to overwrite them.
[feature.clang]
platforms = ["linux-64"]
activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] }
dependencies = { clangxx = "*" }
[environments]
default = { features = ["py312"], solve-group = "py312" }
clang = { features = ["clang", "py312"] }
lint = { features = ["lint"], solve-group = "py312" }
pinocchio = { features = ["pinocchio", "py312"], solve-group = "py312" }
crocoddyl = { features = ["crocoddyl", "py312"], solve-group = "py312" }
openmp = { features = ["openmp", "py312"], solve-group = "py312" }
cholmod = { features = ["cholmod", "py312"], solve-group = "py312" }
tracy = { features = ["tracy", "py312"], solve-group = "py312" }
py39 = { features = ["py39"], solve-group = "py39" }
all = { features = [
"pinocchio",
"crocoddyl",
"openmp",
"cholmod",
"py312",
], solve-group = "py312" }
all-py39 = { features = [
"pinocchio",
"crocoddyl",
"openmp",
"cholmod",
"py39",
], solve-group = "py39" }