Refactor to use cmake and Docker

.dockerignore

@@ -0,0 +1,3 @@
+build/
+img/
+README.md

.gitignore

@@ -1,7 +1,5 @@
-# SPDX-License-Identifier: MIT-0
-
 *.swp
 .vscode
-/bazel-*
-/user.bazelrc
 __pycache__
+build
+*.egg-info

CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.10.2)
+project(idto)
+
+# N.B. This is a temporary flag. It only really applies to Linux, as Mac
+# does not need X11.
+option(RUN_X11_TESTS "Run tests that require X11" OFF)
+
+include(CTest)
+
+find_package(drake CONFIG REQUIRED)
+
+find_package(PythonInterp ${drake_PYTHON_VERSION} MODULE REQUIRED EXACT)
+
+find_program(PYTHON_EXECUTABLE NAMES python3
+  PATHS "${FIND_PYTHON_EXECUTABLE_PATHS}"
+  NO_DEFAULT_PATH
+)
+
+execute_process(COMMAND ${PYTHON_EXECUTABLE}-config --exec-prefix
+  OUTPUT_VARIABLE PYTHON_EXEC_PREFIX
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+list(APPEND CMAKE_PREFIX_PATH "${PYTHON_EXEC_PREFIX}")
+find_package(PythonLibs ${drake_PYTHON_VERSION} MODULE REQUIRED EXACT)
+
+get_filename_component(PYTHONPATH
+  "${drake_DIR}/../../python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages"
+  REALPATH
+)
+
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+add_compile_options(-Werror -Wall)  # treat warnings as errors
+add_compile_options(-O3)
+# add_compile_definitions(ENABLE_TIMERS)  # extra profiling
+
+# Allow us to find resources (e.g. urdfs) in the build directory.
+add_compile_definitions(IDTO_BINARY_DIR="${CMAKE_BINARY_DIR}")
+
+add_subdirectory(third_party)
+add_subdirectory(python_bindings)
+add_subdirectory(utils)
+add_subdirectory(optimizer)
+add_subdirectory(models)
+add_subdirectory(examples)
+

Dockerfile

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+# syntax=docker/dockerfile:1
+
+FROM ubuntu:jammy
+SHELL ["/bin/bash", "-c", "-i"]
+ENV TZ=America/Los_Angeles
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+WORKDIR /home
+
+# Set up python 3.10 and alias it with 'python'
+RUN apt update -y
+RUN apt install -y \
+    build-essential \
+    vim \
+    cmake \
+    git \
+    python3.10 \
+    python-is-python3 \
+    wget \ 
+    python3-pip
+
+# Run drake installation
+RUN wget https://github.com/RobotLocomotion/drake/releases/download/v1.30.0/drake-1.30.0-jammy.tar.gz && \
+    tar -xvzf drake-1.30.0-jammy.tar.gz && \
+    rm drake-1.30.0-jammy.tar.gz
+WORKDIR /home/drake
+RUN ./share/drake/setup/install_prereqs -y && \
+    apt-get install -y libgflags-dev ninja-build && \
+    pip install scipy==1.12
+RUN echo 'export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/drake' >> ~/.bashrc && \
+    echo 'export PYTHONPATH=${PYTHONPATH}:/home/drake/lib/python3.10/site-packages' >> ~/.bashrc && \
+    source ~/.bashrc
+
+# Copy the current directory contents into the container
+COPY . /home/idto
+WORKDIR /home/idto
+
+# Build the C++ binaries
+RUN mkdir build 
+WORKDIR /home/idto/build
+RUN cmake .. && make -j
+
+# Build the python bindings
+WORKDIR /home/idto/
+RUN pip install .