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jslee02jslee02
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[build] Remove support for CMake < 3.22.1 and Eigen < 3.4.0
(cherry picked from commit 7a13a30)
1 parent 7bc91d9 commit 6a96ce7

18 files changed

+98
-321
lines changed

‎.github/workflows/api_doc.yml

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Original file line numberDiff line numberDiff line change
@@ -52,7 +52,47 @@ jobs:
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- name: Install Dependencies with cache
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uses: awalsh128/[email protected]
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with:
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packages: build-essential libboost-all-dev clang clang-format-12 cmake curl doxygen gcovr git lcov lsb-release pkg-config software-properties-common valgrind libassimp-dev libccd-dev libeigen3-dev libfcl-dev libfmt-dev coinor-libipopt-dev freeglut3-dev libxi-dev libxmu-dev libbullet-dev libtinyxml2-dev liburdfdom-dev liburdfdom-headers-dev libopenscenegraph-dev libnlopt-cxx-dev liboctomap-dev libode-dev libspdlog-dev ocl-icd-opencl-dev libpython3-dev pybind11-dev python3 python3-dev python3-distutils python3-numpy python3-pip python3-setuptools
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packages: |
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build-essential
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libboost-all-dev
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clang
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clang-format-12
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cmake
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curl
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doxygen
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gcovr
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git
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lcov
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lsb-release
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pkg-config
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software-properties-common
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valgrind
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libassimp-dev
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libeigen3-dev
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libfcl-dev
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libfmt-dev
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coinor-libipopt-dev
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freeglut3-dev
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libxi-dev
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libxmu-dev
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libbullet-dev
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libtinyxml2-dev
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liburdfdom-dev
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liburdfdom-headers-dev
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libopenscenegraph-dev
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libnlopt-cxx-dev
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liboctomap-dev
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libode-dev
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libspdlog-dev
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ocl-icd-opencl-dev
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libpython3-dev
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pybind11-dev
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python3
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python3-dev
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python3-distutils
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python3-numpy
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python3-pip
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python3-setuptools
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version: 1.1
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- name: Install Python dependencies

‎.github/workflows/ci_windows.yml

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@@ -38,7 +38,7 @@ jobs:
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- uses: johnwason/vcpkg-action@v6
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with:
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# TODO: Add ode and coin-or-ipopt
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pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 freeglut glfw3 nlopt opengl osg pagmo2 tinyxml2 urdfdom
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pkgs: assimp eigen3 fcl fmt spdlog bullet3 freeglut glfw3 nlopt opengl osg pagmo2 tinyxml2 urdfdom
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triplet: x64-windows
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revision: "2024.02.14"
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github-binarycache: true

‎Brewfile

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@@ -8,7 +8,6 @@ brew 'eigen'
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brew 'fcl'
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brew 'fmt'
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brew 'ipopt'
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brew 'libccd'
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brew 'nlopt'
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brew 'octomap'
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brew 'ode'

‎Dockerfile

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@@ -18,7 +18,6 @@ RUN apt-get update \
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&& apt-get -y install --no-install-recommends \
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libeigen3-dev \
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libassimp-dev \
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libccd-dev \
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libfcl-dev \
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libfmt-dev \
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libnlopt-cxx-dev \

‎cmake/DARTFindBullet.cmake

+2-9
Original file line numberDiff line numberDiff line change
@@ -13,13 +13,6 @@ find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
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if((BULLET_FOUND OR Bullet_FOUND) AND NOT TARGET Bullet)
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add_library(Bullet INTERFACE IMPORTED)
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if(CMAKE_VERSION VERSION_LESS 3.11)
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set_target_properties(Bullet PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES}"
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)
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else()
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target_include_directories(Bullet INTERFACE ${BULLET_INCLUDE_DIRS})
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target_link_libraries(Bullet INTERFACE ${BULLET_LIBRARIES})
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endif()
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target_include_directories(Bullet INTERFACE ${BULLET_INCLUDE_DIRS})
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target_link_libraries(Bullet INTERFACE ${BULLET_LIBRARIES})
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endif()

‎cmake/DARTFindOpenSceneGraph.cmake

+2-18
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@@ -6,19 +6,10 @@
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#
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# This file is provided under the "BSD-style" License
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9-
if (CMAKE_VERSION VERSION_LESS 3.12)
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get_property(old_find_library_use_lib64_paths GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS)
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set_property(GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS TRUE)
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endif()
13-
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find_package(OpenSceneGraph 3.0 QUIET
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COMPONENTS osg osgViewer osgManipulator osgGA osgDB osgShadow osgUtil
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)
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if (CMAKE_VERSION VERSION_LESS 3.12)
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set_property(GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS ${old_find_library_use_lib64_paths})
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endif()
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# It seems that OPENSCENEGRAPH_FOUND will inadvertently get set to true when
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# OpenThreads is found, even if OpenSceneGraph is not installed. This is quite
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# possibly a bug in OSG's cmake configuration file. For now, it seems that
@@ -56,13 +47,6 @@ endif()
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# where the system that DART is built and where the system that consumes DART.
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if((OPENSCENEGRAPH_FOUND OR OpenSceneGraph_FOUND) AND NOT TARGET osg::osg)
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add_library(osg::osg INTERFACE IMPORTED)
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if(CMAKE_VERSION VERSION_LESS 3.11)
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set_target_properties(osg::osg PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${OPENSCENEGRAPH_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${OPENSCENEGRAPH_LIBRARIES}"
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)
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else()
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target_include_directories(osg::osg INTERFACE ${OPENSCENEGRAPH_INCLUDE_DIRS})
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target_link_libraries(osg::osg INTERFACE ${OPENSCENEGRAPH_LIBRARIES})
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endif()
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target_include_directories(osg::osg INTERFACE ${OPENSCENEGRAPH_INCLUDE_DIRS})
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target_link_libraries(osg::osg INTERFACE ${OPENSCENEGRAPH_LIBRARIES})
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endif()

‎dart/CMakeLists.txt

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@@ -160,9 +160,6 @@ endif()
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# C++ standard settings
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target_compile_features(dart PUBLIC cxx_std_17)
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if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
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target_link_libraries(dart PUBLIC "stdc++fs")
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endif()
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# Build DART with all available SIMD instructions
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if(DART_ENABLE_SIMD)

‎dart/common/Memory.hpp

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@@ -36,7 +36,8 @@
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#include <dart/config.hpp>
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#include <dart/common/Deprecated.hpp>
39-
#include <dart/common/detail/AlignedAllocator.hpp>
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#include <Eigen/Core>
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#include <map>
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#include <memory>
@@ -53,21 +54,6 @@ template <typename T, typename... Args>
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DART_DEPRECATED(6.9)
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std::unique_ptr<T> make_unique(Args&&... args);
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56-
#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
57-
58-
template <typename _Tp>
59-
using aligned_vector
60-
= std::vector<_Tp, dart::common::detail::aligned_allocator_cpp11<_Tp>>;
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62-
template <typename _Key, typename _Tp, typename _Compare = std::less<_Key>>
63-
using aligned_map = std::map<
64-
_Key,
65-
_Tp,
66-
_Compare,
67-
dart::common::detail::aligned_allocator_cpp11<std::pair<const _Key, _Tp>>>;
68-
69-
#else
70-
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template <typename _Tp>
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using aligned_vector = std::vector<_Tp, Eigen::aligned_allocator<_Tp>>;
7359

@@ -78,8 +64,6 @@ using aligned_map = std::map<
7864
_Compare,
7965
Eigen::aligned_allocator<std::pair<const _Key, _Tp>>>;
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81-
#endif
82-
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} // namespace common
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} // namespace dart
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‎dart/common/detail/AlignedAllocator.hpp

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This file was deleted.

‎dart/common/detail/Memory-impl.hpp

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@@ -36,15 +36,10 @@
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#include <dart/config.hpp>
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3838
#include <Eigen/Core>
39+
#include <Eigen/StdVector>
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4041
#include <memory>
4142

42-
#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
43-
#include <dart/common/detail/AlignedAllocator.hpp>
44-
#else
45-
#include <Eigen/StdVector>
46-
#endif
47-
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namespace dart {
4944
namespace common {
5045

@@ -54,14 +49,8 @@ std::shared_ptr<_Tp> make_aligned_shared(_Args&&... __args)
5449
{
5550
using _Tp_nc = typename std::remove_const<_Tp>::type;
5651

57-
#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
58-
return std::allocate_shared<_Tp>(
59-
detail::aligned_allocator_cpp11<_Tp_nc>(),
60-
std::forward<_Args>(__args)...);
61-
#else
6252
return std::allocate_shared<_Tp>(
6353
Eigen::aligned_allocator<_Tp_nc>(), std::forward<_Args>(__args)...);
64-
#endif // EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
6554
}
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//==============================================================================

‎dart/common/detail/SharedLibraryManager.cpp

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@@ -37,6 +37,8 @@
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3838
#include <fstream>
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40+
#include <cassert>
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namespace dart {
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namespace common {
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namespace detail {

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