add casadi build to ci #28
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| name: C/C++ CI | |
| on: [push, pull_request] | |
| jobs: | |
| build-all-eigen: | |
| name: Build and Test RBDL + Addons | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4.1.1 | |
| with: | |
| submodules: true | |
| - name: Install Build dependencies | |
| run: sudo apt-get install libeigen3-dev libboost-all-dev lua5.1 liblua5.1-0-dev catch2 coinor-libipopt-dev | |
| - name: Build RBDL | |
| uses: threeal/cmake-action@v1.3.0 | |
| with: | |
| options: RBDL_BUILD_ADDON_LUAMODEL=ON RBDL_BUILD_ADDON_URDFREADER=ON RBDL_BUILD_ADDON_GEOMETRY=ON RBDL_BUILD_ADDON_BALANCE=ON RBDL_BUILD_ADDON_MUSCLE=ON RBDL_BUILD_ADDON_MUSCLE_FITTING=ON RBDL_BUILD_TESTS=ON | |
| cxx-flags: -DHAVE_CSTDDEF | |
| run-build: true | |
| - run: mkdir junit-reports | |
| - name: Run RBDL Core Test Suite | |
| run: ./build/tests/rbdl_tests -r junit > junit-reports/TEST-RBDL-CORE.xml | |
| - name: Run RBDL Balance Addon Test Suite | |
| run: ./build/addons/balance/tests/balance_tests -r junit > junit-reports/TEST-RBDL-BALANCE.xml | |
| - name: Run RBDL Geometry Addon Test Suite | |
| run: ./build/addons/geometry/tests/geometry_tests -r junit > junit-reports/TEST-RBDL-GEOMETRY.xml | |
| - name: Run RBDL URDF-Reader Addon Test Suite | |
| run: ./build/addons/urdfreader/tests/rbdl_urdf_tests -r junit > junit-reports/TEST-RBDL-URDF.xml | |
| - name: Run RBDL LuaModel-Reader Addon Test Suite | |
| run: ./build/addons/luamodel/tests/luamodel_tests -r junit > junit-reports/TEST-RBDL-LUAMODEL.xml | |
| - name: Run RBDL Muscle Addon Test Suite | |
| run: ./build/addons/muscle/tests/muscle_tests -r junit > junit-reports/TEST-RBDL-MUSLE.xml | |
| - uses: mikepenz/action-junit-report@v4 | |
| build-casadi: | |
| name: Build RBDL Casadi + Addons | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4.1.1 | |
| with: | |
| submodules: true | |
| - name: Install Build dependencies | |
| run: sudo apt-get install libeigen3-dev libboost-all-dev lua5.1 liblua5.1-0-dev catch2 coinor-libipopt-dev liblapack-dev jq curl tar | |
| - name: Download Casadi source code | |
| run: | | |
| mkdir casadi && curl -L $(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" -H "X-Github-Api-Version: 2022-11-28" https://api.github.com/repos/casadi/casadi/releases/latest | jq -r ' .assets[] | select(.content_type == "application/x-gtar") | .browser_download_url' ) | tar --strip-components=1 -zx -C casadi | |
| - name: Build Casadi | |
| uses: threeal/cmake-action@v1.3.0 | |
| with: | |
| source-dir: casadi | |
| build-dir: casadi-build | |
| options: WITH_IPOPT=ON | |
| cxx-flags: -DHAVE_CSTDDEF | |
| run-build: true | |
| - name: Install Casadi | |
| run: cd casadi-build && sudo make install | |
| - name: Build RBDL | |
| uses: threeal/cmake-action@v1.3.0 | |
| with: | |
| options: RBDL_BUILD_ADDON_LUAMODEL=ON RBDL_BUILD_ADDON_URDFREADER=ON RBDL_BUILD_ADDON_GEOMETRY=ON RBDL_BUILD_ADDON_BALANCE=ON RBDL_BUILD_TESTS=ON RBDL_BUILD_CASADI | |
| cxx-flags: -DHAVE_CSTDDEF | |
| run-build: true |