adding the FD derivatives using finite-diff #42
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| name: CI - Windows (CLANG) via Conda | |
| on: | |
| pull_request: | |
| push: | |
| jobs: | |
| build: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| name: [windows-latest-clang-cl] | |
| include: | |
| - name: windows-latest-clang-cl | |
| os: windows-2019 | |
| compiler: clang-cl | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Checkout submodules | |
| run: | | |
| git submodule update --init | |
| - uses: goanpeca/setup-miniconda@v2 | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true' | |
| with: | |
| activate-environment: pinocchio | |
| environment-file: .github/workflows/conda/conda-env.yml | |
| python-version: 3.7 | |
| - name: Install cmake and update conda | |
| run: | | |
| conda install cmake -c main | |
| conda list | |
| - name: Build Pinocchio | |
| shell: cmd /C CALL {0} | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true' | |
| run: | | |
| :: unset extra Boost envs | |
| set Boost_ROOT= | |
| set BOOST_ROOT_1_69_0= | |
| set BOOST_ROOT_1_72_0= | |
| set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=% | |
| call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64 | |
| :: Create build directory | |
| mkdir build | |
| pushd build | |
| :: Configure | |
| cmake ^ | |
| -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^ | |
| -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^ | |
| -DCMAKE_BUILD_TYPE=Release ^ | |
| -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^ | |
| -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^ | |
| -DBUILD_WITH_URDF_SUPPORT=ON ^ | |
| -DBUILD_PYTHON_INTERFACE=ON ^ | |
| -DBUILD_WITH_COLLISION_SUPPORT=ON ^ | |
| -DINSTALL_DOCUMENTATION=ON ^ | |
| .. | |
| :: Build | |
| cmake --build . --config Release --target install | |
| :: Testing | |
| set PATH=%PATH%;%CONDA_PREFIX%\Lib\site-packages\pinocchio | |
| ctest --output-on-failure -C Release -V | |
| :: Test Python import | |
| cd .. | |
| python -c "import pinocchio" |