Add libdart, update gazebo, add gazebo-1.9, etc.

3 files changed, 125 insertions, 0 deletions

diff --git a/.SRCINFO b/.SRCINFO
new file mode 100644
index 000000000000..ca17a90b04da
--- /dev/null
+++ b/.SRCINFO
@@ -0,0 +1,28 @@
+pkgbase = libdart
+	pkgdesc = Dynamic Animation and Robotics Toolkit
+	pkgver = 4.0
+	pkgrel = 1
+	url = http://dartsim.github.io
+	arch = i686
+	arch = x86_64
+	license = (L)GPL2
+	makedepends = cmake
+	makedepends = doxygen
+	depends = assimp
+	depends = boost
+	depends = eigen>=3
+	depends = fcl
+	depends = flann
+	depends = glut
+	depends = libccd
+	depends = libgl
+	optdepends = bullet: Bullet support
+	optdepends = ipopt: Ipopt support
+	optdepends = nlopt: NLopt support
+	source = https://github.com/dartsim/dart/archive/v4.0.tar.gz
+	source = ipopt.patch
+	md5sums = 41547fc96f5f2c85ee3672ddb2ec7376
+	md5sums = 9a497cceb18ecd8b83fe56af477c4096
+
+pkgname = libdart
+
diff --git a/PKGBUILD b/PKGBUILD
new file mode 100755
index 000000000000..53f5b47be82b
--- /dev/null
+++ b/PKGBUILD
@@ -0,0 +1,59 @@
+# Maintainer: Benjamin Chretien <chretien at lirmm dot fr>
+pkgname=libdart
+pkgver=4.0
+pkgrel=1
+pkgdesc="Dynamic Animation and Robotics Toolkit"
+arch=('i686' 'x86_64')
+url="http://dartsim.github.io"
+license=('(L)GPL2')
+depends=('assimp' 'boost' 'eigen>=3' 'fcl' 'flann' 'glut' 'libccd' 'libgl')
+optdepends=('bullet: Bullet support'
+            'ipopt: Ipopt support'
+            'nlopt: NLopt support')
+makedepends=('cmake' 'doxygen')
+_name=dart
+source=(https://github.com/dartsim/${_name}/archive/v${pkgver}.tar.gz
+        "ipopt.patch")
+md5sums=('41547fc96f5f2c85ee3672ddb2ec7376'
+         '9a497cceb18ecd8b83fe56af477c4096')
+
+# Build type
+_buildtype="Release"
+
+# Build the project
+build() {
+  cd "${srcdir}/${_name}-${pkgver}"
+
+  patch -p1 -i ${srcdir}/ipopt.patch
+
+  msg "Starting CMake (build type = ${_buildtype})"
+
+  # Create a build directory
+  mkdir -p "${srcdir}/${_name}-${pkgver}-build"
+  cd "${srcdir}/${_name}-${pkgver}-build"
+
+  # Run CMake in release
+  cmake -DCMAKE_BUILD_TYPE="${_buildtype}" \
+        -DCMAKE_INSTALL_PREFIX="/usr" \
+        "${srcdir}/${_name}-${pkgver}"
+
+  # Compile the library
+  msg "Building the project"
+  make
+}
+
+# Run unit tests
+check() {
+  msg "Running unit tests"
+  cd "${srcdir}/${_name}-${pkgver}-build"
+  make test
+}
+
+# Create the package
+package() {
+  # Install in /opt/roboptim
+  cd "${srcdir}/${_name}-${pkgver}-build"
+
+  msg "Installing files"
+  make DESTDIR="${pkgdir}/" install
+}
diff --git a/ipopt.patch b/ipopt.patch
new file mode 100644
index 000000000000..f6d93eb2fbeb
--- /dev/null
+++ b/ipopt.patch
@@ -0,0 +1,38 @@
+commit 0a1a79a5b49d0c2619b80f8a2a9856405a60f5f8
+Author: Benjamin Chrétien <chretien@lirmm.fr>
+Date:   Thu Jun 19 12:55:53 2014 +0200
+
+    FindIPOPT.cmake: fix libraries.
+    
+    This may also solve #153 by linking with Ipopt's dependencies, i.e.
+    the libraries described in your ipopt.pc (possibly COIN HSL, BLAS,
+    Lapack, etc.).
+
+diff --git a/cmake/FindIPOPT.cmake b/cmake/FindIPOPT.cmake
+index ebfebd3..3e4bf48 100644
+--- a/cmake/FindIPOPT.cmake
++++ b/cmake/FindIPOPT.cmake
+@@ -14,10 +14,7 @@ find_path(IPOPT_INCLUDE_DIR IpIpoptNLP.hpp
+     HINTS ${PC_IPOPT_INCLUDEDIR} ${PC_IPOPT_INCLUDE_DIRS}
+     PATHS "${CMAKE_INSTALL_PREFIX}/include")
+ 
+-find_library(IPOPT_LIBRARY NAMES ipopt
+-             HINTS ${PC_IPOPT_LIBDIR} ${PC_IPOPT_LIBRARY_DIRS} )
+-
+-set(IPOPT_LIBRARIES ${IPOPT_LIBRARY})
++set(IPOPT_LIBRARIES ${PC_IPOPT_LIBRARIES})
+ set(IPOPT_INCLUDE_DIRS ${IPOPT_INCLUDE_DIR})
+ 
+ include(FindPackageHandleStandardArgs)
+diff --git a/dart/optimizer/ipopt/IpoptSolver.cpp b/dart/optimizer/ipopt/IpoptSolver.cpp
+index 8c53d44..edc17a1 100644
+--- a/dart/optimizer/ipopt/IpoptSolver.cpp
++++ b/dart/optimizer/ipopt/IpoptSolver.cpp
+@@ -63,6 +63,7 @@ IpoptSolver::IpoptSolver(Problem* _problem)
+   mIpoptApp->Options()->SetNumericValue("tol", 1e-9);
+   mIpoptApp->Options()->SetStringValue("mu_strategy", "adaptive");
+   mIpoptApp->Options()->SetStringValue("output_file", "ipopt.out");
++  mIpoptApp->Options()->SetStringValue("hessian_approximation", "limited-memory");
+ 
+   // Intialize the IpoptApplication and process the options
+   Ipopt::ApplicationReturnStatus status = mIpoptApp->Initialize();