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# Maintainer: Wil Thomason <wbthomason@cs.cornell.edu>
# Former maintainer: acxz <akashpatel2008 at yahoo dot com>
pkgname=ompl-git
pkgver=r4678.253e8c0e
pkgrel=1
pkgdesc="The Open Motion Planning Library (OMPL) consists of many state-of-the-art sampling-based motion planning algorithms (git)"
arch=('i686' 'x86_64')
url="http://ompl.kavrakilab.org/"
license=('BSD')
provides=('ompl')
conflicts=('ros-melodic-ompl' 'ompl')
replaces=('ros-melodic-ompl' 'ompl')
_name=ompl
depends=('boost-libs')
makedepends=('git' 'boost' 'cmake' 'ninja' 'pkgconf' 'eigen')
optdepends=('python: Python bindings'
'py++: Python bindings'
'ode: Plan using the Open Dynamics Engine'
'pypy: Speed up generating Python bindings'
'spot: Used for constructing finite automata from LTL formulae'
'morse-simulator-git: MORSE simulation engine OMPL plugin'
'triangle: Used to create triangular decompositions of polygonal 2D environments'
'flann: Additional nearest-neighbor query backend'
'python-numpy: Python bindings'
'r: Running Planner Arena locally'
'castxml: Python bindings'
'pygccxml: Python bindings')
source=("git+https://github.com/ompl/ompl.git")
sha512sums=('SKIP')
pkgver() {
cd "$_name"
printf "r%s.%s" "$(git rev-list --count HEAD)" "$(git rev-parse --short HEAD)"
}
build() {
# NOTE: To get Python bindings, you currently need to install pyplusplus through pip3. The AUR
# py++ package will *not* work. Hopefully that will get fixed soon...
cd "${srcdir}/${_name}" || exit
rm -rf build
mkdir build
cd build
# NOTE: -march=native causes test failures by slowing down PRM and PRMstar on AMD processors for
# unknown reasons. Uncomment the following to remove it if you encounter this issue.
# CXXFLAGS=$(echo $CXXFLAGS | sed 's/-march=native//g')
cmake -G Ninja \
-DCMAKE_INSTALL_PREFIX=/usr \
-DCMAKE_INSTALL_LIBDIR=lib \
-DOMPL_REGISTRATION=Off ..
cmake --build .
}
check() {
cd "${srcdir}/${_name}/build" || exit
ctest
}
package() {
cd "${srcdir}/${_name}" || exit
install -Dm644 LICENSE "${pkgdir}/usr/share/licenses/${pkgname}/LICENSE"
cd build || exit
DESTDIR=${pkgdir} ninja install
}
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