Support nlopt 2.9.0

dartsim · Nov 11, 2024 · 036d044 · 036d044
1 parent 4b5b6a8
commit 036d044
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Showing 4 changed files with 42 additions and 2 deletions.
diff --git a/dart/optimizer/nlopt/CMakeLists.txt b/dart/optimizer/nlopt/CMakeLists.txt
@@ -2,6 +2,26 @@
 dart_find_package(NLOPT)
 dart_check_optional_package(NLOPT "dart-optimizer-nlopt" "nlopt" "2.4.1")
 
+if(NOT NLOPT_VERSION)
+  # If version is not found, we just assume 2.9.0
+  set(NLOPT_VERSION "2.9.0")
+endif()
+
+# Attempt to parse version components
+string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\1" NLOPT_MAJOR_VERSION "${NLOPT_VERSION}")
+string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\2" NLOPT_MINOR_VERSION "${NLOPT_VERSION}")
+string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\3" NLOPT_PATCH_VERSION "${NLOPT_VERSION}")
+
+# Check if parsing succeeded
+if(NOT (NLOPT_MAJOR_VERSION MATCHES "^[0-9]+$" AND 
+        NLOPT_MINOR_VERSION MATCHES "^[0-9]+$" AND 
+        NLOPT_PATCH_VERSION MATCHES "^[0-9]+$"))
+  message(WARNING "Failed to parse NLOPT_VERSION '${NLOPT_VERSION}'. Using default values (2, 9, 0) for version components.")
+  set(NLOPT_MAJOR_VERSION "2")
+  set(NLOPT_MINOR_VERSION "9")
+  set(NLOPT_PATCH_VERSION "0")
+endif()
+
 # Search all header and source files
 file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
@@ -13,6 +33,12 @@ set(component_name optimizer-nlopt)
 # Add target
 dart_add_library(${target_name} ${hdrs} ${srcs})
 target_link_libraries(${target_name} PUBLIC dart NLOPT::nlopt)
+target_compile_definitions(${target_name}
+  PUBLIC
+    -DNLOPT_MAJOR_VERSION=${NLOPT_MAJOR_VERSION}
+    -DNLOPT_MINOR_VERSION=${NLOPT_MINOR_VERSION}
+    -DNLOPT_PATCH_VERSION=${NLOPT_PATCH_VERSION}
+)
 
 # Component
 add_component(${PROJECT_NAME} ${component_name})

diff --git a/dart/optimizer/nlopt/NloptSolver.cpp b/dart/optimizer/nlopt/NloptSolver.cpp
@@ -257,7 +257,9 @@ nlopt::algorithm NloptSolver::convertAlgorithm(NloptSolver::Algorithm algorithm)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(GN_ORIG_DIRECT_L)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(GD_STOGO)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(GD_STOGO_RAND)
+#if !NLOPT_VERSION_GE(2, 9, 0)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LD_LBFGS_NOCEDAL)
+#endif
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LD_LBFGS)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LN_PRAXIS)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LD_VAR1)
@@ -311,7 +313,9 @@ NloptSolver::Algorithm NloptSolver::convertAlgorithm(nlopt::algorithm algorithm)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(GN_ORIG_DIRECT_L)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(GD_STOGO)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(GD_STOGO_RAND)
+#if !NLOPT_VERSION_GE(2, 9, 0)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LD_LBFGS_NOCEDAL)
+#endif
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LD_LBFGS)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LN_PRAXIS)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LD_VAR1)

diff --git a/dart/optimizer/nlopt/NloptSolver.hpp b/dart/optimizer/nlopt/NloptSolver.hpp
@@ -39,12 +39,18 @@
 
 #include <nlopt.hpp>
 
+#define NLOPT_VERSION_GE(x, y, z)                                              \
+  ((NLOPT_MAJOR_VERSION > (x))                                                 \
+   || (NLOPT_MAJOR_VERSION == (x) && NLOPT_MINOR_VERSION > (y))                \
+   || (NLOPT_MAJOR_VERSION == (x) && NLOPT_MINOR_VERSION == (y)                \
+       && NLOPT_PATCH_VERSION >= (z)))
+
 namespace dart {
 namespace optimizer {
 
 class Problem;
 
-/// NloptSolver is a nonlinear programming solver that provides many unlerlying
+/// NloptSolver is a nonlinear programming solver that provides many underlying
 /// algorithms through nlopt (an third-party library:
 /// https://nlopt.readthedocs.io/).
 ///
@@ -73,7 +79,9 @@ class NloptSolver : public Solver
     GN_ORIG_DIRECT_L,
     GD_STOGO,
     GD_STOGO_RAND,
+#if !NLOPT_VERSION_GE(2, 9, 0)
     LD_LBFGS_NOCEDAL,
+#endif
     LD_LBFGS,
     LN_PRAXIS,
     LD_VAR1,

diff --git a/pixi.toml b/pixi.toml
@@ -52,8 +52,9 @@ config = { cmd = """
         -G Ninja \
         -S . \
         -B build \
-        -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
         -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
         -DDART_VERBOSE=ON \
         -DDART_USE_SYSTEM_IMGUI=ON
 """ }
@@ -192,6 +193,7 @@ config = { cmd = """
         -B build \
         -G 'Visual Studio 17 2022' \
         -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
         -DDART_VERBOSE=ON \
         -DDART_MSVC_DEFAULT_OPTIONS=ON \
         -DBUILD_SHARED_LIBS=OFF \