Update loadReducedModel.m to use fullfile Matlab function #3847
Workflow file for this run
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| name: C++ CI Workflow | |
| on: | |
| push: | |
| pull_request: | |
| schedule: | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: '0 2 * * *' | |
| env: | |
| YCM_TAG: v0.12.0 | |
| YARP_TAG: v3.4.1 | |
| ICUB_TAG: v1.17.0 | |
| jobs: | |
| build-with-conda-dependencies: | |
| name: '[conda:${{ matrix.os }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-20.04, macos-10.15, windows-2019] | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| channels: conda-forge,robotology | |
| - name: Install files to enable compilation of mex files [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip | |
| unzip msdk_R2020b_mexa64.zip | |
| rm msdk_R2020b_mexa64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [Conda/macOS] | |
| if: contains(matrix.os, 'macos') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip | |
| unzip msdk_R2020a_mexmaci64.zip | |
| rm msdk_R2020a_mexmaci64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip | |
| unzip msdk_R2020a_mexw64.zip | |
| rm msdk_R2020a_mexw64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV | |
| - name: Dependencies [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Compilation related dependencies | |
| mamba install cmake compilers make ninja pkg-config | |
| # Actual dependencies | |
| mamba install eigen libxml2 assimp ipopt irrlicht swig pybind11 python numpy | |
| # robotology dependencies | |
| mamba install yarp icub-main osqp-eigen | |
| # Additional dependencies useful only on Linux | |
| - name: Dependencies [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| # Additional dependencies only useful on Linux | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 | |
| - name: Print used environment [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| mamba list | |
| env | |
| - name: Configure [Conda/Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_USES_PYTHON_PYBIND11:BOOL=ON .. | |
| - name: Configure [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_USES_PYTHON_PYBIND11:BOOL=ON .. | |
| - name: Build [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Inspect libraries linked by iDynTreeMEX.mexa64 [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ldd ./lib/iDynTreeMEX.mexa64 | |
| - name: Test [Conda/Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 | |
| ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . | |
| - name: Test [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 | |
| # Python tests excluded as a workaround for https://github.com/robotology/idyntree/issues/939 | |
| ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab|Python|pybind" . | |
| - name: Install [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test standalone installation of MATLAB bindings [Conda/Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd bindings | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/idyntree_bindings_install_test -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test standalone installation of MATLAB bindings [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| cd bindings | |
| mkdir build | |
| cd build | |
| cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library/idyntree_bindings_install_test -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} | |
| cmake --install . --config ${{ matrix.build_type }} | |
| build-with-system-dependencies: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-18.04, ubuntu-20.04, macOS-latest] | |
| steps: | |
| - uses: actions/checkout@master | |
| - name: Install files to enable compilation of mex files [Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip | |
| unzip msdk_R2020b_mexa64.zip | |
| rm msdk_R2020b_mexa64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [macOS] | |
| if: contains(matrix.os, 'macos') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip | |
| unzip msdk_R2020a_mexmaci64.zip | |
| rm msdk_R2020a_mexmaci64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip | |
| unzip msdk_R2020a_mexw64.zip | |
| rm msdk_R2020a_mexw64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| shell: bash | |
| run: env | |
| # Remove apt repos that are known to break from time to time | |
| # See https://github.com/actions/virtual-environments/issues/323 | |
| - name: Remove broken apt repos [Ubuntu] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - name: Dependencies [macOS] | |
| if: matrix.os == 'macOS-latest' | |
| run: | | |
| brew install ace assimp boost eigen ipopt irrlicht swig | |
| - name: Dependencies [Ubuntu] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install \ | |
| git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev swig \ | |
| libxml2-dev liboctave-dev python-dev python3-numpy valgrind libassimp-dev libirrlicht-dev | |
| - name: Source-based Dependencies [Ubuntu/macOS] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && (contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest') | |
| shell: bash | |
| run: | | |
| # YCM | |
| git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
| cd ycm | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # YARP | |
| git clone -b ${YARP_TAG} https://github.com/robotology/yarp | |
| cd yarp | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| # ICUB | |
| git clone -b ${ICUB_TAG} https://github.com/robotology/icub-main | |
| cd icub-main | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Dependencies (workaround for portaudio YCM problem) [macOS] | |
| if: matrix.os == 'macOS-latest' | |
| run: | | |
| brew install octave | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Ubuntu/macOS] | |
| if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON \ | |
| -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_USES_ASSIMP:BOOL=ON \ | |
| -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON \ | |
| -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_OCTAVE:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Enable additional Ubuntu options (Valgrind, Python) [Ubuntu] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| cd build | |
| # Assimp is disabled on Ubuntu as a workaround for https://github.com/robotology/idyntree/issues/663 | |
| cmake -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON . | |
| # For some reason, Ubuntu 18.04 image in GitHub Actions contain OpenBLAS 0.3.5, that is affected by https://github.com/xianyi/OpenBLAS/issues/2003 | |
| # As a workaround, we test against the regular blas instead of openblas | |
| sudo apt-get install libblas-dev libatlas-base-dev | |
| sudo apt-get remove libopenblas-base | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| # Attempt of fix for using YARP idl generators (that link ACE) in Windows | |
| # See https://github.com/robotology/idyntree/issues/569 | |
| export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/debug/bin | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test | |
| shell: bash | |
| run: | | |
| cd build | |
| # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 | |
| ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . | |
| - name: Install [Ubuntu/macOS] | |
| if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest' | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} --target install | |
| - name: Compile Examples [Ubuntu/macOS] | |
| if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest' | |
| shell: bash | |
| run: | | |
| cd examples | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH="${GITHUB_WORKSPACE}/install/deps;${GITHUB_WORKSPACE}/install" .. | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Check build if some dependencies are not enabled [Ubuntu] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| cd build | |
| for missing_dep in ASSIMP IPOPT; do | |
| echo "Testing ${missing_dep} as missing dependency." | |
| # Deselect missing dependency and build | |
| cmake -DIDYNTREE_USES_${missing_dep}:BOOL=OFF . | |
| cmake --build . --config ${{ matrix.build_type }} | |
| # Enable again dependency | |
| cmake -DIDYNTREE_USES_${missing_dep}:BOOL=ON . | |
| done |