diff --git a/.ci/install_debian.sh b/.ci/install_debian.sh index fc68a2d1a..2ad2c26cc 100644 --- a/.ci/install_debian.sh +++ b/.ci/install_debian.sh @@ -12,6 +12,9 @@ apt-get install -y clang valgrind ccache ninja-build # Core dependencies apt-get install -y build-essential cmake cmake-curses-gui coinor-libipopt-dev freeglut3-dev git libace-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libdc1394-22-dev libedit-dev libeigen3-dev libgsl0-dev libjpeg-dev liblua5.1-dev libode-dev libopencv-dev libsdl1.2-dev libtinyxml-dev libv4l-dev libxml2-dev lua5.1 portaudio19-dev qml-module-qt-labs-folderlistmodel qml-module-qt-labs-settings qml-module-qtmultimedia qml-module-qtquick-controls qml-module-qtquick-dialogs qml-module-qtquick-window2 qml-module-qtquick2 qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev swig +# Dynamics dependencies +apt-get install -y libmatio-dev + # Python apt-get install -y python3-dev python3-numpy diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 95de13913..9ea83c730 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -69,7 +69,7 @@ jobs: run: | mkdir -p build cd build - cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. - name: Build [Conda] shell: bash -l {0} @@ -128,7 +128,13 @@ jobs: cd build # Octave is disabled as a workaround for https://github.com/robotology/robotology-superbuild/issues/384 # Python is disabled as a workaround for https://github.com/robotology/robotology-superbuild/issues/494 - cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + + - name: Disable profiles that are not supported in docker for now [Docker debian-sid and debian-buster] + if: (matrix.docker_image == 'debian:sid' || matrix.docker_image == 'debian:buster-backports') + run: | + cd build + cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF . - name: Build [Docker] run: | @@ -225,9 +231,11 @@ jobs: brew update brew upgrade # Core dependencies - brew install ace boost cmake eigen gsl ipopt jpeg libedit ninja opencv pkg-config portaudio qt5 sqlite swig tinyxml + brew install ace boost cmake eigen gsl ipopt jpeg libedit opencv pkg-config portaudio qt5 sqlite swig tinyxml # ROBOTOLOGY_ENABLE_DYNAMICS dependencies brew install libmatio + # ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS (qhull and cppad are installed with brew) + brew install cppad qhull # ROBOTOLOGY_USES_GAZEBO dependencies brew install osrf/simulation/gazebo11 # CI-specific dependencies @@ -255,8 +263,8 @@ jobs: shell: bash run: | mkdir -p build - cd build - cmake -G"${{ matrix.cmake_generator }}" -DYCM_BOOTSTRAP_VERBOSE=ON -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=ON -DROBOTOLOGY_USES_PYTHON:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + cd build + cmake -G"${{ matrix.cmake_generator }}" -DYCM_BOOTSTRAP_VERBOSE=ON -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=ON -DROBOTOLOGY_USES_PYTHON:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. - name: Disable macOS unsupported options if: contains(matrix.os, 'macos') @@ -273,8 +281,8 @@ jobs: source /c/robotology/scripts/setup-deps.sh mkdir -p build cd build - # ROBOTOLOGY_ENABLE_TELEOPERATION is OFF as a workaround for https://github.com/robotology/robotology-superbuild/issues/472 - cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_USES_ESDCAN:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. + # ROBOTOLOGY_ENABLE_TELEOPERATION is OFF as a workaround for https://github.com/robotology/robotology-superbuild/issues/472 + cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_USES_ESDCAN:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. - name: Build [Ubuntu&macOS] diff --git a/CMakeLists.txt b/CMakeLists.txt index ecde5b18b..215c087aa 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -64,6 +64,7 @@ option(ROBOTOLOGY_USES_CYBERITH_SDK "Enable compilation of software that depend option(ROBOTOLOGY_ENABLE_CORE "Enable compilation of core software libraries." TRUE) option(ROBOTOLOGY_ENABLE_ROBOT_TESTING "Enable compilation of software for robot testing." FALSE) option(ROBOTOLOGY_ENABLE_DYNAMICS "Enable compilation of software for balancing and walking." FALSE) +option(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS "Enable compilation of all the dependencies of bipedal-locomotion-framework." FALSE) option(ROBOTOLOGY_ENABLE_TELEOPERATION "Enable compilation of software for teleoperation." FALSE) option(ROBOTOLOGY_ENABLE_EVENT_DRIVEN "Enable compilation of software for event-driven." FALSE) option(ROBOTOLOGY_ENABLE_ICUB_HEAD "Enable compilation of software necessary on the system running in the head of the iCub robot." FALSE) @@ -161,9 +162,23 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS) find_or_build_package(walking-controllers) find_or_build_package(whole-body-estimators) find_or_build_package(whole-body-controllers) + find_or_build_package(matio-cpp) + find_or_build_package(bipedal-locomotion-framework) if(ROBOTOLOGY_USES_GAZEBO) find_or_build_package(icub-gazebo-wholebody) - endif() + endif() +endif() + +if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS) + find_or_build_package(manif) + find_or_build_package(qhull) + find_or_build_package(casadi) + + # cppad is currently disabled on windows + # https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/pull/37 + if(NOT WIN32) + find_or_build_package(CppAD) + endif() endif() # Teleoperation diff --git a/cmake/BuildCppAD.cmake b/cmake/BuildCppAD.cmake new file mode 100644 index 000000000..e135267f8 --- /dev/null +++ b/cmake/BuildCppAD.cmake @@ -0,0 +1,12 @@ +# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia +# Authors: Giulio Romualdi +# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT + +include(YCMEPHelper) + +ycm_ep_helper(CppAD TYPE GIT + STYLE GITHUB + REPOSITORY coin-or/CppAD.git + TAG master + COMPONENT external + FOLDER external) diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake new file mode 100644 index 000000000..fb42a26a7 --- /dev/null +++ b/cmake/Buildbipedal-locomotion-framework.cmake @@ -0,0 +1,49 @@ +# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia +# Authors: Giulio Romualdi +# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT + +include(YCMEPHelper) +include(FindOrBuildPackage) + +find_or_build_package(YARP QUIET) +find_or_build_package(iDynTree QUIET) +find_or_build_package(matio-cpp QUIET) + +set(bipedal-locomotion-framework_DEPENDS "") +list(APPEND bipedal-locomotion-framework_DEPENDS YARP) +list(APPEND bipedal-locomotion-framework_DEPENDS iDynTree) +list(APPEND bipedal-locomotion-framework_DEPENDS matio-cpp) + +set(bipedal-locomotion-framework_USES_CppAD OFF) + +if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS) + find_or_build_package(manif QUIET) + find_or_build_package(qhull QUIET) + find_or_build_package(casadi QUIET) + + # cppad is currently disabled on windows + # https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/pull/37 + if(NOT WIN32) + find_or_build_package(CppAD) + list(APPEND bipedal-locomotion-framework_DEPENDS CppAD) + set(bipedal-locomotion-framework_USES_CppAD ON) + endif() + + list(APPEND bipedal-locomotion-framework_DEPENDS manif) + list(APPEND bipedal-locomotion-framework_DEPENDS qhull) + list(APPEND bipedal-locomotion-framework_DEPENDS casadi) + +endif() + +ycm_ep_helper(bipedal-locomotion-framework TYPE GIT + STYLE GITHUB + REPOSITORY dic-iit/bipedal-locomotion-framework.git + TAG master + COMPONENT dynamics + FOLDER robotology + CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF + -DFRAMEWORK_USE_manif:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS} + -DFRAMEWORK_USE_Qhull:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS} + -DFRAMEWORK_USE_cppad:BOOL=${bipedal-locomotion-framework_USES_CppAD} + -DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS} + DEPENDS ${bipedal-locomotion-framework_DEPENDS}) diff --git a/cmake/Buildcasadi.cmake b/cmake/Buildcasadi.cmake new file mode 100644 index 000000000..ddaa79c76 --- /dev/null +++ b/cmake/Buildcasadi.cmake @@ -0,0 +1,23 @@ +# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia +# Authors: Giulio Romualdi +# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT + +include(YCMEPHelper) + +include(FindOrBuildPackage) +find_or_build_package(osqp QUIET) + +ycm_ep_helper(casadi TYPE GIT + STYLE GITHUB + REPOSITORY GiulioRomualdi/casadi.git + TAG feature/support_osqp_0.6.0 + COMPONENT external + FOLDER external + CMAKE_ARGS -DWITH_IPOPT:BOOL=ON + -DWITH_OSQP:BOOL=ON + -DUSE_SYSTEM_WISE_OSQP:BOOL=ON + -DINCLUDE_PREFIX:PATH=include + -DCMAKE_PREFIX:PATH=lib/cmake/casadi + -DLIB_PREFIX:PATH=lib + -DBIN_PREFIX:PATH=bin + DEPENDS osqp) diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake new file mode 100644 index 000000000..95234a393 --- /dev/null +++ b/cmake/Buildmanif.cmake @@ -0,0 +1,13 @@ +# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia +# Authors: Giulio Romualdi +# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT + +include(YCMEPHelper) + +ycm_ep_helper(manif TYPE GIT + STYLE GITHUB + REPOSITORY artivis/manif.git + TAG master + COMPONENT external + FOLDER external + CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF) diff --git a/cmake/Buildmatio-cpp.cmake b/cmake/Buildmatio-cpp.cmake new file mode 100644 index 000000000..8f829822d --- /dev/null +++ b/cmake/Buildmatio-cpp.cmake @@ -0,0 +1,12 @@ +# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia +# Authors: Giulio Romualdi +# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT +include(YCMEPHelper) + +ycm_ep_helper(matio-cpp TYPE GIT + STYLE GITHUB + REPOSITORY dic-iit/matio-cpp.git + TAG master + COMPONENT dynamics + FOLDER robotology + CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF) diff --git a/cmake/Buildqhull.cmake b/cmake/Buildqhull.cmake new file mode 100644 index 000000000..584084b85 --- /dev/null +++ b/cmake/Buildqhull.cmake @@ -0,0 +1,12 @@ +# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia +# Authors: Giulio Romualdi +# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT + +include(YCMEPHelper) + +ycm_ep_helper(qhull TYPE GIT + STYLE GITHUB + REPOSITORY qhull/qhull.git + TAG master + COMPONENT external + CMAKE_ARGS -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON) diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake index 3d96d2523..5c2cddbd3 100644 --- a/cmake/ProjectsTagsStable.cmake +++ b/cmake/ProjectsTagsStable.cmake @@ -6,6 +6,10 @@ endmacro() # External projects set_tag(osqp_TAG v0.6.0) +set_tag(manif_TAG 44bdfebff0fbc56cb189f680212257dc7f20ea58) +set_tag(qhull_TAG v8.0.2) +set_tag(CppAD_TAG 20200000.3) +set_tag(casadi a26cd8ffba99052b74553eec1daeff640eea7e79) # Robotology projects set_tag(YCM_TAG ycm-0.12) diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake index f068f19aa..343cd7f6c 100644 --- a/cmake/ProjectsTagsUnstable.cmake +++ b/cmake/ProjectsTagsUnstable.cmake @@ -6,6 +6,10 @@ endmacro() # External projects set_tag(osqp_TAG v0.6.0) +set_tag(manif_TAG 44bdfebff0fbc56cb189f680212257dc7f20ea58) +set_tag(qhull_TAG v8.0.2) +set_tag(CppAD_TAG 20200000.3) +set_tag(casadi a26cd8ffba99052b74553eec1daeff640eea7e79) # Robotology projects set_tag(YARP_TAG master) diff --git a/doc/profiles.md b/doc/profiles.md index 3de18a197..696be1fc9 100644 --- a/doc/profiles.md +++ b/doc/profiles.md @@ -102,7 +102,7 @@ This profile is enabled by the `ROBOTOLOGY_ENABLE_DYNAMICS` CMake option. The steps necessary to install the system dependencies of the Dynamics profile are provided in operating system-specific installation documentation, and no additional required system dependency is required. -The only optional system dependency of `wb-toolbox`, project part of this profile, is [tbeu/matio](https://github.com/tbeu/matio/). +The only optional system dependency of `wb-toolbox` and `matio-cpp`, projects part of this profile, is [tbeu/matio](https://github.com/tbeu/matio/). #### Linux diff --git a/releases/2020.11.yaml b/releases/2020.11.yaml index 86fba019f..bbf081c68 100644 --- a/releases/2020.11.yaml +++ b/releases/2020.11.yaml @@ -7,6 +7,22 @@ repositories: type: git url: https://github.com/oxfordcontrol/osqp.git version: v0.6.0 + manif: + type: git + url: https://github.com/artivis/manif.git + version: 44bdfebff0fbc56cb189f680212257dc7f20ea58 + qhull: + type: git + url: https://github.com/qhull/qhull.git + version: v8.0.2 + CppAD: + type: git + url: https://github.com/coin-or/CppAD.git + version: 20200000.3 + casadi: + type: git + url: https://github.com/GiulioRomualdi/casadi.git + version: a26cd8ffba99052b74553eec1daeff640eea7e79 YCM: type: git url: https://github.com/robotology/ycm.git