Parallelize constraint group solving

dartsim · Jun 4, 2024 · fb3b7c5 · fb3b7c5
1 parent 5ba1e72
commit fb3b7c5
Show file tree

Hide file tree

Showing 12 changed files with 504 additions and 236 deletions.
diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
@@ -106,6 +106,9 @@ else()
   )
 endif()
 
+# Taskflow
+dart_find_package(Taskflow)
+
 #=======================
 # Optional dependencies
 #=======================

diff --git a/cmake/DARTFindTaskflow.cmake b/cmake/DARTFindTaskflow.cmake
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(Taskflow)
diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -127,6 +127,7 @@ target_link_libraries(dart
     Eigen3::Eigen
     fcl
     assimp
+    Taskflow::Taskflow
 )
 if(TARGET fmt::fmt-header-only)
   target_link_libraries(dart PUBLIC fmt::fmt-header-only)
@@ -214,7 +215,7 @@ endif()
 add_component_targets(${PROJECT_NAME} dart dart)
 add_component_dependencies(${PROJECT_NAME} dart external-odelcpsolver)
 add_component_dependency_packages(${PROJECT_NAME} dart
-  assimp Eigen3 fcl fmt
+  assimp Eigen3 fcl fmt Taskflow
 )
 if(TARGET octomap)
   add_component_dependency_packages(${PROJECT_NAME} dart octomap)