Use binary sources for CI

.github/workflows/build.yml

@@ -32,7 +32,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-16.04, ubuntu-18.04, macos-latest, windows-latest]
+        os: [ubuntu-16.04, ubuntu-18.04, ubuntu-20.04, macos-latest, windows-latest]
         build-type: [Debug, RelWithDebInfo]
         compiler: [gcc, clang]
         exclude:
@@ -44,47 +44,38 @@ jobs:
 
     runs-on: ${{ matrix.os }}
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
-    - name: Cleanup windows environment
-      shell: bash
-      run: |
-        set -x
-        rm -rf /c/hostedtoolcache/windows/Boost/1.72.0/lib/cmake/Boost-1.72.0
-      if: matrix.os == 'windows-latest'
     - name: Install dependencies
       uses: jrl-umi3218/github-actions/install-dependencies@master
       with:
         compiler: ${{ matrix.compiler }}
         build-type: ${{ matrix.build-type }}
         ubuntu: |
-          apt: cython cython3 python-nose python3-nose python-numpy python3-numpy python-coverage python3-coverage python-setuptools python3-setuptools libeigen3-dev doxygen doxygen-latex libboost-all-dev libtinyxml2-dev libyaml-cpp-dev
+          apt: cython cython3 python-nose python3-nose python-numpy python3-numpy python-coverage python3-coverage python-setuptools python3-setuptools doxygen doxygen-latex libboost-all-dev libeigen-qld-dev libsch-core-dev librbdyn-dev python-eigen-qld python3-eigen-qld python-sch-core python3-sch-core python-rbdyn python3-rbdyn
+          apt-mirrors:
+            multi-contact:
+              mirror: https://dl.bintray.com/gergondet/multi-contact-head
+              key: 892EA6EE273707C6495A6FB6220D644C64666806
         macos: |
           cask: gfortran
-          brew: eigen boost tinyxml2 yaml-cpp
-          pip: Cython coverage nose numpy
+          vcpkg:
+            repo: jrl-umi3218/vcpkg
+            user: ${{ github.actor }}
+            token: ${{ github.token }}
         windows: |
-          pip: Cython coverage nose numpy
-          github:
-            - path: eigenteam/eigen-git-mirror
-              ref: 3.3.7
-            - path: leethomason/tinyxml2
-              ref: 7.1.0
-            - path: jbeder/yaml-cpp
-              ref: 29dcf92f870ee51cce8d68f8fcfe228942e8dfe1
-        github: |
-          - path: jrl-umi3218/Eigen3ToPython
-          - path: jrl-umi3218/SpaceVecAlg
-          - path: jrl-umi3218/sch-core
-          - path: jrl-umi3218/eigen-qld
-          - path: jrl-umi3218/sch-core-python
-          - path: jrl-umi3218/RBDyn
+          vcpkg:
+            repo: jrl-umi3218/vcpkg
+            user: ${{ github.actor }}
+            token: ${{ github.token }}
     - name: Build and test
       uses: jrl-umi3218/github-actions/build-cmake-project@master
       with:
         compiler: ${{ matrix.compiler }}
         build-type: ${{ matrix.build-type }}
+        windows-options: -DPYTHON_BINDING:BOOL=OFF
+        macos-options: -DPYTHON_BINDING:BOOL=OFF
     - name: Upload documentation
       # Only run on master branch and for one configuration
       if: matrix.os == 'ubuntu-18.04' && matrix.build-type == 'RelWithDebInfo' && matrix.compiler == 'gcc' && github.ref == 'refs/heads/master'

.github/workflows/package.yml

@@ -5,6 +5,9 @@ on:
     types:
     - package-master
     - package-release
+  pull_request:
+    branches:
+    - "**"
   push:
     paths-ignore:
     - doc/**

.github/workflows/sources/package.yml

@@ -20,6 +20,9 @@ name: Package Tasks
 on:
   repository_dispatch:
     types: [package-master, package-release]
+  pull_request:
+    branches:
+    - "**"
   push:
     paths-ignore:
       # Changes to those files don't mandate rebuilding a package

CMakeLists.txt

@@ -39,6 +39,11 @@ endif()
 # of the main library when launching ctest with RUN_TESTS
 if(MSVC)
   set(CMAKE_MSVCIDE_RUN_PATH "\$(SolutionDir)/src/\$(Configuration)")
+  if(_VCPKG_INSTALLED_DIR)
+    set(VCPKG_INSTALL_PREFIX "${_VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_PREFIX}")
+    # Only debug actually exists but we make sure it's first in that case
+    set(CMAKE_MSVCIDE_RUN_PATH "${VCPKG_INSTALL_PREFIX}/\$(Configuration)/bin;${VCPKG_INSTALL_PREFIX}/bin;${CMAKE_MSVCIDE_RUN_PATH}")
+  endif()
 endif(MSVC)
 
 add_subdirectory(src)

src/QPContactConstr.cpp

@@ -106,7 +106,7 @@ void ContactConstr::ContactData::update(const std::vector<rbd::MultiBodyConfig>
   auto X_b1_b2_current = X_0_b2 * X_0_b1.inv();
   auto X_b2_cf_current = X_b1_cf * X_b1_b2_current.inv();
   // Only apply the motion allowed by the DoF selection
-  auto error = revDof * sva::transformError(X_b2_cf_current.inv(), X_b2_cf.inv()).vector();
+  Eigen::Vector6d error = revDof * sva::transformError(X_b2_cf_current.inv(), X_b2_cf.inv()).vector();
   auto offset = sva::PTransformd(sva::RotX(error(0)) * sva::RotY(error(1)) * sva::RotZ(error(2)),
                                  Eigen::Vector3d(error(3), error(4), error(5)));
   X_b2_cf = offset * X_b2_cf;

tests/CMakeLists.txt

@@ -5,14 +5,15 @@
 enable_testing()
 
 find_package(Boost REQUIRED COMPONENTS unit_test_framework timer system)
-add_definitions(-DBOOST_TEST_DYN_LINK)
 
 set(HEADERS arms.h)
 
 macro(addUnitTest name)
   add_executable(${name} ${name}.cpp ${HEADERS})
   target_link_libraries(${name} PRIVATE Tasks Boost::unit_test_framework)
-  target_compile_definitions(${name} PRIVATE -DBOOST_TEST_DYN_LINK)
+  if(NOT Boost_USE_STATIC_LIBS)
+    target_compile_definitions(${name} PRIVATE -DBOOST_ALL_DYN_LINK)
+  endif()
   add_test(${name}Unit ${name})
   # Adding a project configuration file (for MSVC only)
   generate_msvc_dot_user_file(${name})

vcpkg.json

@@ -0,0 +1,13 @@
+{
+  "name": "tasks",
+  "version-string": "1.3.0",
+  "homepage": "https://github.com/jrl-umi3218/Tasks",
+  "description": "Real time control of robots using constrained optimization",
+  "dependencies": [
+    "boost-test",
+    "boost-timer",
+    "eigen-qld",
+    "rbdyn",
+    "sch-core"
+  ]
+}