Convert shared pointers in some tests to stack allocated instances #388
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| name: Python CI | |
| on: [pull_request] | |
| jobs: | |
| build: | |
| name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }} | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CTEST_OUTPUT_ON_FAILURE: ON | |
| CTEST_PARALLEL_LEVEL: 2 | |
| CMAKE_BUILD_TYPE: ${{ matrix.build_type }} | |
| PYTHON_VERSION: ${{ matrix.python_version }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| # Github Actions requires a single row to be added to the build matrix. | |
| # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
| name: [ubuntu-22.04-gcc-9, ubuntu-22.04-clang-12, macOS-12-xcode-14.2] | |
| build_type: [Debug, Release] | |
| python_version: [3] | |
| include: | |
| - name: ubuntu-22.04-gcc-9 | |
| os: ubuntu-22.04 | |
| compiler: gcc | |
| version: "9" | |
| - name: ubuntu-22.04-clang-12 | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "12" | |
| - name: ubuntu-22.04-clang-12 | |
| os: ubuntu-22.04 | |
| compiler: clang | |
| version: "12" | |
| build_type: Debug | |
| python_version: "3" | |
| - name: macOS-12-xcode-14.2 | |
| os: macOS-12 | |
| compiler: xcode | |
| version: "14.2" | |
| steps: | |
| - name: Install Dependencies (Linux) | |
| if: runner.os == 'Linux' | |
| run: | | |
| sudo apt-get -y update | |
| if [ "${{ matrix.compiler }}" = "gcc" ]; then | |
| sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib | |
| echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV | |
| echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV | |
| else | |
| sudo apt-get install -y clang-${{ matrix.version }} g++-multilib | |
| echo "CC=clang" >> $GITHUB_ENV | |
| echo "CXX=clang++" >> $GITHUB_ENV | |
| fi | |
| # For SDFormat | |
| sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' | |
| sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743 | |
| sudo apt-get -y update | |
| sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat12-dev | |
| - name: Install Dependencies (macOS) | |
| if: runner.os == 'macOS' | |
| run: | | |
| if [ "${{ matrix.compiler }}" = "gcc" ]; then | |
| brew install gcc@${{ matrix.version }} | |
| echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV | |
| echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV | |
| else | |
| sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app | |
| echo "CC=clang" >> $GITHUB_ENV | |
| echo "CXX=clang++" >> $GITHUB_ENV | |
| fi | |
| brew install boost | |
| brew tap osrf/simulation | |
| brew install sdformat12 | |
| - name: Python Dependencies | |
| run: | | |
| # Install dependencies for gtwrap | |
| pip3 install -U setuptools numpy pyparsing pyyaml | |
| - name: GTSAM (Linux) | |
| if: runner.os == 'Linux' | |
| run: | | |
| # Install gtsam | |
| git clone https://github.com/borglab/gtsam.git /home/runner/work/gtsam | |
| cd /home/runner/work/gtsam | |
| mkdir build && cd $_ | |
| cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON .. | |
| sudo make -j$(nproc) install && sudo make python-install | |
| sudo ldconfig | |
| cd $GITHUB_WORKSPACE # go back to home directory | |
| - name: GTSAM (macOS) | |
| if: runner.os == 'macOS' | |
| run: | | |
| # Install gtsam | |
| git clone https://github.com/borglab/gtsam.git /Users/runner/work/gtsam | |
| cd /Users/runner/work/gtsam | |
| mkdir build && cd $_ | |
| cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 .. | |
| make -j$(sysctl -n hw.physicalcpu) install && make python-install | |
| cd $GITHUB_WORKSPACE # go back to home directory | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Build Directory | |
| run: mkdir build | |
| - name: Configure (Linux) | |
| if: runner.os == 'Linux' | |
| run: | | |
| cmake -DGTDYNAMICS_BUILD_PYTHON=ON .. | |
| working-directory: ./build | |
| - name: Configure (macOS) | |
| if: runner.os == 'macOS' | |
| run: | | |
| cmake -DGTDYNAMICS_BUILD_PYTHON=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 .. | |
| working-directory: ./build | |
| - name: Build | |
| run: make -j4 | |
| working-directory: ./build | |
| - name: Test | |
| run: make -j4 python-test | |
| working-directory: ./build | |
| - name: Install | |
| run: sudo make -j4 python-install | |
| working-directory: ./build |