ompl/1.5.2 recipe

recipes/ompl/1.5.2/conandata.yml

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+sources:
+  "1.5.2":
+    url: "https://github.com/ompl/ompl/archive/refs/tags/1.5.2.zip"
+    sha256: "1b9f25339e014c448334cb8bd5d7d52d1dcf457227cc2dde4c2210d1d494258d"

recipes/ompl/1.5.2/conanfile.py

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+from conans import ConanFile, tools, CMake
+import os
+import glob
+
+BOOST_MODULES = ["system", "filesystem",
+                 "program_options", "serialization", "test"]
+BOOST_UNUSED_MODULES = ["atomic", "chrono", "container", "context", "contract", "coroutine", "date_time", "exception",
+                        "fiber", "graph", "graph_parallel", "iostreams", "locale", "log", "math", "mpi", "python", "random",
+                        "regex", "stacktrace", "thread", "timer", "type_erasure", "wave"]
+
+
+class ConanOmpl(ConanFile):
+    name = "ompl"
+    version = "1.5.2"
+    license = "BSD"
+    homepage = "https://ompl.kavrakilab.org/"
+    description = "OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms."
+    url = "https://github.com/conan-io/conan-center-index"
+    topics = ("ompl", "motion-planning", "robotics", "collision")
+    generators = "cmake_find_package", "cmake_paths", "cmake"
+    BOOST_VERSION = "1.72.0"
+    requires = "boost/{}".format(BOOST_VERSION), "eigen/3.3.9"
+
+    settings = 'os', 'compiler', 'build_type', 'arch'
+    options = {"shared": [True, False], "run_tests": [
+        True, False], "fPIC": [True, False]}
+    default_options = {"shared": False, "run_tests": False, "fPIC": True}
+
+    def configure(self):
+        if self.options.shared:
+            del self.options.fPIC
+
+        boost_options = self.options["boost"]
+        for module in BOOST_MODULES:
+            setattr(boost_options, "without_{}".format(module), False)
+        for module in BOOST_UNUSED_MODULES:
+            setattr(boost_options, "without_{}".format(module), True)
+
+    @property
+    def _source_subfolder(self):
+        return "ompl-{}".format(self.version)
+
+    def source(self):
+        tools.get(**self.conan_data["sources"][self.version],
+                  destination=self._source_subfolder, strip_root=True)
+
+        tools.replace_in_file("{}/CMakeLists.txt".format(self._source_subfolder),
+                              "project(ompl VERSION {} LANGUAGES CXX)".format(
+                                  self.version),
+                              'project(ompl VERSION {} LANGUAGES CXX)\n'.format(self.version) +
+                              'include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)\n' +
+                              'conan_basic_setup(KEEP_RPATHS)\n' +
+                              'include(${CMAKE_BINARY_DIR}/conan_paths.cmake)\n')
+
+        tools.replace_in_file("{}/CMakeLists.txt".format(self._source_subfolder),
+                              "find_package(Boost 1.58 QUIET REQUIRED COMPONENTS serialization filesystem system program_options)",
+                              'find_package(Boost {} REQUIRED)\n'.format(self.BOOST_VERSION) +
+                              'set(Boost_SERIALIZATION_LIBRARY "${Boost_LIBRARIES_TARGETS}")\n' +
+                              'set(Boost_FILESYSTEM_LIBRARY "${Boost_LIBRARIES_TARGETS}")\n' +
+                              'set(Boost_SYSTEM_LIBRARY "${Boost_LIBRARIES_TARGETS}")\n' +
+                              'set(Boost_LIBRARY_DIRS " ")')
+
+        tools.replace_in_file("{}/CMakeLists.txt".format(self._source_subfolder),
+                              "find_package(Eigen3 REQUIRED)",
+                              'find_package(Eigen3 REQUIRED)\n' +
+                              'set(EIGEN3_INCLUDE_DIR ${Eigen3_INCLUDE_DIR})')
+
+    def _configure_cmake(self):
+        cmake = CMake(self)
+        cmake.definitions["BUILD_SHARED_LIBS"] = self.options.shared
+        cmake.definitions["OMPL_BUILD_TESTS"] = self.options.run_tests
+        cmake.definitions["OMPL_BUILD_DEMOS"] = self.options.run_tests
+
+        ignored_packages = ["pypy", "flann",
+                            "ODE", "spot", "MORSE", "Triangle"]
+        for pkg in ignored_packages:
+            cmake.definitions["CMAKE_DISABLE_FIND_PACKAGE_{}".format(
+                pkg)] = "ON"
+
+        disabled_options = ["BUILD_PYBINDINGS",
+                            "BUILD_PYTESTS", "REGISTRATION", "VERSIONED_INSTALL"]
+        for opt in disabled_options:
+            cmake.definitions["OMPL_{}".format(opt)] = "OFF"
+
+        cmake.configure(source_folder=os.path.join(
+            self.build_folder, self._source_subfolder))
+        return cmake
+
+    def build(self):
+        cmake = self._configure_cmake()
+        if self.options.run_tests:
+            cmake.build()
+            cmake.test()
+        else:
+            cmake.build(target="ompl")
+
+    def package(self):
+        cmake = self._configure_cmake()
+        cmake.install()
+
+    def package_info(self):
+        self.cpp_info.includedirs = ["include"]
+        self.cpp_info.libs = ["ompl"]
+        self.cpp_info.libdirs = ['lib']

recipes/ompl/1.5.2/test_package/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.1)
+project(PackageTest CXX)
+
+include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+conan_basic_setup(KEEP_RPATHS)
+find_package(OMPL REQUIRED)
+
+if (APPLE)
+    set(CMAKE_INSTALL_RPATH "@executable_path" "@executable_path/../lib")
+elseif(NOT WIN32) # Linux
+    set(CMAKE_INSTALL_RPATH "$ORIGIN" "$ORIGIN/../lib")
+endif() # windows, the library stays in bin folder with the executables
+set(CMAKE_BUILD_WITH_INSTALL_RPATH ON)
+
+add_executable(example example.cpp)
+target_link_libraries(example ompl::ompl)

recipes/ompl/1.5.2/test_package/conanfile.py

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+import os
+import shutil
+
+from conans import ConanFile, CMake, tools
+
+
+class PackageTest(ConanFile):
+    settings = "os", "compiler", "build_type", "arch"
+    generators = "cmake_find_package", "cmake"
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if not tools.cross_building(self.settings):
+            bin_path = os.path.join("bin", "example")
+            self.run(bin_path, run_environment=True)

recipes/ompl/1.5.2/test_package/example.cpp

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+#include <iostream>
+#include <memory>
+
+#include <ompl/base/spaces/RealVectorStateSpace.h>
+#include <ompl/geometric/SimpleSetup.h>
+
+int main() {
+  auto stateSpace = std::make_shared<ompl::base::RealVectorStateSpace>(5);
+  auto setup = std::make_shared <ompl::geometric::SimpleSetup>(stateSpace);
+  std::cout << "ompl objects constructed successfully" << std::endl;
+
+  return 0;
+}

recipes/ompl/config.yml

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+versions:
+  "1.5.2":
+    folder: 1.5.2