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system: x86_64-darwin | build_time: 12 minutes | https://github.com/NixOS/nixpkgs/pull/401949
Raw
python313Packages.aligator
copying path '/nix/store/rzfgyapfys83wlif527pjgqk7syx22fv-gbenchmark-1.9.1' from 'https://cache.nixos.org'...
copying path '/nix/store/idg95s7qv3816awk1mzmkgyc64fns7kj-suitesparse-5.13.0-dev' from 'https://cache.nixos.org'...
Sourcing python-imports-check-hook.sh
Using pythonImportsCheckPhase
Running phase: unpackPhase
unpacking source archive /nix/store/nblpnk6yd180j5c7v2zxm510igydr6cb-source
source root is source
Running phase: patchPhase
Running phase: configurePhase
fixing cmake files...
cmake flags: -DCMAKE_FIND_USE_SYSTEM_PACKAGE_REGISTRY=OFF -DCMAKE_FIND_USE_PACKAGE_REGISTRY=OFF -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_LOCALEDIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/share/locale -DCMAKE_INSTALL_LIBEXECDIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/libexec -DCMAKE_INSTALL_LIBDIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/lib -DCMAKE_INSTALL_DOCDIR=/nix/store/jric4fcqb0zyj595786wdhznidc4c9mn-aligator-0.12.0-doc/share/doc/aligator -DCMAKE_INSTALL_INFODIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/share/info -DCMAKE_INSTALL_MANDIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/share/man -DCMAKE_INSTALL_INCLUDEDIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/include -DCMAKE_INSTALL_SBINDIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/sbin -DCMAKE_INSTALL_BINDIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/bin -DCMAKE_INSTALL_NAME_DIR=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0/lib -DCMAKE_POLICY_DEFAULT_CMP0025=NEW -DCMAKE_FIND_FRAMEWORK=LAST -DCMAKE_STRIP=/nix/store/8b3idsmg4ajv79jmqcz87pimzhc5a4j9-clang-wrapper-19.1.7/bin/strip -DCMAKE_RANLIB=/nix/store/8b3idsmg4ajv79jmqcz87pimzhc5a4j9-clang-wrapper-19.1.7/bin/ranlib -DCMAKE_AR=/nix/store/8b3idsmg4ajv79jmqcz87pimzhc5a4j9-clang-wrapper-19.1.7/bin/ar -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -DCMAKE_INSTALL_PREFIX=/nix/store/c6cx1h5bapjwaiy08d5w2ilks868swfj-aligator-0.12.0 -DBUILD_PYTHON_INTERFACE:BOOL=TRUE -DBUILD_WITH_PINOCCHIO_SUPPORT:BOOL=TRUE -DBUILD_CROCODDYL_COMPAT:BOOL=TRUE -DBUILD_WITH_OPENMP_SUPPORT:BOOL=TRUE -DBUILD_WITH_CHOLMOD_SUPPORT:BOOL=TRUE -DGENERATE_PYTHON_STUBS:BOOL=FALSE -DCMAKE_CTEST_ARGUMENTS:STRING=--exclude-regex\;aligator-test-py-rollout -DPYBIND11_PYTHONLIBS_OVERWRITE=OFF -DPYTHON_EXECUTABLE=/nix/store/licrw67jc4x964fiw1ia1fq2fqyiwixw-python3-3.13.2/bin/python3.13 -DPYTHON_INCLUDE_DIR=/nix/store/licrw67jc4x964fiw1ia1fq2fqyiwixw-python3-3.13.2/include/python3.13 -DPYTHON_SITE_PACKAGES=/nix/store/licrw67jc4x964fiw1ia1fq2fqyiwixw-python3-3.13.2/lib/python3.13/site-packages
-- JRL cmakemodules found on system at /nix/store/v76xmbslc9dg69bgkp6fq62zlf8ksl3z-jrl-cmakemodules-0-unstable-2025-01-29/share/jrl-cmakemodules
-- Configuring "aligator" (https://github.com/Simple-Robotics/aligator)
-- Package version (ROS package.xml): 0.12.0
-- The CXX compiler identification is Clang 19.1.7
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /nix/store/8b3idsmg4ajv79jmqcz87pimzhc5a4j9-clang-wrapper-19.1.7/bin/clang++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /nix/store/4vzwqmyagz1aq6a6204hlwnj6dc9ip6a-pkg-config-wrapper-0.29.2/bin/pkg-config (found version "0.29.2")
Error: Could not run sw_vers:
No such file or directory
Error: Could not run sw_vers:
No such file or directory
Error: Could not run sw_vers:
No such file or directory
-- Performing Test res_-pedantic
-- Performing Test res_-pedantic - Success
-- Performing Test res_-Wno-long-long
-- Performing Test res_-Wno-long-long - Success
-- Performing Test res_-Wall
-- Performing Test res_-Wall - Success
-- Performing Test res_-Wextra
-- Performing Test res_-Wextra - Success
-- Performing Test res_-Wcast-align
-- Performing Test res_-Wcast-align - Success
-- Performing Test res_-Wcast-qual
-- Performing Test res_-Wcast-qual - Success
-- Performing Test res_-Wformat
-- Performing Test res_-Wformat - Success
-- Performing Test res_-Wwrite-strings
-- Performing Test res_-Wwrite-strings - Success
-- Performing Test res_-Wconversion
-- Performing Test res_-Wconversion - Success
-- Found Doxygen: /nix/store/869cwq5k463r2811gnxw8lgkjf5lzimz-doxygen-1.13.2/bin/doxygen (found version "1.13.2") found components: doxygen dot
-- Found OpenMP_CXX: -fopenmp=libomp (found version "5.1")
-- Found OpenMP: TRUE (found version "5.1")
-- proxsuite-nlp FOUND. proxsuite-nlp at /nix/store/6d0ziac9sd25j1ly8q763vs5h0cx129g-proxsuite-nlp-0.11.0/lib/libproxsuite-nlp.dylib
-- boost_filesystem FOUND. boost_filesystem at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_filesystem.dylib
-- boost_serialization FOUND. boost_serialization at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_serialization.dylib
-- boost_system FOUND. boost_system at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_system.dylib
-- Found Simde: /nix/store/4029f1lvzclb1qxn88kq8y58agc6w2mz-simde-0.8.2/include
-- eigenpy FOUND. eigenpy at /nix/store/pj87m7jvdwlsnfq07fcrsmxwpnvmppy8-python3.13-eigenpy-3.11.0/lib/libeigenpy.dylib
-- Checking for NumPy
-- NUMPY_INCLUDE_DIRS=/nix/store/y8xaq7jwfnxf2alv81zlp6pifa5ghfmj-python3.13-numpy-2.2.4/lib/python3.13/site-packages/numpy/_core/include
-- NUMPY_VERSION=2.2.4
-- Found Python3: /nix/store/licrw67jc4x964fiw1ia1fq2fqyiwixw-python3-3.13.2/bin/python3.13 (found version "3.13.2") found components: Interpreter Development.Module NumPy
-- PythonLibraryDirs:
-- PythonLibVersionString: 3.13.2
-- Python site lib: lib/python3.13/site-packages
-- Python include dirs: /nix/store/licrw67jc4x964fiw1ia1fq2fqyiwixw-python3-3.13.2/include/python3.13
-- Checking for NumPy
-- NUMPY_INCLUDE_DIRS=/nix/store/y8xaq7jwfnxf2alv81zlp6pifa5ghfmj-python3.13-numpy-2.2.4/lib/python3.13/site-packages/numpy/_core/include
-- NUMPY_VERSION=2.2.4
-- NumPy include dir: /nix/store/y8xaq7jwfnxf2alv81zlp6pifa5ghfmj-python3.13-numpy-2.2.4/lib/python3.13/site-packages/numpy/_core/include
-- Default C++ standard: 201703
-- Minimal C++ standard upgraded to 11
-- C++ standard sufficient: Minimal required 11, currently defined: 17
-- pinocchio_default FOUND. pinocchio_default at /nix/store/pqpjrcffj6bfrcrs7i6f2ic29aqijcxw-pinocchio-3.5.0/lib/libpinocchio_default.dylib
-- pinocchio_parsers FOUND. pinocchio_parsers at /nix/store/pqpjrcffj6bfrcrs7i6f2ic29aqijcxw-pinocchio-3.5.0/lib/libpinocchio_parsers.dylib
-- pinocchio_casadi FOUND. pinocchio_casadi at /nix/store/pqpjrcffj6bfrcrs7i6f2ic29aqijcxw-pinocchio-3.5.0/lib/libpinocchio_casadi.dylib
-- boost_filesystem FOUND. boost_filesystem at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_filesystem.dylib
-- boost_serialization FOUND. boost_serialization at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_serialization.dylib
-- boost_system FOUND. boost_system at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_system.dylib
CMake Warning at /nix/store/c9vd2p39nc2rqzp8fh2syxkwdn797lwj-coal-3.0.1-dev/lib/cmake/hpp-fcl/hpp-fclConfig.cmake:3 (message):
Please update your CMake from 'hpp-fcl' to 'coal'
Call Stack (most recent call first):
/nix/store/x9390krmrb55ymmxp9xclnyhprbdim49-cmake-3.31.6/share/cmake-3.31/Modules/CMakeFindDependencyMacro.cmake:76 (find_package)
/nix/store/pqpjrcffj6bfrcrs7i6f2ic29aqijcxw-pinocchio-3.5.0/lib/cmake/pinocchio/pinocchioConfig.cmake:165 (find_dependency)
/nix/store/x9390krmrb55ymmxp9xclnyhprbdim49-cmake-3.31.6/share/cmake-3.31/Modules/CMakeFindDependencyMacro.cmake:76 (find_package)
/nix/store/6d0ziac9sd25j1ly8q763vs5h0cx129g-proxsuite-nlp-0.11.0/lib/cmake/proxsuite-nlp/proxsuite-nlpConfig.cmake:162 (find_dependency)
/nix/store/v76xmbslc9dg69bgkp6fq62zlf8ksl3z-jrl-cmakemodules-0-unstable-2025-01-29/share/jrl-cmakemodules/package-config.cmake:133 (find_package)
CMakeLists.txt:226 (ADD_PROJECT_DEPENDENCY)
-- coal FOUND. coal at /nix/store/lnq5bds83mnd0dcll12g334l8yli67cb-coal-3.0.1/lib/libcoal.dylib
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Minimal C++ standard upgraded to 14
-- C++ standard sufficient: Minimal required 14, currently defined: 17
-- C++ standard sufficient: Minimal required 14, currently defined: 17
-- C++ standard sufficient: Minimal required 14, currently defined: 17
-- Building aligator with Pinocchio support.
-- Building with Crocoddyl support.
-- Found CHOLMOD: /nix/store/idg95s7qv3816awk1mzmkgyc64fns7kj-suitesparse-5.13.0-dev/include
-- Build with CHOLMOD support (LGPL). See CHOLMOD/Doc/License.txt for further details.
-- crocoddyl FOUND. crocoddyl at /nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/lib/libcrocoddyl.dylib
-- boost_filesystem FOUND. boost_filesystem at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_filesystem.dylib
-- boost_serialization FOUND. boost_serialization at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_serialization.dylib
-- boost_system FOUND. boost_system at /nix/store/xypy4md76a7pwbkls78n1xyivkbvm8ic-boost-1.87.0/lib/libboost_system.dylib
-- C++ standard sufficient: Minimal required 14, currently defined: 17
-- ipopt is required.
-- Checking for module 'ipopt'
-- Found ipopt, version 3.14.17
-- Pkg-config module ipopt v3.14.17 has been detected with success.
-- C++ standard sufficient: Minimal required 14, currently defined: 17
-- Adding cpp example aligator-example-clqr
-- Adding cpp example aligator-example-se2-car
-- Adding cpp example aligator-example-talos-walk
-- Adding cpp example aligator-example-talos-arm
> depends on aligator::croc_compat;croc_talos_arm_utils;example-robot-data::example-robot-data
-- Adding cpp bench bench-lqr
-- Adding cpp bench bench-se2-car
-- Adding cpp bench bench-croc-talos-arm
-- Adding cpp bench bench-talos-walk
-- Adding cpp bench bench-gar-riccati
-- Adding cpp bench bench-gar-impl-multithread
-- Test headers:
-- Adding cpp test: continuous.cpp (aligator-test-cpp-continuous)
-- Adding cpp test: costs.cpp (aligator-test-cpp-costs)
-- Adding cpp test: integrators.cpp (aligator-test-cpp-integrators)
-- Adding cpp test: lqr.cpp (aligator-test-cpp-lqr)
-- Adding cpp test: problem.cpp (aligator-test-cpp-problem)
-- Adding cpp test: solver-storage.cpp (aligator-test-cpp-solver-storage)
-- Adding cpp test: utils.cpp (aligator-test-cpp-utils)
-- Adding cpp test: cycling.cpp (aligator-test-cpp-cycling)
-- Adding cpp test: mpc-cycle.cpp (aligator-test-cpp-mpc-cycle)
-- Adding cpp test: forces.cpp (aligator-test-cpp-forces)
-- Adding cpp test: cholmod.cpp (aligator-test-cpp-gar-cholmod)
-- Adding cpp test: riccati.cpp (aligator-test-cpp-gar-riccati)
-- Adding cpp test: block-matrix.cpp (aligator-test-cpp-gar-block-matrix)
-- Adding cpp test: parallel.cpp (aligator-test-cpp-gar-parallel)
-- Adding cpp test: knot.cpp (aligator-test-cpp-gar-knot)
-- Adding Python test: aligator-test-py-center-of-mass
-- Adding Python test: aligator-test-py-centroidal
-- Adding Python test: aligator-test-py-compat-croc
-- Adding Python test: aligator-test-py-constrained-dynamics
-- Adding Python test: aligator-test-py-continuous-dynamics
-- Adding Python test: aligator-test-py-costs
-- Adding Python test: aligator-test-py-custom-pyfunctions
-- Adding Python test: aligator-test-py-dynamics
-- Adding Python test: aligator-test-py-example-problem
-- Adding Python test: aligator-test-py-finite-diff
-- Adding Python test: aligator-test-py-frames
-- Adding Python test: aligator-test-py-functions
-- Adding Python test: aligator-test-py-gravity-compensation
-- Adding Python test: aligator-test-py-integrators
-- Adding Python test: aligator-test-py-kinodynamics
-- Adding Python test: aligator-test-py-rollout
-- Adding Python test: aligator-test-py-solver
-- Adding cpp test: croc-problem.cpp (aligator-test-cpp-croc-problem)
-- Adding cpp test: croc-action-model.cpp (aligator-test-cpp-croc-action-model)
-- Failed to find latex/dvips/gs, will use MathJax backend.
-- Create files for AMENT (ROS 2)
-- Configuring done (40.2s)
-- Generating done (0.3s)
CMake Warning:
Manually-specified variables were not used by the project:
CMAKE_EXPORT_NO_PACKAGE_REGISTRY
CMAKE_POLICY_DEFAULT_CMP0025
PYBIND11_PYTHONLIBS_OVERWRITE
PYTHON_SITE_PACKAGES
-- Build files have been written to: /tmp/nix-build-aligator-0.12.0.drv-1/source/build
cmake: enabled parallel building
cmake: enabled parallel installing
configurePhase completed in 42 seconds
Running phase: buildPhase
build flags: -j5 SHELL=/nix/store/38rycfnr06w9iv5mq5cyjcwk6vi8bl8d-bash-5.2p37/bin/bash
[ 0%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/parallel-solver.cpp.o
[ 1%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/cholmod-solver.cpp.o
[ 2%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/lqr-problem.cpp.o
[ 2%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/dense-riccati.cpp.o
[ 2%] Built target aligator_compile_pyc__tmp_nix-build-aligator-0.12.0.drv-1_source_bindings_python
[ 3%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/proximal-riccati.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/gar/src/parallel-solver.cpp:2:
/tmp/nix-build-aligator-0.12.0.drv-1/source/gar/include/aligator/gar/parallel-solver.hxx:208:29: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
208 | datas[problem_->horizon() - 1] =
| ~~~~~ ~~~~~~~~~~~~~~~~~~~~^~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/gar/src/parallel-solver.cpp:7:16: note: in instantiation of member function 'aligator::gar::ParallelRiccatiSolver<double>::cycleAppend' requested here
7 | template class ParallelRiccatiSolver<context::Scalar>;
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/gar/src/parallel-solver.cpp:2:
/tmp/nix-build-aligator-0.12.0.drv-1/source/gar/include/aligator/gar/parallel-solver.hxx:217:38: warning: implicit conversion changes signedness: 'int' to 'uint' (aka 'unsigned int') [-Wsign-conversion]
217 | auto [i0, i1] = get_work(problem_->horizon(), numThreads - 2, numThreads);
| ~~~~~~~~ ~~~~~~~~~~^~~~~~~~~
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/gar/src/proximal-riccati.cpp:2:
/tmp/nix-build-aligator-0.12.0.drv-1/source/gar/include/aligator/gar/proximal-riccati.hxx:80:29: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
80 | datas[problem_->horizon() - 1] =
| ~~~~~ ~~~~~~~~~~~~~~~~~~~~^~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/gar/src/proximal-riccati.cpp:7:16: note: in instantiation of member function 'aligator::gar::ProximalRiccatiSolver<double>::cycleAppend' requested here
7 | template class ProximalRiccatiSolver<context::Scalar>;
| ^
[ 3%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/riccati-base.cpp.o
[ 4%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/riccati-impl.cpp.o
[ 4%] Building CXX object gar/CMakeFiles/aligator_gar.dir/src/utils.cpp.o
1 warning generated.
2 warnings generated.
[ 5%] Linking CXX shared library ../lib/libaligator_gar.dylib
[ 5%] Built target aligator_gar
[ 6%] Building CXX object CMakeFiles/gar_test_utils.dir/tests/gar/test_util.cpp.o
[ 7%] Building CXX object CMakeFiles/aligator.dir/src/core/callback-base.cpp.o
[ 7%] Building CXX object CMakeFiles/aligator.dir/src/utils/logger.cpp.o
[ 7%] Building CXX object CMakeFiles/aligator.dir/src/utils/exceptions.cpp.o
[ 7%] Building CXX object CMakeFiles/aligator.dir/src/core/constraint.cpp.o
[ 8%] Building CXX object CMakeFiles/aligator.dir/src/core/cost-abstract.cpp.o
[ 8%] Building CXX object CMakeFiles/aligator.dir/src/core/dynamics.cpp.o
[ 9%] Building CXX object CMakeFiles/aligator.dir/src/core/explicit-dynamics.cpp.o
[ 9%] Building CXX object CMakeFiles/aligator.dir/src/core/filter.cpp.o
[ 10%] Building CXX object CMakeFiles/aligator.dir/src/core/function-abstract.cpp.o
[ 10%] Building CXX object CMakeFiles/aligator.dir/src/core/history-callback.cpp.o
[ 10%] Linking CXX static library lib/libgar_test_utils.a
[ 10%] Built target gar_test_utils
[ 11%] Building CXX object CMakeFiles/aligator.dir/src/core/results-base.cpp.o
[ 11%] Building CXX object CMakeFiles/aligator.dir/src/core/stage-data.cpp.o
[ 13%] Building CXX object CMakeFiles/aligator.dir/src/core/stage-model.cpp.o
[ 14%] Building CXX object bench/CMakeFiles/bench-gar-riccati.dir/gar-riccati.cpp.o
[ 14%] Building CXX object bench/CMakeFiles/bench-gar-impl-multithread.dir/gar-impl-multithread.cpp.o
[ 15%] Building CXX object tests/gar/CMakeFiles/aligator-test-cpp-gar-cholmod.dir/cholmod.cpp.o
[ 16%] Building CXX object tests/gar/CMakeFiles/aligator-test-cpp-gar-riccati.dir/riccati.cpp.o
[ 16%] Building CXX object CMakeFiles/aligator.dir/src/core/traj-opt-data.cpp.o
[ 16%] Linking CXX executable ../bin/bench-gar-riccati
[ 16%] Built target bench-gar-riccati
[ 17%] Building CXX object CMakeFiles/aligator.dir/src/core/traj-opt-problem.cpp.o
/tmp/nix-build-aligator-0.12.0.drv-1/source/bench/gar-impl-multithread.cpp:21:9: warning: unused type alias 'Kernel' [-Wunused-local-typedef]
21 | using Kernel = ProximalRiccatiKernel<double>;
| ^
1 warning generated.
[ 17%] Linking CXX executable ../bin/bench-gar-impl-multithread
[ 17%] Built target bench-gar-impl-multithread
[ 18%] Building CXX object tests/gar/CMakeFiles/aligator-test-cpp-gar-block-matrix.dir/block-matrix.cpp.o
[ 19%] Building CXX object tests/gar/CMakeFiles/aligator-test-cpp-gar-parallel.dir/parallel.cpp.o
[ 19%] Linking CXX executable ../../bin/aligator-test-cpp-gar-cholmod
[ 19%] Building CXX object CMakeFiles/aligator.dir/src/core/unary-function.cpp.o
[ 19%] Linking CXX executable ../../bin/aligator-test-cpp-gar-riccati
[ 19%] Built target aligator-test-cpp-gar-cholmod
[ 19%] Built target aligator-test-cpp-gar-riccati
[ 20%] Building CXX object CMakeFiles/aligator.dir/src/core/value-function.cpp.o
[ 20%] Building CXX object CMakeFiles/aligator.dir/src/core/workspace-base.cpp.o
[ 21%] Building CXX object tests/gar/CMakeFiles/aligator-test-cpp-gar-knot.dir/knot.cpp.o
[ 22%] Building CXX object CMakeFiles/aligator.dir/src/modelling/autodiff/cost-finite-difference.cpp.o
[ 22%] Building CXX object CMakeFiles/aligator.dir/src/modelling/autodiff/finite-difference.cpp.o
[ 23%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/angular-acceleration.cpp.o
[ 23%] Linking CXX executable ../../bin/aligator-test-cpp-gar-parallel
[ 23%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/angular-momentum.cpp.o
[ 23%] Built target aligator-test-cpp-gar-parallel
[ 25%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/centroidal-acceleration.cpp.o
[ 25%] Linking CXX executable ../../bin/aligator-test-cpp-gar-block-matrix
[ 25%] Linking CXX executable ../../bin/aligator-test-cpp-gar-knot
[ 25%] Built target aligator-test-cpp-gar-block-matrix
[ 25%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/centroidal-friction-cone.cpp.o
[ 25%] Built target aligator-test-cpp-gar-knot
[ 26%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/centroidal-translation.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/centroidal/angular-acceleration.cpp:1:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/angular-acceleration.hxx:3:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/angular-acceleration.hpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: warning: 'StdVectorEigenAligned' is deprecated: "Aligator now requires C++17 and the Eigen::aligned_allocator<T> class is " "no longer useful. Please use std::vector<T> instead, this typedef will " "change to be an alias of that of the future, then will be removed." [-Wdeprecated-declarations]
11 | using PoseVec = StdVectorEigenAligned<Vector3s>;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: note: in instantiation of template type alias 'StdVectorEigenAligned' requested here
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/fwd.hpp:126:29: note: 'StdVectorEigenAligned' has been explicitly marked deprecated here
126 | using StdVectorEigenAligned ALIGATOR_DEPRECATED_MESSAGE(
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/build/include/aligator/deprecated.hpp:27:50: note: expanded from macro 'ALIGATOR_DEPRECATED_MESSAGE'
27 | # define ALIGATOR_DEPRECATED_MESSAGE(message) [[deprecated(#message)]]
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/centroidal/angular-acceleration.cpp:1:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/angular-acceleration.hxx:3:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/angular-acceleration.hpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: warning: 'StdVectorEigenAligned' is deprecated: "Aligator now requires C++17 and the Eigen::aligned_allocator<T> class is " "no longer useful. Please use std::vector<T> instead, this typedef will " "change to be an alias of that of the future, then will be removed." [-Wdeprecated-declarations]
11 | using PoseVec = StdVectorEigenAligned<Vector3s>;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: note: in instantiation of template type alias 'StdVectorEigenAligned' requested here
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/angular-acceleration.hpp:57:14: note: in instantiation of template class 'aligator::ContactMapTpl<double>' requested here
57 | ContactMap contact_map_;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/angular-acceleration.txx:8:24: note: in instantiation of template class 'aligator::AngularAccelerationResidualTpl<double>' requested here
8 | extern template struct AngularAccelerationResidualTpl<context::Scalar>;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/fwd.hpp:126:29: note: 'StdVectorEigenAligned' has been explicitly marked deprecated here
126 | using StdVectorEigenAligned ALIGATOR_DEPRECATED_MESSAGE(
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/build/include/aligator/deprecated.hpp:27:50: note: expanded from macro 'ALIGATOR_DEPRECATED_MESSAGE'
27 | # define ALIGATOR_DEPRECATED_MESSAGE(message) [[deprecated(#message)]]
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/centroidal/centroidal-acceleration.cpp:1:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.hxx:3:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.hpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: warning: 'StdVectorEigenAligned' is deprecated: "Aligator now requires C++17 and the Eigen::aligned_allocator<T> class is " "no longer useful. Please use std::vector<T> instead, this typedef will " "change to be an alias of that of the future, then will be removed." [-Wdeprecated-declarations]
11 | using PoseVec = StdVectorEigenAligned<Vector3s>;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: note: in instantiation of template type alias 'StdVectorEigenAligned' requested here
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/fwd.hpp:126:29: note: 'StdVectorEigenAligned' has been explicitly marked deprecated here
126 | using StdVectorEigenAligned ALIGATOR_DEPRECATED_MESSAGE(
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/build/include/aligator/deprecated.hpp:27:50: note: expanded from macro 'ALIGATOR_DEPRECATED_MESSAGE'
27 | # define ALIGATOR_DEPRECATED_MESSAGE(message) [[deprecated(#message)]]
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/centroidal/centroidal-acceleration.cpp:1:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.hxx:3:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.hpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: warning: 'StdVectorEigenAligned' is deprecated: "Aligator now requires C++17 and the Eigen::aligned_allocator<T> class is " "no longer useful. Please use std::vector<T> instead, this typedef will " "change to be an alias of that of the future, then will be removed." [-Wdeprecated-declarations]
11 | using PoseVec = StdVectorEigenAligned<Vector3s>;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:11:19: note: in instantiation of template type alias 'StdVectorEigenAligned' requested here
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.hpp:57:14: note: in instantiation of template class 'aligator::ContactMapTpl<double>' requested here
57 | ContactMap contact_map_;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.txx:8:24: note: in instantiation of template class 'aligator::CentroidalAccelerationResidualTpl<double>' requested here
8 | extern template struct CentroidalAccelerationResidualTpl<context::Scalar>;
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/fwd.hpp:126:29: note: 'StdVectorEigenAligned' has been explicitly marked deprecated here
126 | using StdVectorEigenAligned ALIGATOR_DEPRECATED_MESSAGE(
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/build/include/aligator/deprecated.hpp:27:50: note: expanded from macro 'ALIGATOR_DEPRECATED_MESSAGE'
27 | # define ALIGATOR_DEPRECATED_MESSAGE(message) [[deprecated(#message)]]
| ^
2 warnings generated.
[ 26%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/centroidal-wrapper.cpp.o
[ 27%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/centroidal-wrench-cone.cpp.o
2 warnings generated.
[ 27%] Building CXX object CMakeFiles/aligator.dir/src/modelling/centroidal/linear-momentum.cpp.o
[ 28%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/composite-costs.cpp.o
[ 28%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/cost-direct-sum.cpp.o
[ 28%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/log-residual-cost.cpp.o
[ 29%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/quad-costs.cpp.o
[ 29%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/quad-residual-cost.cpp.o
[ 30%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/quad-state-cost.cpp.o
[ 30%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/relaxed-log-barrier.cpp.o
[ 31%] Building CXX object CMakeFiles/aligator.dir/src/modelling/costs/sum-of-costs.cpp.o
[ 31%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/continuous-dynamics-abstract.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/costs/relaxed-log-barrier.cpp:4:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/relaxed-log-barrier.hpp:62:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/./relaxed-log-barrier.hxx:46:33: warning: implicit conversion changes signedness: 'size_t' (aka 'unsigned long') to 'Index' (aka 'long') [-Wsign-conversion]
46 | if (d.residual_data->value_[i] < threshold_) {
| ~ ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/costs/relaxed-log-barrier.cpp:7:17: note: in instantiation of member function 'aligator::RelaxedLogBarrierCostTpl<double>::evaluate' requested here
7 | template struct RelaxedLogBarrierCostTpl<context::Scalar>;
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/costs/relaxed-log-barrier.cpp:4:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/relaxed-log-barrier.hpp:62:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/./relaxed-log-barrier.hxx:47:44: warning: implicit conversion changes signedness: 'size_t' (aka 'unsigned long') to 'Index' (aka 'long') [-Wsign-conversion]
47 | Scalar sq = (d.residual_data->value_[i] - 2 * threshold_) / threshold_;
| ~ ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/./relaxed-log-barrier.hxx:48:36: warning: implicit conversion changes signedness: 'size_t' (aka 'unsigned long') to 'Index' (aka 'long') [-Wsign-conversion]
48 | d.value_ += barrier_weights_(i) * (0.5 * (sq * sq - 1) - log(threshold_));
| ~~~~~~~~~~~~~~~~ ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/./relaxed-log-barrier.hxx:50:69: warning: implicit conversion changes signedness: 'size_t' (aka 'unsigned long') to 'Index' (aka 'long') [-Wsign-conversion]
50 | d.value_ -= barrier_weights_(i) * log(d.residual_data->value_[i]);
| ~ ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/./relaxed-log-barrier.hxx:50:36: warning: implicit conversion changes signedness: 'size_t' (aka 'unsigned long') to 'Index' (aka 'long') [-Wsign-conversion]
50 | d.value_ -= barrier_weights_(i) * log(d.residual_data->value_[i]);
| ~~~~~~~~~~~~~~~~ ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/costs/./relaxed-log-barrier.hxx:45:24: warning: comparison of integers of different signs: 'size_t' (aka 'unsigned long') and 'const int' [-Wsign-compare]
45 | for (size_t i = 0; i < nrows; i++) {
| ~ ^ ~~~~~
[ 32%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/integrator-abstract.cpp.o
6 warnings generated.
[ 32%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/integrator-euler.cpp.o
[ 33%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/integrator-explicit.cpp.o
[ 33%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/integrator-midpoint.cpp.o
[ 34%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/integrator-rk2.cpp.o
[ 34%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/integrator-semi-euler.cpp.o
[ 35%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/kinodynamics-fwd.cpp.o
[ 35%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/linear-ode.cpp.o
[ 36%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/multibody-constraint-fwd.cpp.o
[ 36%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/multibody-free-fwd.cpp.o
[ 38%] Building CXX object CMakeFiles/aligator.dir/src/modelling/dynamics/ode-abstract.cpp.o
[ 38%] Building CXX object CMakeFiles/aligator.dir/src/modelling/explicit-dynamics-direct-sum.cpp.o
[ 39%] Building CXX object CMakeFiles/aligator.dir/src/modelling/function-slice-xpr.cpp.o
[ 39%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/center-of-mass-translation.cpp.o
[ 40%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/center-of-mass-velocity.cpp.o
[ 40%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/centroidal-momentum-derivative.cpp.o
[ 41%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/centroidal-momentum.cpp.o
[ 41%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/constrained-rnea.cpp.o
[ 42%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/contact-force.cpp.o
[ 42%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/dcm-position.cpp.o
[ 43%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/fly-high.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/multibody/contact-force.cpp:2:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/multibody/contact-force.hxx:5:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/multibody/contact-force.hpp:52:47: warning: implicit conversion loses integer precision: 'Index' (aka 'long') to 'int' [-Wshorten-64-to-32]
52 | : Base(ndx, (int)actuation.cols(), fref.size()), pin_model_(model),
| ~~~~ ~~~~~^~~~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/multibody/contact-force.cpp:5:17: note: in instantiation of member function 'aligator::ContactForceResidualTpl<double>::ContactForceResidualTpl' requested here
5 | template struct ContactForceResidualTpl<context::Scalar>;
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/multibody/contact-force.cpp:2:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/multibody/contact-force.hxx:51:43: warning: implicit conversion loses integer precision: 'const long' to 'int' [-Wshorten-64-to-32]
51 | : Base(model->ndx1, model->nu, model->force_size_),
| ~~~~ ~~~~~~~^~~~~~~~~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/src/modelling/multibody/contact-force.cpp:6:17: note: in instantiation of member function 'aligator::ContactForceDataTpl<double>::ContactForceDataTpl' requested here
6 | template struct ContactForceDataTpl<context::Scalar>;
| ^
[ 43%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/frame-collision.cpp.o
[ 43%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/frame-placement.cpp.o
[ 44%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/frame-translation.cpp.o
[ 44%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/frame-velocity.cpp.o
[ 45%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/gravity-compensation-residual.cpp.o
[ 45%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/multibody-friction-cone.cpp.o
[ 46%] Building CXX object CMakeFiles/aligator.dir/src/modelling/multibody/multibody-wrench-cone.cpp.o
[ 46%] Building CXX object CMakeFiles/aligator.dir/src/modelling/state-error.cpp.o
[ 47%] Building CXX object CMakeFiles/aligator.dir/src/solvers/fddp/results.cpp.o
[ 47%] Building CXX object CMakeFiles/aligator.dir/src/solvers/fddp/solver-fddp.cpp.o
[ 48%] Building CXX object CMakeFiles/aligator.dir/src/solvers/fddp/workspace.cpp.o
[ 48%] Building CXX object CMakeFiles/aligator.dir/src/solvers/proxddp/merit-function.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/solvers/proxddp/merit-function.cpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:33:68: warning: unused parameter 'lams' [-Wunused-parameter]
33 | const std::vector<VectorXs> &lams,
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:34:68: warning: unused parameter 'vs' [-Wunused-parameter]
34 | const std::vector<VectorXs> &vs,
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:66:18: warning: unused parameter 'mudyn' [-Wunused-parameter]
66 | const Scalar mudyn, const Scalar mucstr, const TrajOptProblem &problem,
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:66:38: warning: unused parameter 'mucstr' [-Wunused-parameter]
66 | const Scalar mudyn, const Scalar mucstr, const TrajOptProblem &problem,
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:67:34: warning: unused parameter 'lams' [-Wunused-parameter]
67 | const std::vector<VectorXs> &lams, const std::vector<VectorXs> &vs,
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:67:69: warning: unused parameter 'vs' [-Wunused-parameter]
67 | const std::vector<VectorXs> &lams, const std::vector<VectorXs> &vs,
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:70:16: warning: unused variable 'prob_data' [-Wunused-variable]
70 | TrajOptData &prob_data = workspace.problem_data;
| ^~~~~~~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/src/solvers/proxddp/merit-function.cpp:8:17: note: in instantiation of member function 'aligator::PDALFunction<double>::directionalDerivative' requested here
8 | template struct PDALFunction<context::Scalar>;
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/solvers/proxddp/merit-function.cpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:77:32: warning: unused variable 'dvs' [-Wunused-variable]
77 | const std::vector<VectorXs> &dvs = workspace.dvs;
| ^~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/merit-function.hxx:78:32: warning: unused variable 'dlams' [-Wunused-variable]
78 | const std::vector<VectorXs> &dlams = workspace.dlams;
| ^~~~~
9 warnings generated.
[ 50%] Building CXX object CMakeFiles/aligator.dir/src/solvers/proxddp/results.cpp.o
[ 50%] Building CXX object CMakeFiles/aligator.dir/src/solvers/proxddp/solver-proxddp.cpp.o
[ 51%] Building CXX object CMakeFiles/aligator.dir/src/solvers/proxddp/workspace.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/src/solvers/proxddp/solver-proxddp.cpp:1:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/solvers/proxddp/solver-proxddp.hxx:225:26: warning: unused variable 'vs_pdal' [-Wunused-variable]
225 | std::vector<VectorXs> &vs_pdal = workspace_.vs_pdal;
| ^~~~~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/src/solvers/proxddp/solver-proxddp.cpp:7:17: note: in instantiation of member function 'aligator::SolverProxDDPTpl<double>::computeMultipliers' requested here
7 | template struct SolverProxDDPTpl<context::Scalar>;
| ^
2 warnings generated.
1 warning generated.
[ 51%] Linking CXX shared library lib/libaligator.dylib
[ 51%] Built target aligator
[ 51%] Building CXX object examples/CMakeFiles/aligator-example-se2-car.dir/se2-car.cpp.o
[ 51%] Building CXX object CMakeFiles/talos_walk_utils.dir/examples/talos-walk-utils.cpp.o
[ 51%] Building CXX object src/compat/crocoddyl/CMakeFiles/aligator_croc_compat.dir/action-model-wrap.cpp.o
[ 52%] Building CXX object CMakeFiles/croc_talos_arm_utils.dir/examples/croc-talos-arm.cpp.o
[ 52%] Building CXX object examples/CMakeFiles/aligator-example-clqr.dir/clqr.cpp.o
[ 53%] Building CXX object src/compat/crocoddyl/CMakeFiles/aligator_croc_compat.dir/cost-wrap.cpp.o
[ 53%] Building CXX object src/compat/crocoddyl/CMakeFiles/aligator_croc_compat.dir/problem-wrap.cpp.o
[ 54%] Linking CXX executable ../bin/aligator-example-clqr
/tmp/nix-build-aligator-0.12.0.drv-1/source/examples/talos-walk-utils.cpp:198:51: warning: implicit conversion loses integer precision: 'size_t' (aka 'unsigned long') to 'const int' [-Wshorten-64-to-32]
198 | foot_traj(RF_placement.translation(), T_ss, ts);
| ~~~~~~~~~ ^~
/tmp/nix-build-aligator-0.12.0.drv-1/source/examples/talos-walk-utils.cpp:198:45: warning: implicit conversion loses integer precision: 'const std::size_t' (aka 'const unsigned long') to 'const int' [-Wshorten-64-to-32]
198 | foot_traj(RF_placement.translation(), T_ss, ts);
| ~~~~~~~~~ ^~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/examples/talos-walk-utils.cpp:205:51: warning: implicit conversion loses integer precision: 'size_t' (aka 'unsigned long') to 'const int' [-Wshorten-64-to-32]
205 | foot_traj(LF_placement.translation(), T_ss, ts);
| ~~~~~~~~~ ^~
/tmp/nix-build-aligator-0.12.0.drv-1/source/examples/talos-walk-utils.cpp:205:45: warning: implicit conversion loses integer precision: 'const std::size_t' (aka 'const unsigned long') to 'const int' [-Wshorten-64-to-32]
205 | foot_traj(LF_placement.translation(), T_ss, ts);
| ~~~~~~~~~ ^~~~
[ 54%] Built target aligator-example-clqr
[ 55%] Building CXX object src/compat/crocoddyl/CMakeFiles/aligator_croc_compat.dir/state-wrap.cpp.o
[ 56%] Building CXX object bench/CMakeFiles/bench-lqr.dir/lqr.cpp.o
[ 56%] Linking CXX shared library ../../../lib/libaligator_croc_compat.dylib
[ 56%] Built target aligator_croc_compat
[ 57%] Building CXX object bench/CMakeFiles/bench-se2-car.dir/se2-car.cpp.o
[ 58%] Linking CXX executable ../bin/aligator-example-se2-car
[ 58%] Built target aligator-example-se2-car
[ 58%] Linking CXX executable ../bin/bench-lqr
[ 59%] Building CXX object tests/CMakeFiles/aligator-test-cpp-continuous.dir/continuous.cpp.o
[ 59%] Built target bench-lqr
[ 60%] Building CXX object tests/CMakeFiles/aligator-test-cpp-costs.dir/costs.cpp.o
4 warnings generated.
[ 61%] Linking CXX static library lib/libtalos_walk_utils.a
[ 61%] Built target talos_walk_utils
[ 61%] Building CXX object tests/CMakeFiles/aligator-test-cpp-integrators.dir/integrators.cpp.o
[ 61%] Linking CXX executable ../bin/bench-se2-car
[ 61%] Built target bench-se2-car
[ 61%] Building CXX object tests/CMakeFiles/aligator-test-cpp-lqr.dir/lqr.cpp.o
[ 63%] Linking CXX executable ../bin/aligator-test-cpp-integrators
[ 63%] Built target aligator-test-cpp-integrators
[ 63%] Building CXX object tests/CMakeFiles/aligator-test-cpp-problem.dir/problem.cpp.o
[ 63%] Linking CXX executable ../bin/aligator-test-cpp-costs
[ 63%] Linking CXX executable ../bin/aligator-test-cpp-continuous
[ 63%] Built target aligator-test-cpp-costs
[ 63%] Built target aligator-test-cpp-continuous
[ 63%] Building CXX object tests/CMakeFiles/aligator-test-cpp-solver-storage.dir/solver-storage.cpp.o
[ 63%] Building CXX object tests/CMakeFiles/aligator-test-cpp-utils.dir/utils.cpp.o
[ 64%] Linking CXX executable ../bin/aligator-test-cpp-lqr
[ 64%] Built target aligator-test-cpp-lqr
[ 65%] Building CXX object tests/CMakeFiles/aligator-test-cpp-cycling.dir/cycling.cpp.o
[ 66%] Linking CXX executable ../bin/aligator-test-cpp-solver-storage
[ 66%] Built target aligator-test-cpp-solver-storage
[ 66%] Building CXX object tests/CMakeFiles/aligator-test-cpp-mpc-cycle.dir/mpc-cycle.cpp.o
[ 67%] Linking CXX executable ../bin/aligator-test-cpp-utils
[ 67%] Built target aligator-test-cpp-utils
[ 68%] Building CXX object tests/CMakeFiles/aligator-test-cpp-forces.dir/forces.cpp.o
[ 69%] Linking CXX executable ../bin/aligator-test-cpp-problem
[ 69%] Built target aligator-test-cpp-problem
[ 70%] Building CXX object tests/compat/CMakeFiles/aligator-test-cpp-croc-problem.dir/croc-problem.cpp.o
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-problem.cpp:41:14: warning: 'set_Luu' is deprecated: Use set_LQR [-Wdeprecated-declarations]
41 | lqr_model->set_Luu(luu);
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:237:3: note: 'set_Luu' has been explicitly marked deprecated here
237 | DEPRECATED(
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-problem.cpp:42:14: warning: 'set_lx' is deprecated: Use set_LQR [-Wdeprecated-declarations]
42 | lqr_model->set_lx(lx0);
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:225:3: note: 'set_lx' has been explicitly marked deprecated here
225 | DEPRECATED(
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-problem.cpp:43:14: warning: 'set_lu' is deprecated: Use set_LQR [-Wdeprecated-declarations]
43 | lqr_model->set_lu(VectorXd::Zero(nu));
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:229:3: note: 'set_lu' has been explicitly marked deprecated here
229 | DEPRECATED(
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-problem.cpp:44:14: warning: 'set_Lxu' is deprecated: Use set_LQR [-Wdeprecated-declarations]
44 | lqr_model->set_Lxu(MatrixXd::Zero(nx, nu));
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:241:3: note: 'set_Lxu' has been explicitly marked deprecated here
241 | DEPRECATED(
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
[ 70%] Linking CXX executable ../bin/aligator-test-cpp-cycling
[ 70%] Built target aligator-test-cpp-cycling
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/tests/forces.cpp:11:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/multibody/contact-force.hpp:52:47: warning: implicit conversion loses integer precision: 'Index' (aka 'long') to 'int' [-Wshorten-64-to-32]
52 | : Base(ndx, (int)actuation.cols(), fref.size()), pin_model_(model),
| ~~~~ ~~~~~^~~~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/forces.cpp:79:7: note: in instantiation of member function 'aligator::ContactForceResidualTpl<double>::ContactForceResidualTpl' requested here
79 | ContactForceResidual(space.ndx(), model, act_matrix, constraint_models,
| ^
[ 71%] Building CXX object tests/compat/CMakeFiles/aligator-test-cpp-croc-action-model.dir/croc-action-model.cpp.o
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-action-model.cpp:33:14: warning: 'set_lx' is deprecated: Use set_LQR [-Wdeprecated-declarations]
33 | lqr_model->set_lx(Eigen::VectorXd::Zero(nx));
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:225:3: note: 'set_lx' has been explicitly marked deprecated here
225 | DEPRECATED(
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-action-model.cpp:34:14: warning: 'set_lu' is deprecated: Use set_LQR [-Wdeprecated-declarations]
34 | lqr_model->set_lu(Eigen::VectorXd::Zero(nu));
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:229:3: note: 'set_lu' has been explicitly marked deprecated here
229 | DEPRECATED(
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-action-model.cpp:35:14: warning: 'set_Lxu' is deprecated: Use set_LQR [-Wdeprecated-declarations]
35 | lqr_model->set_Lxu(Eigen::MatrixXd::Random(nx, nu) * 0.1);
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:241:3: note: 'set_Lxu' has been explicitly marked deprecated here
241 | DEPRECATED(
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-action-model.cpp:39:42: warning: 'get_lx' is deprecated: Use get_q [-Wdeprecated-declarations]
39 | fmt::print("lqr lx_: {}\n", lqr_model->get_lx().transpose());
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:208:3: note: 'get_lx' has been explicitly marked deprecated here
208 | DEPRECATED("Use get_q", const VectorXs& get_lx() const { return get_q(); })
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/compat/croc-action-model.cpp:40:42: warning: 'get_lu' is deprecated: Use get_r [-Wdeprecated-declarations]
40 | fmt::print("lqr lu_: {}\n", lqr_model->get_lu().transpose());
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/actions/lqr.hpp:209:3: note: 'get_lu' has been explicitly marked deprecated here
209 | DEPRECATED("Use get_r", const VectorXs& get_lu() const { return get_r(); })
| ^
/nix/store/y40aa5jv75wvcdrrl5ls6r3ncikmh2vm-crocoddyl-3.0.1/include/crocoddyl/core/utils/deprecate.hpp:19:33: note: expanded from macro 'DEPRECATED'
19 | #define DEPRECATED(msg, func) [[deprecated(msg)]] func
| ^
[ 72%] Linking CXX executable ../bin/aligator-test-cpp-mpc-cycle
4 warnings generated.
[ 72%] Built target aligator-test-cpp-mpc-cycle
[ 72%] Linking CXX executable ../../bin/aligator-test-cpp-croc-problem
[ 73%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-callbacks.cpp.o
[ 73%] Built target aligator-test-cpp-croc-problem
[ 75%] Building CXX object examples/CMakeFiles/aligator-example-talos-walk.dir/talos-walk.cpp.o
1 warning generated.
[ 75%] Linking CXX executable ../bin/aligator-test-cpp-forces
[ 75%] Built target aligator-test-cpp-forces
[ 76%] Building CXX object bench/CMakeFiles/bench-talos-walk.dir/talos-walk.cpp.o
5 warnings generated.
[ 76%] Linking CXX executable ../../bin/aligator-test-cpp-croc-action-model
[ 76%] Built target aligator-test-cpp-croc-action-model
[ 76%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-constraint.cpp.o
[ 77%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-costs.cpp.o
[ 77%] Linking CXX executable ../bin/aligator-example-talos-walk
[ 77%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-filter.cpp.o
[ 77%] Built target aligator-example-talos-walk
[ 78%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-functions.cpp.o
[ 78%] Linking CXX static library lib/libcroc_talos_arm_utils.a
[ 78%] Linking CXX executable ../bin/bench-talos-walk
[ 78%] Built target croc_talos_arm_utils
ld: warning: direct access in function 'benchmark::State::State(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>, long long, std::__1::vector<long long, std::__1::allocator<long long>> const&, int, int, benchmark::internal::ThreadTimer*, benchmark::internal::ThreadManager*, benchmark::internal::PerfCountersMeasurement*, benchmark::ProfilerManager*)' from file '/nix/store/rzfgyapfys83wlif527pjgqk7syx22fv-gbenchmark-1.9.1/lib/libbenchmark.a(benchmark.cc.o)' to global weak symbol 'std::__1::piecewise_construct' from file '../lib/libtalos_walk_utils.a(talos-walk-utils.cpp.o)' means the weak symbol cannot be overridden at runtime. This was likely caused by different translation units being compiled with different visibility settings.
ld: warning: direct access in function 'benchmark::State::PauseTiming()' from file '/nix/store/rzfgyapfys83wlif527pjgqk7syx22fv-gbenchmark-1.9.1/lib/libbenchmark.a(benchmark.cc.o)' to global weak symbol 'std::__1::piecewise_construct' from file '../lib/libtalos_walk_utils.a(talos-walk-utils.cpp.o)' means the weak symbol cannot be overridden at runtime. This was likely caused by different translation units being compiled with different visibility settings.
ld: warning: direct access in function 'benchmark::internal::Increment(std::__1::map<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>, benchmark::Counter, std::__1::less<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::allocator<std::__1::pair<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> const, benchmark::Counter>>>*, std::__1::map<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>, benchmark::Counter, std::__1::less<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::allocator<std::__1::pair<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> const, benchmark::Counter>>> const&)' from file '/nix/store/rzfgyapfys83wlif527pjgqk7syx22fv-gbenchmark-1.9.1/lib/libbenchmark.a(counter.cc.o)' to global weak symbol 'std::__1::piecewise_construct' from file '../lib/libtalos_walk_utils.a(talos-walk-utils.cpp.o)' means the weak symbol cannot be overridden at runtime. This was likely caused by different translation units being compiled with different visibility settings.
[ 78%] Building CXX object examples/CMakeFiles/aligator-example-talos-arm.dir/talos-arm.cpp.o
[ 78%] Built target bench-talos-walk
[ 78%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-pinocchio-features.cpp.o
[ 79%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-problem.cpp.o
[ 79%] Linking CXX executable ../bin/aligator-example-talos-arm
[ 79%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-solver-fddp.cpp.o
[ 80%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-solver-prox.cpp.o
[ 80%] Built target aligator-example-talos-arm
[ 80%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-solvers-base.cpp.o
[ 80%] Building CXX object bench/CMakeFiles/bench-croc-talos-arm.dir/croc-talos-arm.cpp.o
[ 81%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-stage-data.cpp.o
[ 81%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-stage.cpp.o
[ 82%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-unary-functions.cpp.o
[ 83%] Linking CXX executable ../bin/bench-croc-talos-arm
[ 83%] Built target bench-croc-talos-arm
[ 83%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/expose-utils.cpp.o
[ 84%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/gar/expose-cholmod-solver.cpp.o
[ 84%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/gar/expose-dense.cpp.o
[ 84%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/gar/expose-gar.cpp.o
[ 85%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/gar/expose-parallel.cpp.o
[ 85%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/gar/expose-prox-riccati.cpp.o
[ 86%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/gar/expose-utils.cpp.o
[ 86%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-autodiff.cpp.o
[ 88%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-center-of-mass.cpp.o
[ 88%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-centroidal.cpp.o
[ 89%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-composite-costs.cpp.o
[ 89%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-constraintfwd.cpp.o
[ 90%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-continuous-dynamics.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/bindings/python/src/modelling/expose-centroidal.cpp:9:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.hpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:70:23: warning: implicit conversion changes signedness: 'decltype(__x.base() - __y.base())' (aka 'long') to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
70 | contact_poses_[id - contact_names_.begin()] = ref;
| ~~~~~~~~~~~~~~ ~~~^~~~~~~~~~~~~~~~~~~~~~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/bindings/python/src/modelling/expose-centroidal.cpp:36:43: note: in instantiation of member function 'aligator::ContactMapTpl<double>::setContactPose' requested here
36 | .def("setContactPose", &ContactMap::setContactPose,
| ^
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/bindings/python/src/modelling/expose-centroidal.cpp:9:
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/centroidal/centroidal-acceleration.hpp:4:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/contact-map.hpp:61:30: warning: implicit conversion changes signedness: 'decltype(__x.base() - __y.base())' (aka 'long') to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
61 | return contact_poses_[id - contact_names_.begin()];
| ~~~~~~~~~~~~~~ ~~~^~~~~~~~~~~~~~~~~~~~~~~~
/tmp/nix-build-aligator-0.12.0.drv-1/source/bindings/python/src/modelling/expose-centroidal.cpp:38:43: note: in instantiation of member function 'aligator::ContactMapTpl<double>::getContactPose' requested here
38 | .def("getContactPose", &ContactMap::getContactPose, ("self"_a, "name"),
| ^
2 warnings generated.
[ 90%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-cost-ops.cpp.o
[ 91%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-cost-stack.cpp.o
[ 91%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-direct-sum.cpp.o
[ 92%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-dynamics.cpp.o
[ 92%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-explicit-dynamics.cpp.o
[ 93%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-explicit-integrators.cpp.o
[ 93%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-fly-high.cpp.o
[ 94%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-force-cost.cpp.o
[ 94%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-freefwd.cpp.o
[ 95%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-function-ops.cpp.o
[ 95%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-gravity-compensation.cpp.o
In file included from /tmp/nix-build-aligator-0.12.0.drv-1/source/bindings/python/src/modelling/expose-force-cost.cpp:9:
/tmp/nix-build-aligator-0.12.0.drv-1/source/include/aligator/modelling/multibody/contact-force.hpp:52:47: warning: implicit conversion loses integer precision: 'Index' (aka 'long') to 'int' [-Wshorten-64-to-32]
52 | : Base(ndx, (int)actuation.cols(), fref.size()), pin_model_(model),
| ~~~~ ~~~~~^~~~~~
include/boost/python/object/value_holder.hpp:131:11: note: in instantiation of member function 'aligator::ContactForceResidualTpl<double>::ContactForceResidualTpl' requested here
131 | : m_held(
| ^
include/boost/python/object/make_holder.hpp:95:31: note: in instantiation of function template specialization 'boost::python::objects::value_holder<aligator::ContactForceResidualTpl<context::Scalar>>::value_holder<int, boost::python::objects::reference_to_value<pinocchio::ModelTpl<double>>, boost::python::objects::reference_to_value<const Eigen::Matrix<double, -1, -1> &>, boost::python::objects::reference_to_value<const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &>, boost::python::objects::reference_to_value<const pinocchio::ProximalSettingsTpl<context::Scalar> &>, boost::python::objects::reference_to_value<const Eigen::Matrix<double, -1, 1> &>, boost::python::objects::reference_to_value<const std::string &>>' requested here
95 | (new (memory) Holder(
| ^
include/boost/python/detail/make_keyword_range_fn.hpp:65:47: note: in instantiation of member function 'boost::python::objects::make_holder<7>::apply<boost::python::objects::value_holder<aligator::ContactForceResidualTpl<context::Scalar>>, boost::mpl::vector7<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>::execute' requested here
65 | ::template apply<Holder,ArgList>::execute
| ^
include/boost/python/init.hpp:310:19: note: in instantiation of function template specialization 'boost::python::detail::make_keyword_range_constructor<boost::mpl::vector7<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>, boost::mpl::size<boost::mpl::vector7<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>, boost::python::objects::value_holder<aligator::ContactForceResidualTpl<context::Scalar>>, boost::python::default_call_policies>' requested here
310 | , detail::make_keyword_range_constructor<Signature,NArgs>(
| ^
include/boost/python/init.hpp:377:19: note: in instantiation of function template specialization 'boost::python::detail::def_init_aux<boost::python::class_<aligator::ContactForceResidualTpl<context::Scalar>, boost::python::bases<aligator::StageFunctionTpl<context::Scalar>>>, boost::python::default_call_policies, boost::mpl::vector7<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>, boost::mpl::size<boost::mpl::vector7<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>>' requested here
377 | detail::def_init_aux(cl, args, NArgs(), policies, doc, keywords);
| ^
include/boost/python/init.hpp:149:62: note: in instantiation of function template specialization 'boost::python::detail::define_class_init_helper<0>::apply<boost::python::class_<aligator::ContactForceResidualTpl<context::Scalar>, boost::python::bases<aligator::StageFunctionTpl<context::Scalar>>>, boost::python::default_call_policies, boost::mpl::vector7<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>, boost::mpl::size<boost::mpl::vector7<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>>' requested here
149 | detail::define_class_init_helper<n_defaults::value>::apply(
| ^
include/boost/python/def_visitor.hpp:31:29: note: in instantiation of function template specialization 'boost::python::init_base<boost::python::init<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>::visit<boost::python::class_<aligator::ContactForceResidualTpl<context::Scalar>, boost::python::bases<aligator::StageFunctionTpl<context::Scalar>>>>' requested here
31 | v.derived_visitor().visit(c);
| ^
include/boost/python/def_visitor.hpp:67:29: note: in instantiation of function template specialization 'boost::python::def_visitor_access::visit<boost::python::def_visitor<boost::python::init<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>, boost::python::class_<aligator::ContactForceResidualTpl<context::Scalar>, boost::python::bases<aligator::StageFunctionTpl<context::Scalar>>>>' requested here
67 | def_visitor_access::visit(*this, c);
| ^
include/boost/python/class.hpp:221:17: note: in instantiation of function template specialization 'boost::python::def_visitor<boost::python::init<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>::visit<boost::python::class_<aligator::ContactForceResidualTpl<context::Scalar>, boost::python::bases<aligator::StageFunctionTpl<context::Scalar>>>>' requested here
221 | visitor.visit(*this);
| ^
/tmp/nix-build-aligator-0.12.0.drv-1/source/bindings/python/src/modelling/expose-force-cost.cpp:52:8: note: in instantiation of function template specialization 'boost::python::class_<aligator::ContactForceResidualTpl<context::Scalar>, boost::python::bases<aligator::StageFunctionTpl<context::Scalar>>>::def<boost::python::init<int, pinocchio::ModelTpl<double>, const Eigen::Matrix<double, -1, -1> &, const std::vector<pinocchio::RigidConstraintModelTpl<double, 0>, Eigen::aligned_allocator<pinocchio::RigidConstraintModelTpl<double, 0>>> &, const pinocchio::ProximalSettingsTpl<context::Scalar> &, const Eigen::Matrix<double, -1, 1> &, const std::string &>>' requested here
52 | .def(bp::init<int, PinModel, const context::MatrixXs &,
| ^
[ 96%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-integrators.cpp.o
[ 96%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-kinodynamics.cpp.o
1 warning generated.
[ 97%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-ode.cpp.o
[ 97%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/modelling/expose-pinocchio-functions.cpp.o
[ 98%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/module.cpp.o
[ 98%] Building CXX object bindings/python/CMakeFiles/pyaligator.dir/src/compat/expose-croco-compat.cpp.o
[100%] Linking CXX shared module aligator/pyaligator.cpython-313-darwin.so
[100%] Built target pyaligator
buildPhase completed in 11 minutes 32 seconds
Running phase: checkPhase
check flags: SHELL=/nix/store/38rycfnr06w9iv5mq5cyjcwk6vi8bl8d-bash-5.2p37/bin/bash VERBOSE=y test
Running tests...
/nix/store/x9390krmrb55ymmxp9xclnyhprbdim49-cmake-3.31.6/bin/ctest --force-new-ctest-process --exclude-regex aligator-test-py-rollout
Test project /tmp/nix-build-aligator-0.12.0.drv-1/source/build
Start 1: aligator-test-cpp-continuous
Start 2: aligator-test-cpp-costs
Start 3: aligator-test-cpp-integrators
Start 4: aligator-test-cpp-lqr
Start 5: aligator-test-cpp-problem
1/33 Test #1: aligator-test-cpp-continuous ............ Passed 4.32 sec
Start 6: aligator-test-cpp-solver-storage
2/33 Test #5: aligator-test-cpp-problem ............... Passed 4.32 sec
Start 7: aligator-test-cpp-utils
3/33 Test #3: aligator-test-cpp-integrators ........... Passed 4.34 sec
Start 8: aligator-test-cpp-cycling
4/33 Test #4: aligator-test-cpp-lqr ................... Passed 4.44 sec
Start 9: aligator-test-cpp-mpc-cycle
5/33 Test #2: aligator-test-cpp-costs ................. Passed 4.65 sec
Start 10: aligator-test-cpp-forces
6/33 Test #6: aligator-test-cpp-solver-storage ........ Passed 0.66 sec
Start 11: aligator-test-cpp-gar-cholmod
7/33 Test #7: aligator-test-cpp-utils ................. Passed 1.06 sec
Start 12: aligator-test-cpp-gar-riccati
8/33 Test #11: aligator-test-cpp-gar-cholmod ........... Passed 0.79 sec
Start 13: aligator-test-cpp-gar-block-matrix
9/33 Test #8: aligator-test-cpp-cycling ............... Passed 1.58 sec
Start 14: aligator-test-cpp-gar-parallel
10/33 Test #10: aligator-test-cpp-forces ................ Passed 1.46 sec
Start 15: aligator-test-cpp-gar-knot
11/33 Test #9: aligator-test-cpp-mpc-cycle ............. Passed 1.73 sec
Start 16: aligator-test-py-center-of-mass
12/33 Test #12: aligator-test-cpp-gar-riccati ........... Passed 1.14 sec
Start 17: aligator-test-py-centroidal
13/33 Test #13: aligator-test-cpp-gar-block-matrix ...... Passed 1.05 sec
Start 18: aligator-test-py-compat-croc
14/33 Test #15: aligator-test-cpp-gar-knot .............. Passed 0.96 sec
Start 19: aligator-test-py-constrained-dynamics
15/33 Test #14: aligator-test-cpp-gar-parallel .......... Passed 1.25 sec
Start 20: aligator-test-py-continuous-dynamics
16/33 Test #18: aligator-test-py-compat-croc ............ Passed 10.34 sec
Start 21: aligator-test-py-costs
17/33 Test #19: aligator-test-py-constrained-dynamics ... Passed 10.32 sec
Start 22: aligator-test-py-custom-pyfunctions
18/33 Test #17: aligator-test-py-centroidal ............. Passed 12.55 sec
Start 23: aligator-test-py-dynamics
19/33 Test #20: aligator-test-py-continuous-dynamics .... Passed 11.97 sec
Start 24: aligator-test-py-example-problem
20/33 Test #16: aligator-test-py-center-of-mass ......... Passed 14.17 sec
Start 25: aligator-test-py-finite-diff
21/33 Test #21: aligator-test-py-costs .................. Passed 7.99 sec
Start 26: aligator-test-py-frames
22/33 Test #22: aligator-test-py-custom-pyfunctions ..... Passed 7.92 sec
Start 27: aligator-test-py-functions
23/33 Test #23: aligator-test-py-dynamics ............... Passed 8.01 sec
Start 28: aligator-test-py-gravity-compensation
24/33 Test #24: aligator-test-py-example-problem ........ Passed 7.98 sec
Start 29: aligator-test-py-integrators
25/33 Test #25: aligator-test-py-finite-diff ............ Passed 8.21 sec
Start 30: aligator-test-py-kinodynamics
26/33 Test #27: aligator-test-py-functions .............. Passed 5.80 sec
Start 31: aligator-test-py-solver
27/33 Test #26: aligator-test-py-frames .................***Failed 6.30 sec
============================= test session starts ==============================
platform darwin -- Python 3.13.2, pytest-8.3.5, pluggy-1.5.0
rootdir: /tmp/nix-build-aligator-0.12.0.drv-1/source
configfile: pyproject.toml
collected 5 items
../../../../../../../tmp/nix-build-aligator-0.12.0.drv-1/source/tests/python/test_frames.py F [ 20%]
..F. [100%]
=================================== FAILURES ===================================
_____________________________ test_frame_placement _____________________________
def test_frame_placement():
fr_name1 = "larm_shoulder2_body"
fr_id1 = model.getFrameId(fr_name1)
space = manifolds.MultibodyConfiguration(model)
ndx = space.ndx
x0 = space.neutral()
d = np.random.randn(space.ndx) * 0.1
d[6:] = 0.0
x0 = space.integrate(x0, d)
u0 = np.zeros(nu)
q0 = x0[:nq]
pin.framesForwardKinematics(model, rdata, q0)
fr_plc1 = rdata.oMf[fr_id1]
fun = aligator.FramePlacementResidual(ndx, nu, model, fr_plc1, fr_id1)
assert fr_id1 == fun.frame_id
assert fr_plc1 == fun.getReference()
fdata = fun.createData()
fun.evaluate(x0, fdata)
assert np.allclose(fdata.value, 0.0)
fun.computeJacobians(x0, fdata)
J = fdata.Jx[:, :nv]
pin.computeJointJacobians(model, rdata)
realJ = pin.getFrameJacobian(model, rdata, fr_id1, pin.LOCAL)
assert J.shape == realJ.shape
assert np.allclose(fdata.Jx[:, :nv], realJ)
fun_fd = aligator.FiniteDifferenceHelper(space, fun, FD_EPS)
fdata2 = fun_fd.createData()
fun_fd.evaluate(x0, u0, fdata2)
assert np.allclose(fdata.value, fdata2.value)
fun_fd.computeJacobians(x0, u0, fdata2)
J_fd = fdata2.Jx[:]
assert fdata.Jx.shape == J_fd.shape
for i in range(100):
x0 = sample_gauss(space)
fun.evaluate(x0, u0, fdata)
fun.computeJacobians(x0, u0, fdata)
fun_fd.evaluate(x0, u0, fdata2)
fun_fd.computeJacobians(x0, u0, fdata2)
> assert np.allclose(fdata.Jx, fdata2.Jx, THRESH)
E assert False
E + where False = <function allclose at 0x117729230>(array([[ 1.00388678e+00, -1.91800407e-05, -3.05599300e-03,\n -1.82153085e-03, 1.03032892e+00, -2.90408695e-01,\n...-9.09254066e-02, 1.03906867e-02,\n 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,\n 0.00000000e+00]]), array([[ 1.00388677e+00, -1.91957561e-05, -3.05599990e-03,\n -1.82153181e-03, 1.03032891e+00, -2.90408686e-01,\n...-9.09254068e-02, 1.03906866e-02,\n 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,\n 0.00000000e+00]]), 0.0002)
E + where <function allclose at 0x117729230> = np.allclose
E + and array([[ 1.00388678e+00, -1.91800407e-05, -3.05599300e-03,\n -1.82153085e-03, 1.03032892e+00, -2.90408695e-01,\n...-9.09254066e-02, 1.03906867e-02,\n 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,\n 0.00000000e+00]]) = StageFunctionData { ndx : 34, nu: 34, nr: 6 }.Jx
E + and array([[ 1.00388677e+00, -1.91957561e-05, -3.05599990e-03,\n -1.82153181e-03, 1.03032891e+00, -2.90408686e-01,\n...-9.09254068e-02, 1.03906866e-02,\n 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,\n 0.00000000e+00]]) = StageFunctionData { ndx : 34, nu: 34, nr: 6 }.Jx
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/python/test_frames.py:79: AssertionError
________________________________ test_fly_high _________________________________
def test_fly_high():
fr_name1 = "larm_shoulder2_body"
fr_id1 = model.getFrameId(fr_name1)
space = manifolds.MultibodyPhaseSpace(model)
fun = aligator.FlyHighResidual(space.ndx, model, fr_id1, 0.1, nu)
data = fun.createData()
data2 = fun.createData()
Jx_nd = data.Jx.copy()
np.set_printoptions(precision=2, linewidth=250)
for _ in range(10):
x0 = sample_gauss(space)
fun.evaluate(x0, data)
fun.computeJacobians(x0, data)
ei = np.zeros(space.ndx)
for i in range(space.ndx):
ei[i] = FD_EPS
x0_p = space.integrate(x0, ei)
fun.evaluate(x0_p, data2)
Jx_nd[:, i] = (data2.value - data.value) / FD_EPS
ei[i] = 0.0
err_Jx = data.Jx - Jx_nd
print(err_Jx, err_Jx.max())
> assert np.allclose(data.Jx, Jx_nd, THRESH)
E assert False
E + where False = <function allclose at 0x117729230>(array([[ 1.07e-02, -5.34e-03, -5.21e-02, -2.02e-02, -2.41e-01, -5.88e-02, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, ... 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00,\n 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00]]), array([[ 1.07e-02, -5.34e-03, -5.21e-02, -2.02e-02, -2.41e-01, -5.88e-02, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, ... 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00,\n 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00]]), 0.0002)
E + where <function allclose at 0x117729230> = np.allclose
E + and array([[ 1.07e-02, -5.34e-03, -5.21e-02, -2.02e-02, -2.41e-01, -5.88e-02, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, ... 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00,\n 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00, 0.00e+00]]) = StageFunctionData { ndx : 68, nu: 34, nr: 2 }.Jx
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/python/test_frames.py:190: AssertionError
----------------------------- Captured stdout call -----------------------------
[[ 1.24e-10 9.31e-11 2.48e-10 6.08e-11 -5.05e-10 -1.88e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.25e-10 -2.91e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -3.47e-10 -6.94e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -7.17e-12 -3.88e-10 3.11e-10 -6.67e-10 -2.31e-10 6.06e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -6.67e-10 -4.66e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]
[ 2.46e-10 1.89e-10 3.02e-10 2.26e-11 -1.12e-09 -2.40e-11 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 1.03e-09 1.11e-09 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00
-0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -6.94e-10 -6.94e-10 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -4.50e-10 -6.96e-10 -5.91e-10 -1.02e-10 7.35e-10 -8.97e-10 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00
-0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 1.29e-09 -6.06e-12 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00]] 1.2855186914961791e-09
[[ 5.65e-10 5.10e-10 2.38e-10 9.93e-10 6.60e-10 1.34e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.84e-09 2.76e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -6.65e-18 6.94e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 6.67e-10 6.16e-10 1.03e-09 1.78e-09 1.13e-09 1.20e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.78e-09 9.74e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]
[ 5.53e-10 -3.55e-10 -9.00e-10 1.62e-09 7.99e-10 -1.26e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.34e-09 3.36e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.39e-09 1.39e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.46e-09 1.35e-11 1.75e-09 -8.35e-10 9.83e-10 4.03e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -8.35e-10 -2.81e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]] 2.758904799060602e-09
[[ 1.11e-12 1.01e-09 6.83e-11 2.75e-09 2.50e-09 3.07e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 6.82e-09 -1.04e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.39e-09 1.39e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.56e-09 1.20e-09 2.98e-10 -5.75e-10 1.32e-09 2.21e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -5.75e-10 1.08e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]
[-2.55e-10 -2.84e-10 1.66e-09 1.51e-09 5.95e-09 1.13e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -2.90e-09 -1.88e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 9.46e-18 2.78e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -1.30e-09 -3.47e-09 -4.79e-09 -5.06e-10 -4.28e-09 1.16e-09 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00
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[[ 8.15e-10 1.36e-10 1.43e-09 1.54e-09 1.49e-09 2.57e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 3.71e-11 1.73e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
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[ 5.79e-10 4.96e-10 5.00e-10 8.00e-10 1.78e-10 -7.78e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 9.78e-10 -7.34e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00
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0.00e+00 0.00e+00 0.00e+00 0.00e+00 4.38e-10 -1.10e-11 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]] 2.5708082954101208e-09
[[ 3.85e-10 -1.39e-10 5.02e-10 5.67e-10 2.09e-10 1.53e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.91e-10 1.62e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.24e-18 -5.06e-17 0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.49e-09 -3.21e-10 3.00e-10 2.05e-11 -5.58e-11 6.32e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.05e-11 9.85e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]
[-2.65e-10 -4.60e-10 2.00e-09 1.11e-09 -2.91e-10 4.85e-09 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 9.11e-10 6.55e-09 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00
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-0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 5.06e-10 8.58e-10 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00 -0.00e+00]] 6.547285963387495e-09
[[-1.48e-10 -1.92e-10 -3.47e-10 -8.41e-10 -3.17e-10 -1.21e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -3.77e-10 -1.86e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
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[ 2.05e-10 2.94e-09 6.28e-10 2.07e-09 1.53e-09 1.53e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 9.62e-10 -6.16e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
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0.00e+00 0.00e+00 0.00e+00 0.00e+00 -2.72e-10 -1.80e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]] 2.943727959526035e-09
[[ 1.06e-09 1.02e-09 9.09e-10 -7.55e-10 -3.44e-10 -1.84e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -2.12e-09 -2.54e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
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[ 4.15e-10 4.38e-11 -5.59e-10 7.45e-10 9.06e-10 3.85e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -1.38e-09 3.66e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.78e-09 1.78e-19 0.00e+00 0.00e+00 0.00e+00 0.00e+00 4.50e-09 3.12e-09 2.83e-09 1.35e-10 5.27e-09 4.54e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.35e-10 2.39e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]] 5.267573030542927e-09
[[-1.40e-09 -5.86e-10 -1.52e-10 -4.55e-09 -2.84e-09 -3.84e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -3.19e-09 -3.19e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.78e-09 -5.00e-17 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -6.54e-09 -7.69e-10 -4.23e-09 -2.79e-10 -1.94e-09 -5.19e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -2.79e-10 1.14e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]
[ 3.22e-11 -3.32e-11 7.25e-11 6.36e-10 -7.74e-10 -4.07e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.18e-10 3.97e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 1.28e-18 6.94e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -4.90e-10 3.09e-10 1.69e-10 -1.67e-09 -4.61e-10 3.33e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -1.67e-09 3.80e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]] 2.7755575614582216e-09
[[ 5.16e-09 -4.81e-09 1.78e-09 4.80e-09 -1.39e-08 -7.50e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -6.04e-09 -9.59e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -1.11e-08 6.90e-17 0.00e+00 0.00e+00 0.00e+00 0.00e+00 5.25e-09 -6.91e-09 -5.16e-09 -8.36e-09 6.18e-09 3.91e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -8.36e-09 -3.57e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]
[ 6.98e-11 1.65e-10 4.22e-10 8.69e-10 -1.07e-10 -1.19e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 -2.46e-09 -1.66e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 5.26e-17 1.39e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 2.39e-09 3.55e-10 1.25e-09 -7.30e-10 1.26e-09 -1.95e-09 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00
0.00e+00 0.00e+00 0.00e+00 0.00e+00 -7.30e-10 8.94e-10 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00]] 6.179650346993526e-09
=============================== warnings summary ===============================
tests/python/test_frames.py::test_frame_collision
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/python/test_frames.py:213: UserWarning: This function has been marked as deprecated and will be removed in a future release.
pin.GeometryObject(
tests/python/test_frames.py::test_frame_collision
/tmp/nix-build-aligator-0.12.0.drv-1/source/tests/python/test_frames.py:219: UserWarning: This function has been marked as deprecated and will be removed in a future release.
pin.GeometryObject(
-- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
=========================== short test summary info ============================
FAILED ../../../../../../../tmp/nix-build-aligator-0.12.0.drv-1/source/tests/python/test_frames.py::test_frame_placement
FAILED ../../../../../../../tmp/nix-build-aligator-0.12.0.drv-1/source/tests/python/test_frames.py::test_fly_high
=================== 2 failed, 3 passed, 2 warnings in 0.39s ====================
Start 32: aligator-test-cpp-croc-problem
28/33 Test #32: aligator-test-cpp-croc-problem .......... Passed 0.92 sec
Start 33: aligator-test-cpp-croc-action-model
29/33 Test #28: aligator-test-py-gravity-compensation ... Passed 5.68 sec
30/33 Test #33: aligator-test-cpp-croc-action-model ..... Passed 0.98 sec
31/33 Test #30: aligator-test-py-kinodynamics ........... Passed 5.76 sec
32/33 Test #31: aligator-test-py-solver ................. Passed 5.21 sec
33/33 Test #29: aligator-test-py-integrators ............ Passed 11.25 sec
97% tests passed, 1 tests failed out of 33
Total Test time (real) = 38.39 sec
The following tests FAILED:
26 - aligator-test-py-frames (Failed)
Errors while running CTest
make: *** [Makefile:71: test] Error 8
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