From 2ff04f5339d454f83a4b58c5d5a0efcb53459f04 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 31 Mar 2020 23:51:47 +0200
Subject: [PATCH] pinocchio benchmarks
---
docker/pinocchio/Dockerfile.benchmarks | 57 ++++++++++++++++++++++++++
1 file changed, 57 insertions(+)
create mode 100644 docker/pinocchio/Dockerfile.benchmarks
diff --git a/docker/pinocchio/Dockerfile.benchmarks b/docker/pinocchio/Dockerfile.benchmarks
new file mode 100644
index 0000000..f3877ca
--- /dev/null
+++ b/docker/pinocchio/Dockerfile.benchmarks
@@ -0,0 +1,57 @@
+ARG UBUNTU=focal
+FROM ubuntu:$UBUNTU
+
+SHELL ["/bin/bash", "-c"]
+
+ARG MAKE_JOBS=6
+
+ENV CTEST_PARALLEL_LEVEL=$MAKE_JOBS CTEST_OUTPUT_ON_FAILURE=true DEBIAN_FRONTEND=noninteractive \
+ CMAKE_OPTS="-DBUILD_PYTHON_INTERFACE=OFF \
+ -DCMAKE_INSTALL_LIBDIR=lib \
+ -DCMAKE_INSTALL_PREFIX=/usr \
+ -DBUILD_TESTING=ON \
+ -DCMAKE_BUILD_TYPE=Release"
+
+RUN apt-get update -y \
+ && apt-get install -y \
+ assimp-utils \
+ build-essential \
+ cmake \
+ curl \
+ git \
+ libassimp-dev \
+ libboost-all-dev \
+ libccd-dev \
+ libeigen3-dev \
+ liboctomap-dev \
+ libtinyxml-dev \
+ liburdfdom-dev \
+ && rm -rf /var/lib/apt/lists/*
+
+ARG HPP_FCL=1.3.0
+ARG PINOCCHIO=2.3.1
+
+# hpp-fcl
+ADD https://github.com/humanoid-path-planner/hpp-fcl/releases/download/v${HPP_FCL}/hpp-fcl-${HPP_FCL}.tar.gz /
+RUN tar xf /hpp-fcl-${HPP_FCL}.tar.gz \
+ && mkdir /hpp-fcl-${HPP_FCL}/build
+
+WORKDIR /hpp-fcl-${HPP_FCL}/build
+
+RUN cmake ${CMAKE_OPTS} .. \
+ && make -s -j$MAKE_JOBS \
+ && make -s test \
+ && make -s install
+
+# pinocchio
+WORKDIR /
+ADD https://github.com/stack-of-tasks/pinocchio/releases/download/v${PINOCCHIO}/pinocchio-${PINOCCHIO}.tar.gz /
+RUN tar xf /pinocchio-${PINOCCHIO}.tar.gz \
+ && mkdir /pinocchio-${PINOCCHIO}/build
+
+WORKDIR /pinocchio-${PINOCCHIO}/build
+
+RUN cmake ${CMAKE_OPTS} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_BENCHMARKS=ON .. \
+ && make -s -j$MAKE_JOBS \
+ && make -s test \
+ && make -s install
--
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