96 lines
3.2 KiB
Ruby
96 lines
3.2 KiB
Ruby
class Urdfdom < Formula
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desc "Unified Robot Description Format (URDF) parser"
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homepage "https://wiki.ros.org/urdf/"
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url "https://github.com/ros/urdfdom/archive/3.0.0.tar.gz"
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sha256 "3c780132d9a0331eb2116ea5dac6fa53ad2af86cb09f37258c34febf526d52b4"
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license "BSD-3-Clause"
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revision 1
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livecheck do
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url :stable
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strategy :github_latest
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end
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bottle do
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sha256 cellar: :any, arm64_ventura: "69e286e3dbf2faea6d2a48cc31b78a7ad0088515625117c1cc8f34b80309924d"
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sha256 cellar: :any, arm64_monterey: "27b8cd81640a8de4e9ffb343487a44ba9984f699d3c27f7ff9bd595e25e21d6c"
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sha256 cellar: :any, arm64_big_sur: "0ca970f6f985415e1e8af91a36ba0fc1d7b7170ec9235060e8d3973bd9ec4147"
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sha256 cellar: :any, ventura: "1f13a06d147840608fea0deaefd889e7eafb2a19c0c5bd2db50ffbe1d53a956d"
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sha256 cellar: :any, monterey: "43be2b4453f1a4f782bbc99ad5347a021825bf88ed8882500def4a0bc018a3c6"
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sha256 cellar: :any, big_sur: "fce2480ab751c0b9334f23961debbca834013c4ab8cae0aa117b43767f8e1d94"
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sha256 cellar: :any_skip_relocation, x86_64_linux: "a303920e61aa553fc7f71c0380d2bb2693e0f6aca0c0eee199768a5d6bdac9e3"
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end
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depends_on "cmake" => :build
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depends_on "pkg-config" => :test
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depends_on "console_bridge"
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depends_on "tinyxml"
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depends_on "urdfdom_headers"
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def install
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ENV.cxx11
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system "cmake", "-S", ".", "-B", "build", *std_cmake_args, "-DCMAKE_INSTALL_RPATH=#{rpath}"
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system "cmake", "--build", "build"
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system "cmake", "--install", "build"
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end
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test do
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(testpath/"test.cpp").write <<~EOS
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#include <string>
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#include <urdf_parser/urdf_parser.h>
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int main() {
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std::string xml_string =
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"<robot name='testRobot'>"
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" <link name='link_0'> "
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" </link> "
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"</robot> ";
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urdf::parseURDF(xml_string);
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return 0;
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}
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EOS
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system ENV.cxx, "test.cpp", shell_output("pkg-config --cflags urdfdom_headers").chomp,
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"-L#{lib}", "-lurdfdom_world",
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"-std=c++11", "-o", "test"
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system "./test"
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(testpath/"test.xml").write <<~EOS
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<robot name="test">
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<joint name="j1" type="fixed">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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<joint name="j2" type="fixed">
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<parent link="l1"/>
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<child link="l2"/>
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</joint>
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<link name="l1">
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<visual>
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<geometry>
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<sphere radius="1.349"/>
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</geometry>
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<material name="">
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<color rgba="1.0 0.65 0.0 0.01" />
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</material>
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</visual>
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<inertial>
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<mass value="8.4396"/>
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<inertia ixx="0.087" ixy="0.14" ixz="0.912" iyy="0.763" iyz="0.0012" izz="0.908"/>
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</inertial>
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</link>
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<link name="l2">
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<visual>
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<geometry>
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<cylinder radius="3.349" length="7.5490"/>
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</geometry>
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<material name="red ish">
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<color rgba="1 0.0001 0.0 1" />
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</material>
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</visual>
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</link>
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</robot>
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EOS
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system "#{bin}/check_urdf", testpath/"test.xml"
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end
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end
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