Add trajopt_ifopt support for Windows and MacOS

.github/workflows/mac.yml

@@ -24,7 +24,7 @@ env:
     urdfdom octomap orocos-kdl pcl
     gtest benchmark flann jsoncpp
     yaml-cpp eigen3
-    openblas
+    openblas coin-or-ipopt
     fcl ompl taskflow
     bullet3[multithreading,double-precision,rtti]
     ccd[double-precision] gperftools
@@ -54,7 +54,7 @@ jobs:
         python-version: '3.12'
     - name: brew
       run: |
-        brew install libomp cmake automake autoconf libtool gcc ninja
+        brew install libomp cmake automake autoconf libtool gcc ninja pkgconf
     - name: vcpkg build
       uses: johnwason/vcpkg-action@v6
       with:
@@ -78,14 +78,15 @@ jobs:
         set -e
         export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib
         export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}
+        export PKG_CONFIG_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib/pkgconfig
 
         colcon build --merge-install \
-            --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \
+            --packages-ignore tesseract_examples vhacd tesseract_python \
             --event-handlers console_cohesion+ \
             --cmake-force-configure \
             --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \
-            -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \
-            -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \
+            -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=ON -DBUILD_SNOPT=OFF \
+            -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=ON \
             -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \
             -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \
             -DOpenMP_CXX_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \
@@ -100,6 +101,7 @@ jobs:
         set -e
         export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib
         export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}
+        export TESSERACT_RESOURCE_PATH=$GITHUB_WORKSPACE/ws/install/share
 
         colcon test --merge-install \
             --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \

.github/workflows/windows.yml

@@ -34,13 +34,17 @@ jobs:
           console-bridge eigen3 yaml-cpp benchmark tinyxml2 assimp orocos-kdl pcl
           lapack-reference boost-dll boost-filesystem boost-serialization boost-format boost-stacktrace
           boost-program-options boost-graph urdfdom ccd[double-precision] gtest
-          ompl taskflow jsoncpp flann benchmark
+          ompl taskflow jsoncpp flann benchmark coin-or-ipopt
         triplet: x64-windows-release
         extra-args: --clean-after-build
         token: ${{ github.token }}
         cache-key: ci-${{ matrix.os }}
         github-binarycache: true
 
+    - name: choco
+      run: |
+        choco install pkgconfiglite -r
+
     - name: configure-msvc
       uses: ilammy/msvc-dev-cmd@v1
       with:
@@ -51,13 +55,14 @@ jobs:
       run: |
         echo "PATH=${{ env.PATH }};$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release\bin" >> "$GITHUB_ENV"
         echo "CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release" >> "$GITHUB_ENV"
+        echo "PKG_CONFIG_PATH=$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release\lib\pkgconfig" >> "$GITHUB_ENV"
 
     - name: Build and Tests
       uses: tesseract-robotics/colcon-action@v8
       with:
         ccache-prefix: ${{ matrix.distro }}
         vcs-file: .github/workflows/windows_dependencies.repos
-        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
+        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=ON -DBUILD_SNOPT=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
         target-path: target_ws/src
-        target-args: --event-handlers console_cohesion+ --packages-ignore tesseract_examples --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
+        target-args: --event-handlers console_cohesion+ --packages-ignore tesseract_examples --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_BUILD_TRAJOPT_IFOPT=ON -DVCPKG_APPLOCAL_DEPS=OFF
         run-tests-args: --packages-ignore tesseract_examples

.github/workflows/windows_dependencies.repos

@@ -20,8 +20,8 @@
     version: 0.5.2
 - git:
     local-name: ifopt
-    uri: https://github.com/ethz-adrl/ifopt.git
-    version: 2.1.3
+    uri: https://github.com/johnwason/ifopt.git
+    version: win_pkgconfig
 - git:
     local-name: ruckig
     uri: https://github.com/pantor/ruckig.git

tesseract_motion_planners/trajopt_ifopt/src/profile/trajopt_ifopt_osqp_solver_profile.cpp

@@ -24,6 +24,13 @@
  * limitations under the License.
  */
 
+#ifdef _WIN32
+// Macros to avoid Windows.h conflicts
+#define NOGDI
+#define NOMINMAX
+#define WIN32_LEAN_AND_MEAN
+#endif
+
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <OsqpEigen/Settings.hpp>

tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp

@@ -97,7 +97,7 @@ PlannerResponse TrajOptIfoptMotionPlanner::solve(const PlannerRequest& request)
   // ----------------
   // Transform plan instructions into trajopt cost and constraints
   std::vector<std::shared_ptr<const trajopt_ifopt::JointPosition>> vars;
-  for (int i = 0; i < move_instructions.size(); ++i)
+  for (int i = 0; i < static_cast<int>(move_instructions.size()); ++i)
   {
     const auto& move_instruction = move_instructions[static_cast<std::size_t>(i)].get().as<MoveInstructionPoly>();
 

tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_utils.cpp

@@ -24,6 +24,13 @@
  * limitations under the License.
  */
 
+#ifdef _WIN32
+// Macros to avoid Windows.h conflicts
+#define NOGDI
+#define NOMINMAX
+#define WIN32_LEAN_AND_MEAN
+#endif
+
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <trajopt_ifopt/variable_sets/joint_position_variable.h>