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Use cubic spline for initial guess #818
Workflow file for this run
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| name: Build Rust | |
| on: [pull_request, push] | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| timeout-minutes: 10 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - artifact-name: Rust Native - Windows x86_64 (CasADi) | |
| optimizer_backend: casadi | |
| os: windows-2022 | |
| cmake-env: | |
| cargo-build-flags: | |
| - artifact-name: Rust Native - macOS x86_64 (CasADi) | |
| optimizer_backend: casadi | |
| os: macOS-14 | |
| cmake-env: CMAKE_OSX_ARCHITECTURES="x86_64" | |
| cargo-build-flags: | |
| - artifact-name: Rust Native - macOS arm64 (CasADi) | |
| optimizer_backend: casadi | |
| os: macOS-14 | |
| cmake-env: CMAKE_OSX_ARCHITECTURES="arm64" | |
| cargo-build-flags: | |
| - artifact-name: Rust Native - Linux x86_64 (CasADi) | |
| optimizer_backend: casadi | |
| os: ubuntu-24.04 | |
| cmake-env: | |
| cargo-build-flags: | |
| - artifact-name: Rust Native - Windows x86_64 (Sleipnir) | |
| optimizer_backend: sleipnir | |
| os: windows-2022 | |
| cmake-env: | |
| cargo-build-flags: | |
| - artifact-name: Rust Native - Windows aarch64 (Sleipnir) | |
| optimizer_backend: sleipnir | |
| os: windows-2022 | |
| cmake-env: | |
| cargo-build-flags: --target aarch64-pc-windows-msvc | |
| - artifact-name: Rust Native - macOS universal (Sleipnir) | |
| optimizer_backend: sleipnir | |
| os: macOS-14 | |
| cmake_env: | |
| cargo-build-flags: | |
| - artifact-name: Rust Native - Linux x86_64 (Sleipnir) | |
| optimizer_backend: sleipnir | |
| os: ubuntu-24.04 | |
| cmake-env: | |
| cargo-build-flags: | |
| - artifact-name: Rust Native - Linux aarch64 (Sleipnir) | |
| optimizer_backend: sleipnir | |
| os: ubuntu-24.04 | |
| cmake-env: | |
| cargo-build-flags: --target aarch64-unknown-linux-gnu | |
| name: "${{ matrix.artifact-name }}" | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Set to Windows GNU Rust Toolchain | |
| if: matrix.os == 'windows-2022' && matrix.optimizer_backend == 'casadi' | |
| run: | | |
| rustup install 1.76-gnu | |
| rustup default 1.76-gnu | |
| - name: Set up MinGW | |
| if: matrix.os == 'windows-2022' && matrix.optimizer_backend == 'casadi' | |
| run: | | |
| choco upgrade mingw --version=11.2.0 -y --no-progress --allow-downgrade | |
| echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw64\bin >> $env:GITHUB_PATH | |
| - name: Set up Windows aarch64 Rust compiler | |
| if: matrix.artifact-name == 'Rust Native - Windows aarch64 (Sleipnir)' | |
| run: rustup target install aarch64-pc-windows-msvc | |
| - name: Set up Linux aarch64 Rust compiler | |
| if: matrix.artifact-name == 'Rust Native - Linux aarch64 (Sleipnir)' | |
| run: | | |
| sudo apt-get update -q | |
| sudo apt-get install -y g++-14-aarch64-linux-gnu | |
| sudo update-alternatives --install /usr/bin/aarch64-linux-gnu-gcc aarch64-linux-gnu-gcc /usr/bin/aarch64-linux-gnu-gcc-14 200 | |
| sudo update-alternatives --install /usr/bin/aarch64-linux-gnu-g++ aarch64-linux-gnu-g++ /usr/bin/aarch64-linux-gnu-g++-14 200 | |
| rustup target install aarch64-unknown-linux-gnu | |
| - name: Make GCC 14 the default toolchain (Linux) | |
| if: startsWith(matrix.os, 'ubuntu') | |
| run: | | |
| sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200 | |
| sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200 | |
| - run: sudo xcode-select -switch /Applications/Xcode_15.3.app | |
| if: startsWith(matrix.os, 'macOS') | |
| - run: ${{matrix.cmake-env }} cargo build ${{ matrix.cargo-build-flags }} --features ${{ matrix.optimizer_backend }} | |
| - run: cargo run --example swerve --features ${{ matrix.optimizer_backend }} | |
| if: matrix.artifact-name != 'Rust Native - Windows aarch64 (Sleipnir)' && | |
| matrix.artifact-name != 'Rust Native - Linux aarch64 (Sleipnir)' |