From c4d58189199ec232ef4f35ec887b6f1807921700 Mon Sep 17 00:00:00 2001 From: Tomo Date: Sun, 13 Jul 2025 17:05:01 -0400 Subject: [PATCH 1/5] Update build.yaml --- .github/workflows/build.yaml | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 78f90ce7..b08005cb 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -44,3 +44,20 @@ jobs: mkdir -p build && cd build cmake .. make -j4 + + # For Windows, build using MSVC and vcpkg or choco for dependencies + - name: Install dependencies on Windows + if: runner.os == 'Windows' + shell: pwsh + run: | + choco install cmake --installargs 'ADD_CMAKE_TO_PATH=System' -y + choco install eigen -y + + - name: Build on Windows + if: runner.os == 'Windows' + shell: pwsh + run: | + mkdir build + cd build + cmake .. + cmake --build . --config Release From 5bfe5e84bed78c639e01973af9b458f0296f70ab Mon Sep 17 00:00:00 2001 From: Tomo Date: Sun, 13 Jul 2025 17:13:11 -0400 Subject: [PATCH 2/5] Add Windows to CI build matrix (#137) Co-authored-by: Cursor Agent --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index b08005cb..43a5033d 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -11,7 +11,7 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [ubuntu-latest, macos-latest] + os: [ubuntu-latest, macos-latest, windows-latest] steps: - uses: actions/checkout@v3 From 4dbafa669f34d5091315f30f9ba4b2daa1cbb3c1 Mon Sep 17 00:00:00 2001 From: Tomo Date: Sun, 13 Jul 2025 17:26:53 -0400 Subject: [PATCH 3/5] Add Gnuplot and fix Windows build directory creation (#138) Co-authored-by: Cursor Agent --- .github/workflows/build.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 43a5033d..8914a998 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -52,12 +52,14 @@ jobs: run: | choco install cmake --installargs 'ADD_CMAKE_TO_PATH=System' -y choco install eigen -y + # Dependencies for matplotplusplus + choco install gnuplot -y - name: Build on Windows if: runner.os == 'Windows' shell: pwsh run: | - mkdir build + mkdir -Force build cd build cmake .. cmake --build . --config Release From 1b82abe8df5c0eef0feb35bcdb93c30bf5a3c9be Mon Sep 17 00:00:00 2001 From: Tomo Date: Sun, 13 Jul 2025 17:50:40 -0400 Subject: [PATCH 4/5] Update constraint.hpp --- include/cddp-cpp/cddp_core/constraint.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/include/cddp-cpp/cddp_core/constraint.hpp b/include/cddp-cpp/cddp_core/constraint.hpp index c79dafb9..250f9f78 100644 --- a/include/cddp-cpp/cddp_core/constraint.hpp +++ b/include/cddp-cpp/cddp_core/constraint.hpp @@ -19,6 +19,7 @@ #include #include +#define _USE_MATH_DEFINES #include // For std::acos, std::sqrt, std::max, M_PI #include #include From 2a33de5320a4edce3e6617547f9ca788e6b43dce Mon Sep 17 00:00:00 2001 From: Tomo Date: Sun, 13 Jul 2025 17:51:08 -0400 Subject: [PATCH 5/5] Update manipulator.hpp --- include/cddp-cpp/dynamics_model/manipulator.hpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/include/cddp-cpp/dynamics_model/manipulator.hpp b/include/cddp-cpp/dynamics_model/manipulator.hpp index 5bcfbe5c..9f084cc6 100644 --- a/include/cddp-cpp/dynamics_model/manipulator.hpp +++ b/include/cddp-cpp/dynamics_model/manipulator.hpp @@ -18,6 +18,8 @@ #define CDDP_MANIPULATOR_HPP #include "cddp_core/dynamical_system.hpp" +#define _USE_MATH_DEFINES +#include #include namespace cddp { @@ -218,4 +220,4 @@ class Manipulator : public DynamicalSystem { } // namespace cddp -#endif // CDDP_MANIPULATOR_HPP \ No newline at end of file +#endif // CDDP_MANIPULATOR_HPP