Support Ipopt >= 3.13

.ci/travis/docs_versions.txt

@@ -1,5 +1,5 @@
 DART 6
-v6.9.3
+v6.9.5
 v6.8.5
 v6.7.3
 v6.6.2

CHANGELOG.md

@@ -1,5 +1,12 @@
 ## DART 6
 
+### [DART 6.9.5 (2020-XX-XX)](https://github.com/dartsim/dart/milestone/63?closed=1)
+
+* Build
+
+  * Added Ipopt >= 3.13 support: [#1506](https://github.com/dartsim/dart/pull/1506)
+
+
 ### [DART 6.9.4 (2020-08-30)](https://github.com/dartsim/dart/milestone/62?closed=1)
 
 * Build

CMakeLists.txt

@@ -61,7 +61,7 @@ endif()
 # If you change the version, please update the <version> tag in package.xml.
 set(DART_MAJOR_VERSION "6")
 set(DART_MINOR_VERSION "9")
-set(DART_PATCH_VERSION "4")
+set(DART_PATCH_VERSION "5")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")

dart/optimizer/ipopt/BackwardCompatibility.hpp

@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_OPTIMIZER_IPOPT_BACKWARDCOMPATIBILITY_HPP_
+#define DART_OPTIMIZER_IPOPT_BACKWARDCOMPATIBILITY_HPP_
+
+// clang-format off
+#define IPOPT_VERSION_GE(x,y,z) \
+  (IPOPT_VERSION_MAJOR > x || (IPOPT_VERSION_MAJOR >= x && \
+  (IPOPT_VERSION_MINOR > y || (IPOPT_VERSION_MINOR >= y && \
+  IPOPT_VERSION_PATCH >= z))))
+// clang-format on
+
+#endif // DART_OPTIMIZER_IPOPT_BACKWARDCOMPATIBILITY_HPP_

dart/optimizer/ipopt/CMakeLists.txt

@@ -28,6 +28,18 @@ dart_generate_include_header_file(
   ${header_names}
 )
 
+# Add definitions for the IpOpt version
+string(REPLACE "." ";" ipopt_version_list ${IPOPT_VERSION})
+list(GET ipopt_version_list 0 IPOPT_VERSION_MAJOR)
+list(GET ipopt_version_list 1 IPOPT_VERSION_MINOR)
+list(GET ipopt_version_list 2 IPOPT_VERSION_PATCH)
+target_compile_definitions(${target_name}
+  PUBLIC
+    IPOPT_VERSION_MAJOR=${IPOPT_VERSION_MAJOR}
+    IPOPT_VERSION_MINOR=${IPOPT_VERSION_MINOR}
+    IPOPT_VERSION_PATCH=${IPOPT_VERSION_PATCH}
+)
+
 # Install
 if(NOT DART_BUILD_DARTPY)
   install(
@@ -36,3 +48,5 @@ if(NOT DART_BUILD_DARTPY)
     COMPONENT headers
   )
 endif()
+
+dart_format_add(${hdrs} ${srcs})