Merge pull request #427 from nim65s/eigen5

nix: add build with eigen 5, ref #426

Author: jorisv

.github/workflows/nix.yml

@@ -21,14 +21,29 @@ jobs:
         with:
           name: gepetto
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
-      - run: nix build -L
+      - run: nix build -L .#proxsuite
+
+  nix-eigen5:
+    runs-on: "${{ matrix.os }}"
+    strategy:
+      matrix:
+        os: ["ubuntu-24.04", "macos-15"]
+    steps:
+      - uses: actions/checkout@v5
+      - uses: cachix/install-nix-action@v31
+      - uses: cachix/cachix-action@v16
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L .#proxsuite-eigen_5
 
   check:
     if: always()
     name: check-macos-linux-nix
 
     needs:
       - nix
+      - nix-eigen5
 
     runs-on: Ubuntu-latest
 

flake.lock

@@ -8,21 +8,16 @@
 
   outputs =
     inputs:
-    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
-      systems = inputs.nixpkgs.lib.systems.flakeExposed;
-      perSystem =
-        { pkgs, self', ... }:
-        {
-          apps.default = {
-            type = "app";
-            program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
-          };
-          packages = {
-            default = self'.packages.proxsuite;
-            proxsuite = pkgs.python3Packages.proxsuite.overrideAttrs {
-              src = pkgs.lib.fileset.toSource {
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } (
+      { self, lib, ... }:
+      {
+        systems = inputs.nixpkgs.lib.systems.flakeExposed;
+        flake.overlays = {
+          default = final: prev: {
+            proxsuite = prev.proxsuite.overrideAttrs {
+              src = lib.fileset.toSource {
                 root = ./.;
-                fileset = pkgs.lib.fileset.unions [
+                fileset = lib.fileset.unions [
                   ./benchmark
                   ./bindings
                   ./cmake-external
@@ -34,8 +29,65 @@
                   ./test
                 ];
               };
+              postPatch = "";
+              nativeCheckInputs = [
+                final.ctestCheckHook
+              ];
+              # ref. https://github.com/Simple-Robotics/proxsuite/issues/426
+              preCheck = ''
+                disabledTests+=(
+                  "ProxQP::dense: test primal infeasibility solving"
+                  "dense maros meszaros using the api"
+                  "sparse maros meszaros using the API"
+                )
+              '';
             };
           };
+          eigen5 = final: prev: {
+            eigen = prev.eigen.overrideAttrs (super: rec {
+              version = "5.0.0";
+              src = final.fetchFromGitLab {
+                inherit (super.src) owner repo;
+                tag = version;
+                hash = "sha256-L1KUFZsaibC/FD6abTXrT3pvaFhbYnw+GaWsxM2gaxM=";
+              };
+              patches = [ ];
+              postPatch = "";
+            });
+          };
         };
-    };
+        perSystem =
+          {
+            pkgs,
+            pkgs-eigen_5,
+            self',
+            system,
+            ...
+          }:
+          {
+            _module.args = {
+              pkgs = import inputs.nixpkgs {
+                inherit system;
+                overlays = [ self.overlays.default ];
+              };
+              pkgs-eigen_5 = import inputs.nixpkgs {
+                inherit system;
+                overlays = [
+                  self.overlays.eigen5
+                  self.overlays.default
+                ];
+              };
+            };
+            apps.default = {
+              type = "app";
+              program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+            };
+            packages = {
+              default = self'.packages.proxsuite;
+              proxsuite = pkgs.python3Packages.proxsuite;
+              proxsuite-eigen_5 = pkgs-eigen_5.python3Packages.proxsuite;
+            };
+          };
+      }
+    );
 }