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[build] CMake options for solver opt-out #22626

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[build] CMake options for solver opt-out #22626

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f134f89
add CMake options to disable open-source solvers, and update document…
tyler-yankee Feb 12, 2025
f848b02
fix typo on CSDP test
tyler-yankee Feb 12, 2025
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38 changes: 35 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -477,8 +477,42 @@ endif()

set(BAZEL_CONFIG)

option(WITH_GUROBI "Build with support for Gurobi" OFF)
option(WITH_CLARABEL "Build with support for Clarabel" ON)
if(NOT WITH_CLARABEL)
string(APPEND BAZEL_CONFIG " --@drake//tools/flags:with_clarabel=False")
endif()

option(WITH_CLP "Build with support for CLP" ON)
if(NOT WITH_CLP)
string(APPEND BAZEL_CONFIG " --@drake//tools/flags:with_clp=False")
endif()

option(WITH_CSDP "Build with support for CSDP" ON)
if(NOT WITH_CSDP)
string(APPEND BAZEL_CONFIG " --@drake//tools/flags:with_csdp=False")
endif()

option(WITH_IPOPT "Build with support for Ipopt" ON)
if(NOT WITH_IPOPT)
string(APPEND BAZEL_CONFIG " --@drake//tools/flags:with_ipopt=False")
endif()

option(WITH_NLOPT "Build with support for NLopt" ON)
if(NOT WITH_NLOPT)
string(APPEND BAZEL_CONFIG " --@drake//tools/flags:with_nlopt=False")
endif()

option(WITH_OSQP "Build with support for OSQP" ON)
if(NOT WITH_OSQP)
string(APPEND BAZEL_CONFIG " --@drake//tools/flags:with_osqp=False")
endif()

option(WITH_SCS "Build with support for SCS" ON)
if(NOT WITH_SCS)
string(APPEND BAZEL_CONFIG " --@drake//tools/flags:with_scs=False")
endif()

option(WITH_GUROBI "Build with support for Gurobi" OFF)
if(WITH_GUROBI)
find_package(Gurobi 10.0 EXACT MODULE REQUIRED)

Expand All @@ -491,13 +525,11 @@ if(WITH_GUROBI)
endif()

option(WITH_MOSEK "Build with support for MOSEK" OFF)

if(WITH_MOSEK)
string(APPEND BAZEL_CONFIG " --config=mosek")
endif()

option(WITH_OPENMP "Build with support for OpenMP" OFF)

if(WITH_OPENMP)
string(APPEND BAZEL_CONFIG " --config=omp")
endif()
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2 changes: 1 addition & 1 deletion bindings/pydrake/solvers/BUILD.bazel
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Expand Up @@ -129,7 +129,7 @@ drake_py_unittest(
name = "csdp_solver_test",
args = select({
"//tools/workspace/csdp_internal:enabled": [],
"//conditions:default": ["TestCsdptSolver.unavailable"],
"//conditions:default": ["TestCsdpSolver.unavailable"],
}),
deps = [
":solvers",
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8 changes: 8 additions & 0 deletions doc/_pages/from_source.md
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Expand Up @@ -99,6 +99,14 @@ Adjusting open-source dependencies:
* WITH_USER_ZLIB (default ON). When ON, uses `find_package(ZLIB)` to locate a
user-provided `ZLIB::ZLIB` library instead of building from source. Caveat:
On macOS, for now this hardcodes `-lz` instead of calling `find_package`.
* WITH_CLARABEL (default ON). When ON, enables the `ClarabelSolver`
in the build.
* WITH_CLP (default ON). When ON, enables the `ClpSolver` in the build.
* WITH_CSDP (default ON). When ON, enables the `CsdpSolver` in the build.
* WITH_IPOPT (default ON). When ON, enables the `IpoptSolver` in the build.
* WITH_NLOPT (default ON). When ON, enables the `NloptSolver` in the build.
* WITH_OSQP (default ON). When ON, enables the `OsqpSolver` in the build.
* WITH_SCS (default ON). When ON, enables the `ScsSolver` in the build.

Adjusting closed-source (commercial) software dependencies:

Expand Down