cpp.yml

name: C++ API

on:
  push:
    branches: ["main"]
  pull_request:
    branches: ["main"]

env:
  BUILD_TYPE: Release

jobs:
  cpp_api:
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
    steps:
      - uses: actions/checkout@v3
      - name: Setup cmake
        uses: jwlawson/actions-setup-cmake@v1.13
        with:
          cmake-version: "3.25.x"
      - name: Configure CMake
        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp/kinematic_icp
      - name: Build
        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

  # As the previous job will always install the dependencies from cmake, and this is guaranteed to
  # work, we also want to support dev sandboxes where the main dependencies are already
  # pre-installed in the system. For now, we only support dev machines under a GNU/Linux
  # environmnets. If you are reading this and need the same functionallity in Windows/macOS please
  # open a ticket.
  cpp_api_dev:
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]

    steps:
      - uses: actions/checkout@v3
      - name: Cache dependencies
        uses: actions/cache@v2
        with:
          path: ~/.apt/cache
          key: ${{ runner.os }}-apt-${{ hashFiles('**/ubuntu_dependencies.yml') }}
          restore-keys: |
            ${{ runner.os }}-apt-
      - name: Install dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y build-essential cmake git libeigen3-dev libtbb-dev
      - name: Configure CMake
        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp/kinematic_icp
      - name: Build
        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}