Disable LibTorch by default and conditionally include related sources…

… and libraries (#68)

* Disable LibTorch by default and conditionally include related sources and libraries

* Merge remote-tracking branch 'origin/master' into torch_cmake_issue

CMakeLists.txt

@@ -40,8 +40,8 @@ option(GUROBI_ROOT "Path to Gurobi installation" "")
 set(GUROBI_ROOT $ENV{HOME}/.local/lib/gurobi1103/linux64)
 
 # LibTorch Configuration
-set(CDDP_CPP_TORCH "Whether to use LibTorch" ON)
-option(CDDP_CPP_TORCH_GPU "Whether to use GPU support in LibTorch" ON)
+option(CDDP_CPP_TORCH "Whether to use LibTorch" OFF)
+option(CDDP_CPP_TORCH_GPU "Whether to use GPU support in LibTorch" OFF)
 set(LIBTORCH_DIR $ENV{HOME}/.local/lib/libtorch CACHE PATH "Path to local LibTorch installation") # FIXME: Change this to your local LibTorch installation directory
 
 # Python Configuration
@@ -177,6 +177,8 @@ if (CDDP_CPP_TORCH)
 
   # Export LibTorch variables for other parts of the build
   set(TORCH_INSTALL_PREFIX ${Torch_DIR}/../../../ CACHE PATH "LibTorch installation directory")
+
+  target_compile_definitions(${PROJECT_NAME} PRIVATE CDDP_CPP_TORCH_ENABLED=1)
 endif()
 
 
@@ -200,9 +202,12 @@ set(cddp_core_srcs
   src/cddp_core/clddp_core.cpp
   src/cddp_core/asddp_core.cpp
   src/cddp_core/logddp_core.cpp
-  src/cddp_core/neural_dynamical_system.cpp
 )
 
+if (CDDP_CPP_TORCH)
+  list(APPEND cddp_core_srcs src/cddp_core/torch_helper.cpp)
+endif()
+
 set(dynamics_model_srcs
   src/dynamics_model/pendulum.cpp
   src/dynamics_model/dubins_car.cpp
@@ -228,17 +233,20 @@ target_link_libraries(${PROJECT_NAME}
   Python3::Python
   Python3::Module
   Python3::NumPy
-  ${TORCH_LIBRARIES}
 ) 
 
+if (CDDP_CPP_TORCH)
+  target_link_libraries(${PROJECT_NAME} ${TORCH_LIBRARIES})
+endif()
+
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/cddp-cpp>
   $<INSTALL_INTERFACE:include> 
   ${TORCH_INCLUDE_DIRS}
 )
 
 # Ensure proper CUDA support if enabled
-if(CDDP_CPP_TORCH_GPU)
+if(TORCH_FOUND AND CDDP_CPP_TORCH_GPU)
   set_property(TARGET ${PROJECT_NAME} PROPERTY CUDA_ARCHITECTURES native)
 endif()
 

examples/CMakeLists.txt

@@ -44,23 +44,25 @@ if (CDDP_CPP_CASADI)
 endif()
 
 # Neural dynamics examples
-add_executable(prepare_pendulum neural_dynamics/prepare_pendulum.cpp)
-target_link_libraries(prepare_pendulum cddp)
+if (CDDP_CPP_TORCH)
+    add_executable(prepare_pendulum neural_dynamics/prepare_pendulum.cpp)
+    target_link_libraries(prepare_pendulum cddp)
 
-# add_executable(prepare_cartpole neural_dynamics/prepare_cartpole.cpp)
-# target_link_libraries(prepare_cartpole cddp)
+    # add_executable(prepare_cartpole neural_dynamics/prepare_cartpole.cpp)
+    # target_link_libraries(prepare_cartpole cddp)
 
-add_executable(train_pendulum neural_dynamics/train_pendulum.cpp)
-target_link_libraries(train_pendulum cddp)
+    add_executable(train_pendulum neural_dynamics/train_pendulum.cpp)
+    target_link_libraries(train_pendulum cddp)
 
-# add_executable(train_cartpole neural_dynamics/train_cartpole.cpp)
-# target_link_libraries(train_cartpole cddp)
+    # add_executable(train_cartpole neural_dynamics/train_cartpole.cpp)
+    # target_link_libraries(train_cartpole cddp)
 
-add_executable(run_pendulum neural_dynamics/run_pendulum.cpp)
-target_link_libraries(run_pendulum cddp)
+    add_executable(run_pendulum neural_dynamics/run_pendulum.cpp)
+    target_link_libraries(run_pendulum cddp)
 
-# add_executable(run_cartpole neural_dynamics/run_cartpole.cpp)
-# target_link_libraries(run_cartpole cddp)
+    # add_executable(run_cartpole neural_dynamics/run_cartpole.cpp)
+    # target_link_libraries(run_cartpole cddp)
 
-# add_executable(cddp_pendulum_neural _cddp_pendulum_neural.cpp)
-# target_link_libraries(cddp_pendulum_neural cddp)
+    # add_executable(cddp_pendulum_neural _cddp_pendulum_neural.cpp)
+    # target_link_libraries(cddp_pendulum_neural cddp)
+endif()

include/cddp-cpp/cddp.hpp

@@ -30,7 +30,10 @@
 #include "cddp_core/helper.hpp"
 #include "cddp_core/boxqp.hpp"
 #include "cddp_core/qp_solver.hpp"
+
+#ifdef CDDP_CPP_TORCH_ENABLED
 #include "cddp_core/neural_dynamical_system.hpp"
+#endif
 
 // Models
 #include "dynamics_model/pendulum.hpp"