python3-orocos-kdl: rebuild for Python 3.9, fix breakage with sip

srcpkgs/python3-orocos-kdl/patches/sip.patch

@@ -0,0 +1,113 @@
+From f8d488cad733d2c2c6fe6911dc2e72e014ad0002 Mon Sep 17 00:00:00 2001
+From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
+Date: Fri, 26 Jun 2020 17:04:12 +0200
+Subject: [PATCH] Declare assignment operator private for SIP (Closes: #260)
+
+Starting with v4.19.23 SIP expects a working operator= or one marked
+private explicitly. All classes in this PR have a reference member
+(&chain) resulting in the compiler deleting the default assignment
+operator. This PR makes this known to SIP as well.
+
+[ Rebased against release version by Andrew J. Hesford. ]
+---
+diff -ur python_orocos_kdl/PyKDL.orig/dynamics.sip python_orocos_kdl/PyKDL/dynamics.sip
+--- python_orocos_kdl/PyKDL.orig/dynamics.sip	2020-10-08 09:41:13.830476720 -0400
++++ python_orocos_kdl/PyKDL/dynamics.sip	2020-10-08 09:41:58.875476576 -0400
+@@ -72,4 +72,6 @@
+     int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis);
+ 	int JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H);
+ 	int JntToGravity(const JntArray &q,JntArray &gravity);
++private:
++    ChainDynParam& operator=(const ChainDynParam&);
+ };
+diff -ur python_orocos_kdl/PyKDL.orig/kinfam.sip python_orocos_kdl/PyKDL/kinfam.sip
+--- python_orocos_kdl/PyKDL.orig/kinfam.sip	2020-10-08 09:41:13.830476720 -0400
++++ python_orocos_kdl/PyKDL/kinfam.sip	2020-10-08 09:47:26.314475457 -0400
+@@ -344,6 +344,8 @@
+     ChainFkSolverPos_recursive(const Chain& chain);
+     virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1);
+     virtual void updateInternalDataStructures();
++private:
++    ChainFkSolverPos_recursive& operator=(const ChainFkSolverPos_recursive&);
+ };
+ 
+ class ChainFkSolverVel_recursive : ChainFkSolverVel
+@@ -357,6 +359,8 @@
+     virtual int JntToCart(const JntArrayVel& q_in ,FrameVel& out,int
+     segmentNr=-1 );
+     virtual void updateInternalDataStructures();
++private:
++    ChainFkSolverVel_recursive& operator=(const ChainFkSolverVel_recursive&);
+ };
+ 
+ class ChainIkSolverPos : SolverI {
+@@ -392,6 +396,8 @@
+     
+     virtual int CartToJnt(const JntArray& q_init , const Frame& p_in ,JntArray& q_out);
+     virtual void updateInternalDataStructures();
++private:
++    ChainIkSolverPos_NR& operator=(const ChainIkSolverPos_NR&);
+ };
+ 
+ class ChainIkSolverPos_NR_JL : ChainIkSolverPos
+@@ -407,6 +413,8 @@
+     
+     virtual int CartToJnt(const JntArray& q_init , const Frame& p_in ,JntArray& q_out);
+     virtual void updateInternalDataStructures();
++private:
++    ChainIkSolverPos_NR_JL& operator=(const ChainIkSolverPos_NR_JL&);
+ };
+ 
+ class ChainIkSolverVel_pinv : ChainIkSolverVel
+@@ -420,6 +428,8 @@
+         
+     virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
+     virtual void updateInternalDataStructures();
++private:
++    ChainIkSolverVel_pinv& operator=(const ChainIkSolverVel_pinv&);
+ };
+ 
+ class ChainIkSolverVel_wdls : ChainIkSolverVel
+@@ -506,6 +516,8 @@
+ 
+     void setLambda(const double& lambda);
+ 
++private:
++    ChainIkSolverVel_wdls& operator=(const ChainIkSolverVel_wdls&);
+ };
+ 
+ 
+@@ -520,6 +532,8 @@
+ 
+     virtual int CartToJnt(const JntArray& q_init , const Frame& p_in ,JntArray& q_out);
+     virtual void updateInternalDataStructures();
++private:
++    ChainIkSolverPos_LMA& operator=(const ChainIkSolverPos_LMA&);
+ };
+ 
+ 
+@@ -546,6 +560,8 @@
+     const JntArray& getOptPos()const /Factory/;
+ 
+     const double& getAlpha()const /Factory/;
++private:
++    ChainIkSolverVel_pinv_nso& operator=(const ChainIkSolverVel_pinv_nso&);
+ };
+ 
+ class ChainIkSolverVel_pinv_givens : ChainIkSolverVel
+@@ -559,6 +575,8 @@
+         
+     virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
+     virtual void updateInternalDataStructures();
++private:
++    ChainIkSolverVel_pinv_givens& operator=(const ChainIkSolverVel_pinv_givens&);
+ };
+ 
+ class ChainJntToJacSolver : SolverI
+@@ -571,4 +589,6 @@
+     ChainJntToJacSolver(const Chain& chain);
+     int JntToJac(const JntArray& q_in,Jacobian& jac);
+     virtual void updateInternalDataStructures();
++private:
++    ChainJntToJacSolver& operator=(const ChainJntToJacSolver&);
+ };

srcpkgs/python3-orocos-kdl/template

@@ -1,12 +1,12 @@
 # Template file for 'python3-orocos-kdl'
 pkgname=python3-orocos-kdl
 version=1.4.0
-revision=2
+revision=3
 wrksrc=orocos_kinematics_dynamics-${version}
 build_wrksrc=python_orocos_kdl
 build_style=cmake
-configure_args="-DPYTHON_VERSION=3"
-hostmakedepends="python3 python3-sip"
+configure_args="-DPYTHON_VERSION=3 -DSIP_EXECUTABLE=/usr/bin/sip"
+hostmakedepends="python3 python3-sip sip"
 makedepends="python3-sip-devel python3-devel orocos-kdl-devel eigen3.2"
 depends="python3 python3-sip"
 short_desc="Python3 Bindings for Orocos Kinematics and Dynamics C++ library"