Merge pull request RobotLocomotion#4944 from rdeits/update-iris

update IRIS version to remove swig, mex, and pods dependencies

CMakeLists.txt

@@ -205,9 +205,13 @@ drake_add_external(iris PUBLIC CMAKE MATLAB PYTHON
     -DBUILD_TESTING=OFF
     -DIRIS_WITH_CDD=ON
     -DIRIS_WITH_EIGEN=OFF
+    -DIRIS_WITH_MATLAB=${Matlab_FOUND}
     -DIRIS_WITH_MOSEK=OFF
-    -DSWIG_EXECUTABLE=${CMAKE_INSTALL_PREFIX}/bin/swig
-  DEPENDS eigen mosek swig_matlab)
+    -DIRIS_WITH_PYBIND11=OFF
+    -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+    -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE_DIR}
+    -DPYTHON_LIBRARY=${PYTHON_LIBRARY}
+  DEPENDS eigen mosek pybind11)
 
 # lcm
 drake_add_external(lcm PUBLIC CMAKE PYTHON

cmake/options.cmake

@@ -348,7 +348,7 @@ macro(drake_setup_options)
     "Convex/integer optimization solver\; free for academics")
 
   drake_optional_external(IRIS OFF
-    DEPENDS "WITH_MOSEK\;WITH_SWIG_MATLAB"
+    DEPENDS "WITH_MOSEK"
     "fast approximate convex segmentation")
 
   drake_optional_external(MESHCONVERTERS OFF

drake/matlab/util/checkDependency.m

@@ -411,9 +411,6 @@
 
     case 'iris'
       conf.iris_enabled = logical(exist('+iris/inflate_region.m','file'));
-      if (~conf.iris_enabled)
-        conf.iris_enabled = pod_pkg_config('iris');
-      end
       if ~conf.iris_enabled && nargout<1
         disp(' ');
         disp(' iris (Iterative Regional Inflation by SDP) is disabled. To enable it, install the IRIS matlab package from here: https://github.com/rdeits/iris-distro and re-run addpath_drake.');