[Checker] Authorize variadic macro

This fix a bug in 16.10 and later with compiling issues

src/algorithm/check.hpp

 //
-// Copyright (c) 2016-2017 CNRS
+// Copyright (c) 2016-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -19,6 +19,12 @@
 #define __se3_check_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include <boost/fusion/container/list.hpp>
+#include <boost/fusion/container/generation/make_list.hpp>
+
+#ifndef PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE
+#define PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE 5
+#endif
 
 namespace se3
 {
@@ -44,6 +50,54 @@ namespace se3
 
   /// Simple model checker, that assert that model.parents is indeed a tree.
   DEFINE_ALGO_CHECKER(Parent);
+  
+#if !defined(BOOST_FUSION_HAS_VARIADIC_LIST)
+  /// Checker having a list of Checker as input argument
+  template<BOOST_PP_ENUM_PARAMS_WITH_A_DEFAULT(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,class D,boost::fusion::void_)>
+  struct AlgorithmCheckerList: AlgorithmCheckerBase< AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,D)> >
+  {
+    typedef typename boost::fusion::list<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,D)> ArgType;
+    
+    AlgorithmCheckerList(const ArgType & checkerList)
+    : checkerList(checkerList) {}
+   
+    // Calls model.check for each checker in the fusion::list.
+    // Each list element is supposed to implement the AlgorithmCheckerBase API.
+    bool checkModel_impl(const Model & model) const;
+      
+    const ArgType & checkerList;
+  };
+
+#define MAKE_ALGO_CHECKER_LIST(z,n,_) \
+  /**/ \
+  template<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),class D)> \
+  AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),D)> makeAlgoCheckerList(BOOST_PP_ENUM_BINARY_PARAMS(BOOST_PP_INC(n) , D, const & arg)) \
+  { return AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),D)>(boost::fusion::make_list(BOOST_PP_ENUM_PARAMS(BOOST_PP_INC(n),arg))); } \
+
+  BOOST_PP_REPEAT(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE, MAKE_ALGO_CHECKER_LIST, BOOST_PP_EMPTY)
+#else
+  template <class ...D>
+  struct AlgorithmCheckerList: AlgorithmCheckerBase< AlgorithmCheckerList<D...> >
+  {
+    typedef typename boost::fusion::list<D...> ArgType;
+    
+    AlgorithmCheckerList(const ArgType & checkerList)
+    : checkerList(checkerList) {}
+    
+    // Calls model.check for each checker in the fusion::list.
+    // Each list element is supposed to implement the AlgorithmCheckerBase API.
+    bool checkModel_impl(const Model & model) const;
+    
+    const ArgType & checkerList;
+  };
+  
+  template <class ...T>
+  AlgorithmCheckerList<T...> makeAlgoCheckerList(const T&... args)
+  {
+    return AlgorithmCheckerList<T...>(boost::fusion::make_list(args...));
+  }
+  
+#endif
 
   /// Check the validity of data wrt to model, in particular if model has been modified.
   ///

src/algorithm/check.hxx

 //
-// Copyright (c) 2016-2017 CNRS
+// Copyright (c) 2016-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -34,19 +34,15 @@ namespace se3
       
       AlgoFusionChecker(const Model&model) : model(model) {}
 
+      inline bool operator()(const bool& accumul, const boost::fusion::void_ &) const
+      { return accumul; }
+      
       template<typename T>
-      inline bool operator()(const bool& accumul, const T& t) const
+      inline bool operator()(const bool& accumul, const AlgorithmCheckerBase<T> & t) const
       { return accumul && t.checkModel(model); }
     };
   } // namespace internal
 
-  // Calls model.check for each checker in the fusion::list.
-  // Each list element is supposed to implement the AlgorithmCheckerBase API.
-  template<class T1,class T2,class T3,class T4,class T5,
-           class T6,class T7,class T8,class T9,class T10>
-  inline bool Model::check( const boost::fusion::list<T1,T2,T3,T4,T5,T6,T7,T8,T9,T10> & checkerList ) const
-  { return boost::fusion::accumulate(checkerList,true,internal::AlgoFusionChecker(*this)); }
-
   // Check the validity of the kinematic tree defined by parents.
   inline bool ParentChecker::checkModel_impl( const Model& model ) const
   {
@@ -56,6 +52,20 @@ namespace se3
     return true;
   }
 
+#if !defined(BOOST_FUSION_HAS_VARIADIC_LIST)
+  template<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,class T)>
+  bool AlgorithmCheckerList<BOOST_PP_ENUM_PARAMS(PINOCCHIO_ALGO_CHECKER_LIST_MAX_LIST_SIZE,T)>::checkModel_impl(const Model& model) const
+  {
+    return boost::fusion::accumulate(checkerList,true,internal::AlgoFusionChecker(model));
+  }
+#else
+  template<class ...T>
+  bool AlgorithmCheckerList<T...>::checkModel_impl(const Model& model) const
+  {
+    return boost::fusion::accumulate(checkerList,true,internal::AlgoFusionChecker(model));
+  }
+#endif
+
   inline bool checkData(const Model & model, const Data & data)
   {
 #define CHECK_DATA(a)  if(!(a)) return false;

src/algorithm/default-check.hpp

 //
-// Copyright (c) 2016-2017 CNRS
+// Copyright (c) 2016-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -25,8 +25,8 @@
 namespace se3
 {
   /// Default checker-list, used as the default argument in Model::check().
-  inline boost::fusion::list<ParentChecker,CRBAChecker,ABAChecker> makeDefaultCheckerList()
-  { return boost::fusion::make_list(ParentChecker(),CRBAChecker(),ABAChecker()); }
+  inline AlgorithmCheckerList<ParentChecker,CRBAChecker,ABAChecker> makeDefaultCheckerList()
+  { return makeAlgoCheckerList(ParentChecker(),CRBAChecker(),ABAChecker()); }
 
 #define DEFAULT_CHECKERS makeDefaultCheckerList()
 

src/multibody/model.hpp

 //
-// Copyright (c) 2015-2017 CNRS
+// Copyright (c) 2015-2018 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -325,27 +325,6 @@ namespace se3
     inline bool check(const AlgorithmCheckerBase<D> & checker = AlgorithmCheckerBase<D>()) const
     { return checker.checkModel(*this); }
 
-    /// Multiple checks for a fusion::vector of AlgorithmCheckerBase.
-    ///
-    /// Run the check test for several conditons.
-    /// \param[in] v fusion::vector of algo checkers. The param is typically initialize with 
-    /// boost::fusion::make_list( AlgoChecker1(), AlgoChecker2(), ...)
-    /// make_list is defined in #include <boost/fusion/include/make_list.hpp>
-    /// \warning no more than 10 checkers can be added (or Model API should be extended).
-    /// \note This method is implemented in src/algo/check.hxx.
-    template<class T1,class T2,class T3,class T4,class T5,
-             class T6,class T7,class T8,class T9,class T10>
-    inline bool check( const boost::fusion::list<T1,T2,T3,T4,T5,T6,T7,T8,T9,T10> & checkerList ) const;
-    
-    template<class T1,class T2,class T3>
-    inline bool check( const boost::fusion::list<T1,T2,T3> & checkerList ) const;
-    
-    template<class T1,class T2>
-    inline bool check( const boost::fusion::list<T1,T2> & checkerList ) const;
-    
-    template<class T1>
-    inline bool check( const boost::fusion::list<T1> & checkerList ) const;
-
     /// Run check(fusion::list) with DEFAULT_CHECKERS as argument.
     inline bool check() const;
     

unittest/algo-check.cpp

@@ -50,7 +50,7 @@ BOOST_AUTO_TEST_CASE ( test_check )
       Y.mass() = Y.inertia().data()[0] = Y.inertia().data()[3] = Y.inertia().data()[5] = 1.0 ;
   BOOST_CHECK(model.check (ABAChecker())); // some inertias are negative ... check fail.
 
-  BOOST_CHECK(model.check(boost::fusion::make_list(Check1(),ParentChecker(),CRBAChecker()) ));
+  BOOST_CHECK(model.check(makeAlgoCheckerList(Check1(),ParentChecker(),CRBAChecker()) ));
   BOOST_CHECK(model.check(DEFAULT_CHECKERS));
 
   se3::Data data(model);