Merge pull request #391 from jcarpent/topic/fix

Fix bug with SRDF parsers and handle bug in Eigen 3.2.9x pre-release version

CMakeLists.txt

@@ -87,6 +87,11 @@ IF(EIGEN3_FOUND)
     ADD_DEFINITIONS(-DEIGEN3_FUTURE)
     SET(EIGEN3_FUTURE TRUE)
     PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_FUTURE")
+    IF(${EIGEN3_VERSION} VERSION_LESS "3.3.0")
+      ADD_DEFINITIONS(-DEIGEN3_BETA_3_2_9x)
+      SET(EIGEN3_FUTURE TRUE)
+      PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_BETA_3_2_9x")
+    ENDIF(${EIGEN3_VERSION} VERSION_LESS "3.3.0")
   ELSE(${EIGEN3_VERSION} VERSION_GREATER "3.2.10")
     SET(EIGEN3_FUTURE FALSE)
   ENDIF(${EIGEN3_VERSION} VERSION_GREATER "3.2.10")
@@ -310,6 +315,7 @@ SET(HEADERS
   ${${PROJECT_NAME}_CONTAINER_HEADERS}
   exception.hpp
   assert.hpp
+  macros.hpp
  )
 LIST(REMOVE_DUPLICATES HEADERS)
 

src/macros.hpp

+//
+// Copyright (c) 2017 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_macros_hpp__
+#define __se3_macros_hpp__
+
+#include <Eigen/Core>
+
+#ifdef EIGEN3_BETA_3_2_9x
+namespace se3
+{
+  namespace internal
+  {
+    template<typename XprType> struct size_of_xpr_at_compile_time
+    {
+      enum { ret = Eigen::internal::size_at_compile_time<Eigen::internal::traits<XprType>::RowsAtCompileTime,Eigen::internal::traits<XprType>::ColsAtCompileTime>::ret };
+    };
+  }
+}
+#endif
+
+#endif // ifndef __se3_macros_hpp__

src/multibody/constraint.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -20,6 +20,7 @@
 #define __se3_constraint_hpp__
 
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/motion.hpp"
 
@@ -125,9 +126,7 @@ namespace se3
     {
       // There is currently a bug in Eigen/Core/util/StaticAssert.h in the use of the full namespace path
       // TODO
-#ifndef EIGEN3_FUTURE
       EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(DenseBase, D);
-#endif
     }
 
     ConstraintTpl() : S() 

src/multibody/joint/joint-free-flyer.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -19,6 +19,7 @@
 #ifndef __se3_joint_free_flyer_hpp__
 #define __se3_joint_free_flyer_hpp__
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/spatial/inertia.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"

src/multibody/joint/joint-planar.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -19,6 +19,7 @@
 #ifndef __se3_joint_planar_hpp__
 #define __se3_joint_planar_hpp__
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"
 #include "pinocchio/math/sincos.hpp"

src/multibody/joint/joint-prismatic-unaligned.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -19,6 +19,7 @@
 #ifndef __se3_joint_prismatic_unaligned_hpp__
 #define __se3_joint_prismatic_unaligned_hpp__
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"
 #include "pinocchio/spatial/inertia.hpp"

src/multibody/joint/joint-prismatic.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -19,6 +19,7 @@
 #ifndef __se3_joint_prismatic_hpp__
 #define __se3_joint_prismatic_hpp__
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"
 #include "pinocchio/spatial/inertia.hpp"

src/multibody/joint/joint-revolute-unaligned.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -19,6 +19,7 @@
 #ifndef __se3_joint_revolute_unaligned_hpp__
 #define __se3_joint_revolute_unaligned_hpp__
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"
 #include "pinocchio/spatial/inertia.hpp"

src/multibody/joint/joint-spherical-ZYX.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -19,6 +19,7 @@
 #ifndef __se3_joint_spherical_ZYX_hpp__
 #define __se3_joint_spherical_ZYX_hpp__
 #include <iostream>
+#include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"
 #include "pinocchio/math/sincos.hpp"

src/multibody/joint/joint-spherical.hpp

@@ -19,6 +19,7 @@
 #ifndef __se3_joint_spherical_hpp__
 #define __se3_joint_spherical_hpp__
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"
 #include "pinocchio/math/sincos.hpp"

src/multibody/joint/joint-translation.hpp

@@ -19,6 +19,7 @@
 #ifndef __se3_joint_translation_hpp__
 #define __se3_joint_translation_hpp__
 
+#include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/constraint.hpp"
 #include "pinocchio/spatial/inertia.hpp"

src/multibody/liegroup/operation-base.hxx

 //
-// Copyright (c) 2016 CNRS
+// Copyright (c) 2016-2017 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -18,6 +18,8 @@
 #ifndef __se3_lie_group_operation_base_hxx__
 #define __se3_lie_group_operation_base_hxx__
 
+#include "pinocchio/macros.hpp"
+
 namespace se3 {
 
   // --------------- API with return value as argument ---------------------- //

src/multibody/liegroup/special-euclidean.hpp

@@ -20,13 +20,14 @@
 
 #include <limits>
 
-#include <pinocchio/spatial/fwd.hpp>
-#include <pinocchio/spatial/se3.hpp>
-#include <pinocchio/multibody/liegroup/operation-base.hpp>
-
-#include <pinocchio/multibody/liegroup/vector-space.hpp>
-#include <pinocchio/multibody/liegroup/cartesian-product.hpp>
-#include <pinocchio/multibody/liegroup/special-orthogonal.hpp>
+#include <pinocchio/macros.hpp>
+#include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/spatial/se3.hpp"
+#include "pinocchio/multibody/liegroup/operation-base.hpp"
+
+#include "pinocchio/multibody/liegroup/vector-space.hpp"
+#include "pinocchio/multibody/liegroup/cartesian-product.hpp"
+#include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
 
 namespace se3
 {

src/parsers/srdf.hpp

@@ -19,6 +19,7 @@
 #define __se3_parser_srdf_hpp__
 
 #include "pinocchio/multibody/model.hpp"
+#include "pinocchio/multibody/geometry.hpp"
 #include <iostream>
 
 // Read XML file with boost

src/spatial/act-on-set.hpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -19,7 +19,7 @@
 #define __se3_act_on_set_hpp__
 
 #include <Eigen/Core>
-#include <Eigen/Geometry>
+#include "pinocchio/macros.hpp"
 #include "pinocchio/spatial/fwd.hpp"
 
 namespace se3

src/spatial/explog.hpp

 //
-// Copyright (c) 2015 - 2016 CNRS
+// Copyright (c) 2015-2017 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -21,6 +21,7 @@
 
 # include <Eigen/Geometry>
 
+# include "pinocchio/macros.hpp"
 # include "pinocchio/math/sincos.hpp"
 # include "pinocchio/spatial/motion.hpp"
 # include "pinocchio/spatial/skew.hpp"
@@ -170,4 +171,4 @@ namespace se3
   }
 } // namespace se3
 
-#endif //#ifndef __math_explog_hpp__
+#endif //#ifndef __spatial_explog_hpp__

src/spatial/force.hpp

@@ -20,8 +20,8 @@
 #define __se3_force_hpp__
 
 #include <Eigen/Core>
-#include <Eigen/Geometry>
 #include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/macros.hpp"
 #include "pinocchio/spatial/se3.hpp"
 
 /** \addtogroup Force_group Force

src/spatial/motion.hpp

@@ -20,8 +20,8 @@
 #define __se3_motion_hpp__
 
 #include <Eigen/Core>
-#include <Eigen/Geometry>
 #include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/macros.hpp"
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/spatial/force.hpp"
 

src/spatial/se3.hpp

@@ -22,7 +22,7 @@
 #include <Eigen/Geometry>
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/skew.hpp"
-
+#include "pinocchio/macros.hpp"
 
 namespace se3
 {

src/spatial/skew.hpp

@@ -18,6 +18,8 @@
 #ifndef __se3_skew_hpp__
 #define __se3_skew_hpp__
 
+#include "pinocchio/macros.hpp"
+
 namespace se3
 {