Merge pull request #63 from nim65s/devel

Update to pinocchio v2.6.0

CMakeLists.txt

@@ -35,7 +35,6 @@ IF(CURVES_WITH_PINOCCHIO_SUPPORT)
   IF(NOT pinocchio_FOUND)
     MESSAGE(FATAL_ERROR "CURVES_WITH_PINOCCHIO_SUPPORT selected, but pinocchio has not been found")
   ENDIF(NOT pinocchio_FOUND)
-  ADD_DEFINITIONS(-DCURVES_WITH_PINOCCHIO_SUPPORT)
   PKG_CONFIG_APPEND_CFLAGS("-DCURVES_WITH_PINOCCHIO_SUPPORT")
 ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
 SET(PACKAGE_EXTRA_MACROS "SET(CURVES_WITH_PINOCCHIO_SUPPORT ${CURVES_WITH_PINOCCHIO_SUPPORT})")
@@ -87,6 +86,7 @@ TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include
 TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE Boost::serialization)
 IF(CURVES_WITH_PINOCCHIO_SUPPORT)
   TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio)
+  TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} INTERFACE -DCURVES_WITH_PINOCCHIO_SUPPORT)
 ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

include/ndcurves/serialization/eigen-matrix.hpp

@@ -28,6 +28,17 @@
 #ifndef EIGEN_BOOST_SERIALIZATION
 #define EIGEN_BOOST_SERIALIZATION
 
+#ifdef CURVES_WITH_PINOCCHIO_SUPPORT
+#include <pinocchio/config.hpp>
+#if PINOCCHIO_VERSION_AT_LEAST(2, 6, 0)
+#define CURVES_WITH_PINOCCHIO_260
+#endif
+#endif
+
+#ifdef CURVES_WITH_PINOCCHIO_260
+#include <pinocchio/serialization/eigen.hpp>
+#else
+
 #include <Eigen/Dense>
 #include <boost/serialization/split_free.hpp>
 #include <boost/serialization/vector.hpp>
@@ -64,4 +75,8 @@ void serialize(Archive& ar, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxR
 }  // namespace serialization
 }  // namespace boost
 
+#endif
+
+#undef CURVES_WITH_PINOCCHIO_260
+
 #endif  // ifndef __multicontact_api_serialization_eigen_matrix_hpp__

python/ndcurves/namespace.h

@@ -5,7 +5,12 @@
 #ifndef __python_namespace_h__
 #define __python_namespace_h__
 
+// Silence a warning about a deprecated use of boost bind by boost python
+// at least fo boost 1.73 to 1.75
+// ref. https://github.com/stack-of-tasks/tsid/issues/128
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
 #include <boost/python.hpp>
+#undef BOOST_BIND_GLOBAL_PLACEHOLDERS
 
 namespace ndcurves {
 namespace python {