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Guilhem Saurel
ndcurves
Commits
ca650335
Unverified
Commit
ca650335
authored
Apr 16, 2021
by
Guilhem Saurel
Committed by
GitHub
Apr 16, 2021
Browse files
Merge pull request #63 from nim65s/devel
Update to pinocchio v2.6.0
parents
8c3c7988
57fbdd45
Changes
3
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CMakeLists.txt
View file @
ca650335
...
...
@@ -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
View file @
ca650335
...
...
@@ -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
View file @
ca650335
...
...
@@ -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
{
...
...
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