Unverified Commit ca650335 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #63 from nim65s/devel

Update to pinocchio v2.6.0
parents 8c3c7988 57fbdd45
...@@ -35,7 +35,6 @@ IF(CURVES_WITH_PINOCCHIO_SUPPORT) ...@@ -35,7 +35,6 @@ IF(CURVES_WITH_PINOCCHIO_SUPPORT)
IF(NOT pinocchio_FOUND) IF(NOT pinocchio_FOUND)
MESSAGE(FATAL_ERROR "CURVES_WITH_PINOCCHIO_SUPPORT selected, but pinocchio has not been found") MESSAGE(FATAL_ERROR "CURVES_WITH_PINOCCHIO_SUPPORT selected, but pinocchio has not been found")
ENDIF(NOT pinocchio_FOUND) ENDIF(NOT pinocchio_FOUND)
ADD_DEFINITIONS(-DCURVES_WITH_PINOCCHIO_SUPPORT)
PKG_CONFIG_APPEND_CFLAGS("-DCURVES_WITH_PINOCCHIO_SUPPORT") PKG_CONFIG_APPEND_CFLAGS("-DCURVES_WITH_PINOCCHIO_SUPPORT")
ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT) ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
SET(PACKAGE_EXTRA_MACROS "SET(CURVES_WITH_PINOCCHIO_SUPPORT ${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 $<INSTALL_INTERFACE:include ...@@ -87,6 +86,7 @@ TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include
TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE Boost::serialization) TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE Boost::serialization)
IF(CURVES_WITH_PINOCCHIO_SUPPORT) IF(CURVES_WITH_PINOCCHIO_SUPPORT)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio) TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio)
TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} INTERFACE -DCURVES_WITH_PINOCCHIO_SUPPORT)
ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT) ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY) IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
......
...@@ -28,6 +28,17 @@ ...@@ -28,6 +28,17 @@
#ifndef EIGEN_BOOST_SERIALIZATION #ifndef EIGEN_BOOST_SERIALIZATION
#define 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 <Eigen/Dense>
#include <boost/serialization/split_free.hpp> #include <boost/serialization/split_free.hpp>
#include <boost/serialization/vector.hpp> #include <boost/serialization/vector.hpp>
...@@ -64,4 +75,8 @@ void serialize(Archive& ar, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxR ...@@ -64,4 +75,8 @@ void serialize(Archive& ar, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxR
} // namespace serialization } // namespace serialization
} // namespace boost } // namespace boost
#endif
#undef CURVES_WITH_PINOCCHIO_260
#endif // ifndef __multicontact_api_serialization_eigen_matrix_hpp__ #endif // ifndef __multicontact_api_serialization_eigen_matrix_hpp__
...@@ -5,7 +5,12 @@ ...@@ -5,7 +5,12 @@
#ifndef __python_namespace_h__ #ifndef __python_namespace_h__
#define __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> #include <boost/python.hpp>
#undef BOOST_BIND_GLOBAL_PLACEHOLDERS
namespace ndcurves { namespace ndcurves {
namespace python { namespace python {
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment