Merge branch 'topic/remove-small-extern-template' into 'pinocchio-3x'

[algorithm] remove template instantiation for contact-info

See merge request jucarpen/pinocchio!584

CMakeLists.txt

@@ -330,7 +330,6 @@ IF(ENABLE_TEMPLATE_INSTANTIATION)
     algorithm/rnea-derivatives.cpp
     algorithm/rnea.cpp
     algorithm/proximal.cpp
-    algorithm/contact-info.cpp
     algorithm/contact-dynamics.cpp
     algorithm/contact-cholesky.cpp
     algorithm/contact-jacobian.cpp
@@ -364,7 +363,6 @@ IF(ENABLE_TEMPLATE_INSTANTIATION)
     algorithm/rnea-derivatives.txx
     algorithm/rnea.txx
     algorithm/proximal.txx
-    algorithm/contact-info.txx
     algorithm/contact-dynamics.txx
     algorithm/contact-cholesky.txx
     algorithm/contact-jacobian.txx

src/algorithm/contact-info.cpp

-//
-// Copyright (c) 2023 CNRS INRIA
-//
-
-#include "pinocchio/algorithm/contact-info.hpp"
-
-namespace pinocchio {
-
-  template struct BaumgarteCorrectorParametersTpl<context::Scalar>;
-  template struct RigidConstraintModelTpl<context::Scalar, context::Options>;
-  template struct RigidConstraintDataTpl<context::Scalar, context::Options>;
-
-} // namespace pinocchio

src/algorithm/contact-info.hpp

@@ -618,8 +618,4 @@ namespace pinocchio
   
 }
 
-#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
-#include "pinocchio/algorithm/contact-info.txx"
-#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
-
 #endif // ifndef __pinocchio_algorithm_contact_info_hpp__

src/algorithm/contact-info.txx

-//
-// Copyright (c) 2023 CNRS INRIA
-//
-
-#ifndef __pinocchio_algorithm_contact_info_txx__
-#define __pinocchio_algorithm_contact_info_txx__
-
-namespace pinocchio {
-
-  extern template struct BaumgarteCorrectorParametersTpl<context::Scalar>;
-  extern template struct RigidConstraintModelTpl<context::Scalar, context::Options>;
-  extern template struct RigidConstraintDataTpl<context::Scalar, context::Options>;
-
-} // namespace pinocchio
-
-#endif  // #ifndef __pinocchio_algorithm_contact_info_txx__