stack-of-tasks · jcarpent · Jan 30, 2024 · Jan 25, 2024 · Jan 25, 2024 · Jan 25, 2024
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Changed
+- Set NOMINMAX as a public definitions on Windows ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
+
+### Fixed
+- Remove a lot of warnings ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
+
 ## [2.7.0] - 2024-01-23
 
 ### Added

diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
@@ -5,10 +5,6 @@
 # ----------------------------------------------------
 # --- BENCHMARK --------------------------------------
 # ----------------------------------------------------
-IF(WIN32)
-  ADD_DEFINITIONS("-DNOMINMAX")
-ENDIF()
-
 ADD_CUSTOM_TARGET(bench)
 
 MACRO(ADD_BENCH bench_name)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -44,10 +44,12 @@ IF(BUILD_PYTHON_INTERFACE)
   # Do not report:
   #  -Wconversion as the BOOST_PYTHON_FUNCTION_OVERLOADS implicitly converts.
   #  -Wcomment as latex equations have multi-line comments.
-  #  -Wself-assign-overloaded as bp::self operations trigger this
-  IF(NOT WIN32)
-    TARGET_COMPILE_OPTIONS(${PYWRAP} PRIVATE -Wno-conversion -Wno-comment -Wno-self-assign-overloaded)
-  ENDIF(NOT WIN32)
+  #  -Wself-assign-overloaded as bp::self operations trigger this (Clang only)
+  CXX_FLAGS_BY_COMPILER_FRONTEND(
+    GNU -Wno-conversion -Wno-comment -Wno-self-assign-overloaded
+    OUTPUT PRIVATE_OPTIONS
+    FILTER)
+  TARGET_COMPILE_OPTIONS(${PYWRAP} PRIVATE ${PRIVATE_OPTIONS})
 
   SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES VERSION ${PROJECT_VERSION})
   IF(BUILD_WITH_COMMIT_VERSION)
@@ -61,7 +63,6 @@ IF(BUILD_PYTHON_INTERFACE)
     TARGET_COMPILE_DEFINITIONS(${PYWRAP} PRIVATE -DPINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS)
   ENDIF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
   IF(WIN32)
-    TARGET_COMPILE_DEFINITIONS(${PYWRAP} PRIVATE -DNOMINMAX)
     TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PYTHON_LIBRARY})
   ENDIF(WIN32)
 

diff --git a/bindings/python/parsers/urdf/geometry.cpp b/bindings/python/parsers/urdf/geometry.cpp
@@ -29,7 +29,10 @@ namespace pinocchio
       MeshLoaderPtr mesh_loader = MeshLoaderPtr();
       if (!py_mesh_loader.is_none()) {
 #ifdef PINOCCHIO_WITH_HPP_FCL
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         mesh_loader = bp::extract<::hpp::fcl::MeshLoaderPtr>(py_mesh_loader);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 #else
         PyErr_WarnEx(PyExc_UserWarning, "Mesh loader is ignored because Pinocchio is not built with hpp-fcl", 1);
 #endif

diff --git a/cmake b/cmake
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -2,12 +2,21 @@
 # Copyright (c) 2015-2022 CNRS INRIA
 #
 
+# Compute flags outside the macro to avoid recomputing it for each tests
+CXX_FLAGS_BY_COMPILER_FRONTEND(
+  MSVC _USE_MATH_DEFINES
+  OUTPUT EXAMPLE_PRIVATE_DEFINITIONS)
+
 FUNCTION(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   GET_FILENAME_COMPONENT(EXAMPLE_NAME ${EXAMPLE} NAME)
   SET(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
   ADD_UNIT_TEST(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
   TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
 
+  TARGET_COMPILE_DEFINITIONS(${EXAMPLE_NAME}
+    PRIVATE ${EXAMPLE_PRIVATE_DEFINITIONS}
+            PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
+
   # There is no RPATH in Windows, then we must use the PATH to find the DLL
   IF(WIN32)
     STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
@@ -51,12 +60,6 @@ IF(hpp-fcl_FOUND)
   ENDIF()
 ENDIF(hpp-fcl_FOUND)
 
-ADD_DEFINITIONS(-DPINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
-
-IF(WIN32)
-  ADD_DEFINITIONS("-DNOMINMAX -D_USE_MATH_DEFINES")
-ENDIF(WIN32)
-
 FOREACH(EXAMPLE ${${PROJECT_NAME}_EXAMPLES})
   ADD_PINOCCHIO_CPP_EXAMPLE(${EXAMPLE})
 ENDFOREACH(EXAMPLE ${${PROJECT_NAME}_EXAMPLES})

diff --git a/examples/overview-lie.cpp b/examples/overview-lie.cpp
@@ -12,6 +12,7 @@ int main()
   SE2Operation aSE2;
   SE2Operation::ConfigVector_t pose_s,pose_g;
   SE2Operation::TangentVector_t delta_u;
+  delta_u.setZero();
 
   // Starting configuration
   pose_s(0) = 1.0; pose_s(1) = 1.0;

diff --git a/include/pinocchio/bindings/python/multibody/data.hpp b/include/pinocchio/bindings/python/multibody/data.hpp
@@ -20,7 +20,9 @@
 
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Data)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/multibody/geometry-data.hpp b/include/pinocchio/bindings/python/multibody/geometry-data.hpp
@@ -15,7 +15,9 @@
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 #include "pinocchio/bindings/python/serialization/serializable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryData)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/multibody/geometry-model.hpp b/include/pinocchio/bindings/python/multibody/geometry-model.hpp
@@ -11,7 +11,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/multibody/geometry.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryModel)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/multibody/geometry-object.hpp b/include/pinocchio/bindings/python/multibody/geometry-object.hpp
@@ -11,7 +11,9 @@
 
 #include "pinocchio/multibody/geometry.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryObject)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/multibody/model.hpp b/include/pinocchio/bindings/python/multibody/model.hpp
@@ -23,7 +23,9 @@
 #include "pinocchio/bindings/python/utils/pickle-map.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Model)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/multibody/pool/geometry.hpp b/include/pinocchio/bindings/python/multibody/pool/geometry.hpp
@@ -17,7 +17,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryPool)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/multibody/pool/model.hpp b/include/pinocchio/bindings/python/multibody/pool/model.hpp
@@ -17,7 +17,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::ModelPool)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/spatial/force.hpp b/include/pinocchio/bindings/python/spatial/force.hpp
@@ -16,7 +16,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Force)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp
@@ -16,7 +16,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Inertia)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/spatial/motion.hpp b/include/pinocchio/bindings/python/spatial/motion.hpp
@@ -17,7 +17,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Motion)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/bindings/python/spatial/se3.hpp b/include/pinocchio/bindings/python/spatial/se3.hpp
@@ -20,7 +20,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::SE3)
+#endif
 
 namespace pinocchio
 {

diff --git a/include/pinocchio/container/aligned-vector.hpp b/include/pinocchio/container/aligned-vector.hpp
@@ -39,8 +39,10 @@ namespace pinocchio
       aligned_vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type())
       : vector_base(first, last, a) {}
       aligned_vector(const aligned_vector & c) : vector_base(c) {}
-      explicit aligned_vector(size_type num, const value_type & val = value_type())
+      explicit aligned_vector(size_type num, const value_type & val)
       : vector_base(num, val) {}
+      explicit aligned_vector(size_type num)
+      : vector_base(num) {}
       aligned_vector(iterator start, iterator end) : vector_base(start, end) {}
       aligned_vector & operator=(const aligned_vector& x)
       { vector_base::operator=(x); return *this; }

diff --git a/include/pinocchio/macros.hpp b/include/pinocchio/macros.hpp
@@ -80,14 +80,21 @@ namespace pinocchio
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH  _Pragma("GCC diagnostic push")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_POP   _Pragma("GCC diagnostic pop")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS  _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+# if defined(__clang__)
+#  define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
+# else
+#  define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED  _Pragma("GCC diagnostic ignored \"-Wmaybe-uninitialized\"")
+# endif
 #elif defined (WIN32)
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH  _Pragma("warning(push)")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_POP   _Pragma("warning(pop)")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS  _Pragma("warning(disable : 4996)")
+# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
 #else
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
+# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
 #endif // __GNUC__
 
 // Handle explicitely the GCC boring warning: 'anonymous variadic macros were introduced in C++11'

diff --git a/include/pinocchio/math/quaternion.hpp b/include/pinocchio/math/quaternion.hpp
@@ -105,7 +105,7 @@ namespace pinocchio
 
     /// Uniformly random quaternion sphere.
     template<typename Derived>
-    void uniformRandom(const Eigen::QuaternionBase<Derived> & q)
+    void uniformRandom(Eigen::QuaternionBase<Derived> & q)
     {
       typedef typename Derived::Scalar Scalar;
 
@@ -121,10 +121,10 @@ namespace pinocchio
       Scalar s2,c2; SINCOS(Scalar(2)*PI_value*u2,&s2,&c2);
       Scalar s3,c3; SINCOS(Scalar(2)*PI_value*u3,&s3,&c3);
 
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).w() = mult1 * s2;
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).x() = mult1 * c2;
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).y() = mult2 * s3;
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).z() = mult2 * c3;
+      q.w() = mult1 * s2;
+      q.x() = mult1 * c2;
+      q.y() = mult2 * s3;
+      q.z() = mult2 * c3;
     }
 
     namespace internal

diff --git a/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp b/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
@@ -496,7 +496,7 @@ namespace pinocchio
 
     typedef Eigen::Matrix<Scalar,3,1,_Options> Vector3;
 
-    JointModelPrismaticUnalignedTpl() {}
+    JointModelPrismaticUnalignedTpl(): axis(Vector3::UnitX()) {}
     JointModelPrismaticUnalignedTpl(const Scalar & x,
                                     const Scalar & y,
                                     const Scalar & z)

diff --git a/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
@@ -519,7 +519,7 @@ namespace pinocchio
     using Base::idx_v;
     using Base::setIndexes;
 
-    JointModelRevoluteUnalignedTpl() {}
+    JointModelRevoluteUnalignedTpl(): axis(Vector3::UnitX()) {}
 
     JointModelRevoluteUnalignedTpl(const Scalar & x,
                                    const Scalar & y,

diff --git a/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
@@ -114,7 +114,7 @@ namespace pinocchio
     using Base::idx_v;
     using Base::setIndexes;
 
-    JointModelRevoluteUnboundedUnalignedTpl() {}
+    JointModelRevoluteUnboundedUnalignedTpl(): axis(Vector3::UnitX()) {}
 
     JointModelRevoluteUnboundedUnalignedTpl(const Scalar & x,
                                             const Scalar & y,

diff --git a/include/pinocchio/multibody/liegroup/liegroup-base.hxx b/include/pinocchio/multibody/liegroup/liegroup-base.hxx
@@ -557,8 +557,11 @@ namespace pinocchio {
       const AssignmentOperatorType op) const
   {
     Index nv_ (nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     JacobianMatrix_t J (nv_, nv_);
     dIntegrate(q, v, J, arg);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     switch (op) {
       case SETTO:
         if(dIntegrateOnTheLeft) Jout = J * Jin;
@@ -585,8 +588,11 @@ namespace pinocchio {
                                                        const AssignmentOperatorType op) const
   {
     Index nv_ (nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     JacobianMatrix_t J (nv_, nv_);
     dDifference<arg>(q0, q1, J);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     switch (op) {
       case SETTO:
         if(dDifferenceOnTheLeft) Jout = J * Jin;
@@ -627,8 +633,11 @@ namespace pinocchio {
       const Eigen::MatrixBase<ConfigL_t> & q0,
       const Eigen::MatrixBase<ConfigR_t> & q1) const
   {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     TangentVector_t t(nv());
     difference(q0.derived(), q1.derived(), t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     return t.squaredNorm();
   }
 

diff --git a/include/pinocchio/multibody/liegroup/liegroup-generic.hpp b/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
@@ -43,15 +43,8 @@ namespace pinocchio
     : Base(lg_variant)
     {}
 
-    LieGroupGenericTpl(const LieGroupGenericTpl & lg_generic)
-    : Base(lg_generic)
-    {}
-
-    LieGroupGenericTpl & operator=(const LieGroupGenericTpl & other)
-    {
-      static_cast<Base&>(*this) = other.toVariant();
-      return *this;
-    }
+    LieGroupGenericTpl(const LieGroupGenericTpl & lg_generic) = default;
+    LieGroupGenericTpl & operator=(const LieGroupGenericTpl & other) = default;
 
     const LieGroupVariant & toVariant() const
     { return static_cast<const LieGroupVariant &>(*this); }
+2 −2		.pre-commit-config.yaml
+128 −39		compiler.cmake
+28 −2		config.hh.cmake
+124 −98		find-external/assimp/Findassimp.cmake
+17 −6		git-archive-all.sh
+1 −1		gtest/CMakeLists.txt.in
+0 −1		pkg-config.cmake
+26 −1		python.cmake
+1 −1		stubgen/CMakeLists.txt.in
+1 −1		test.cmake