Merge pull request #25 from nim65s/devel

maintenance

CMakeLists.txt

@@ -19,7 +19,6 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
-SET(CMAKE_CXX_STANDARD 11)
 SET(CXX_DISABLE_WERROR TRUE)
 SET(DOXYGEN_USE_MATHJAX YES)
 
@@ -32,28 +31,25 @@ INCLUDE(cmake/ide.cmake)
 # Project definition
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
-SET(CMAKE_CXX_STANDARD 11)
+CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
 
 # Project dependencies
-ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.0.0")
-ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED PKG_CONFIG_REQUIRES "ndcurves >= 0.5.1")
+ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
+ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED)
 IF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
   MESSAGE(FATAL_ERROR "you need to use a ndcurves version compiled with pinocchio support")
 ENDIF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
-SET(BOOST_COMPONENTS unit_test_framework serialization)
+ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS unit_test_framework serialization)
 
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${CUSTOM_HEADER_DIR})
-  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES "eigenpy >= 1.6.12")
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  SEARCH_FOR_BOOST_PYTHON(REQUIRED)
+  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED)
   INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS})
   STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
   SET(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-SEARCH_FOR_BOOST()
-INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
 
 # Main Library
 
@@ -70,5 +66,3 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 ADD_SUBDIRECTORY(bindings)
 ADD_SUBDIRECTORY(unittest)
-
-PKG_CONFIG_APPEND_BOOST_LIBS(serialization)

bindings/python/CMakeLists.txt

@@ -17,7 +17,7 @@ ADD_LIBRARY(${PY_NAME} SHARED ${${PROJECT_NAME}_PYTHON_SOURCES} ${${PROJECT_NAME
 
 ADD_SOURCE_GROUP(${PROJECT_NAME}_PYTHON_SOURCES)
 
-TARGET_LINK_LIBRARIES(${PY_NAME} ${PROJECT_NAME} ${Boost_SERIALIZATION_LIBRARIES} eigenpy::eigenpy)
+TARGET_LINK_LIBRARIES(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy)
 TARGET_LINK_BOOST_PYTHON(${PY_NAME})
 
 SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PY_NAME} SOVERSION ${PROJECT_VERSION})

include/multicontact-api/CMakeLists.txt

@@ -24,6 +24,7 @@ SET(${PROJECT_NAME}_SCENARIO_HEADERS
 
 
 SET(${PROJECT_NAME}_PYTHON_HEADERS
+  bindings/python/fwd.hpp
   bindings/python/geometry/ellipsoid.hpp
   bindings/python/geometry/expose-geometry.hpp
   bindings/python/geometry/linear-cone.hpp

include/multicontact-api/bindings/python/fwd.hpp

@@ -0,0 +1,14 @@
+#ifndef __multicontact_api_python_fwd_hpp__
+#define __multicontact_api_python_fwd_hpp__
+
+
+// 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
+
+#endif  // ifndef __multicontact_api_python_utils_printable_hpp__

include/multicontact-api/bindings/python/geometry/ellipsoid.hpp

@@ -5,8 +5,8 @@
 #define __multicontact_api_python_geometry_ellipsoid_hpp__
 
 #include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
 
+#include "multicontact-api/bindings/python/fwd.hpp"
 #include "multicontact-api/geometry/ellipsoid.hpp"
 
 namespace multicontact_api {

include/multicontact-api/bindings/python/serialization/archive.hpp

@@ -4,7 +4,7 @@
 #ifndef __multicontact_api_python_serialization_archive_hpp__
 #define __multicontact_api_python_serialization_archive_hpp__
 
-#include <boost/python.hpp>
+#include "multicontact-api/bindings/python/fwd.hpp"
 
 namespace multicontact_api {
 namespace python {

include/multicontact-api/bindings/python/utils/printable.hpp

@@ -4,7 +4,7 @@
 #ifndef __multicontact_api_python_utils_printable_hpp__
 #define __multicontact_api_python_utils_printable_hpp__
 
-#include <boost/python.hpp>
+#include "multicontact-api/bindings/python/fwd.hpp"
 
 namespace multicontact_api {
 namespace python {

include/multicontact-api/serialization/archive.hpp

@@ -41,7 +41,7 @@ struct Serializable {
 
  public:
   /// \brief Loads a Derived object from a text file.
-  void loadFromText(const std::string& filename) throw(std::invalid_argument) {
+  void loadFromText(const std::string& filename) {
     std::ifstream ifs(filename.c_str());
     if (ifs) {
       boost::archive::text_iarchive ia(ifs);
@@ -53,7 +53,7 @@ struct Serializable {
   }
 
   /// \brief Saved a Derived object as a text file.
-  void saveAsText(const std::string& filename) const throw(std::invalid_argument) {
+  void saveAsText(const std::string& filename) const {
     std::ofstream ofs(filename.c_str());
     if (ofs) {
       boost::archive::text_oarchive oa(ofs);
@@ -65,7 +65,7 @@ struct Serializable {
   }
 
   /// \brief Loads a Derived object from an XML file.
-  void loadFromXML(const std::string& filename, const std::string& tag_name) throw(std::invalid_argument) {
+  void loadFromXML(const std::string& filename, const std::string& tag_name) {
     assert(!tag_name.empty());
     std::ifstream ifs(filename.c_str());
     if (ifs) {
@@ -78,7 +78,7 @@ struct Serializable {
   }
 
   /// \brief Saved a Derived object as an XML file.
-  void saveAsXML(const std::string& filename, const std::string& tag_name) const throw(std::invalid_argument) {
+  void saveAsXML(const std::string& filename, const std::string& tag_name) const {
     assert(!tag_name.empty());
     std::ofstream ofs(filename.c_str());
     if (ofs) {
@@ -91,7 +91,7 @@ struct Serializable {
   }
 
   /// \brief Loads a Derived object from an binary file.
-  void loadFromBinary(const std::string& filename) throw(std::invalid_argument) {
+  void loadFromBinary(const std::string& filename) {
     std::ifstream ifs(filename.c_str());
     if (ifs) {
       boost::archive::binary_iarchive ia(ifs);
@@ -103,7 +103,7 @@ struct Serializable {
   }
 
   /// \brief Saved a Derived object as an binary file.
-  void saveAsBinary(const std::string& filename) const throw(std::invalid_argument) {
+  void saveAsBinary(const std::string& filename) const {
     std::ofstream ofs(filename.c_str());
     if (ofs) {
       boost::archive::binary_oarchive oa(ofs);

unittest/CMakeLists.txt

@@ -12,7 +12,7 @@ SET(${PROJECT_NAME}_TESTS
 
 FOREACH(TEST ${${PROJECT_NAME}_TESTS})
   ADD_UNIT_TEST(${TEST} "${TEST}.cpp")
-  TARGET_LINK_LIBRARIES(${TEST} ${PROJECT_NAME} ${Boost_LIBRARIES})
+  TARGET_LINK_LIBRARIES(${TEST} ${PROJECT_NAME} Boost::unit_test_framework)
 ENDFOREACH(TEST ${${PROJECT_NAME}_TESTS})
 
 TARGET_COMPILE_DEFINITIONS(examples PRIVATE -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/../examples/")

unittest/python/CMakeLists.txt

@@ -2,7 +2,7 @@ SET(${PROJECT_NAME}_PYTHON_TESTS
   trivial
   geometry
   scenario
-  serialization_examples
+  #serialization_examples
   )
 
 FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})