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Fix support of recent versions of Boost for CppAD and CppADCodeGen #2000

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merged 7 commits into from
Jun 20, 2023
Merged

Fix support of recent versions of Boost for CppAD and CppADCodeGen #2000

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05c2192
cppad: fix support of Boost >= 1.78
jcarpent Jun 20, 2023
867077f
cppadcg: fix support of Boost >= 1.78
jcarpent Jun 20, 2023
48448b9
cppadcg: fix missing isfinite
jcarpent Jun 20, 2023
0b060ff
ci/conda: use conda
jcarpent Jun 20, 2023
6717ae0
ci/conda: remove useless lines
jcarpent Jun 20, 2023
b6f97a7
example/codegen: fix compilation issue
jcarpent Jun 20, 2023
4b79ec0
cppadcg: remove useless lines
jcarpent Jun 20, 2023
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6 changes: 1 addition & 5 deletions .github/workflows/macos-linux-conda.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ jobs:
shell: bash -l {0}
run: |
conda activate pinocchio
mamba install cmake ccache llvm-openmp compilers=1.4.2 -c conda-forge
conda install cmake ccache llvm-openmp compilers=1.4.2 -c conda-forge
conda list

- name: Build Pinocchio
Expand All @@ -54,10 +54,6 @@ jobs:
mkdir build
cd build

export LINK_PYTHON_INTERFACE_TO_OPENMP=ON
if [ "$(uname)" == "Darwin" ]; then
export LINK_PYTHON_INTERFACE_TO_OPENMP=OFF
fi
cmake .. -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=ON -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
make
make build_tests
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6 changes: 3 additions & 3 deletions examples/codegen/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
#
# Copyright (c) 2020 INRIA
# Copyright (c) 2020-2023 INRIA
#

IF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT AND BUILD_WITH_URDF_SUPPORT)
INCLUDE_DIRECTORIES(SYSTEM ${cppadcg_INCLUDE_DIR})
ADD_PINOCCHIO_CPP_EXAMPLE(codegen-crba)
SET_PROPERTY(TARGET example-cpp-codegen-crba PROPERTY CXX_STANDARD 11)
TARGET_LINK_LIBRARIES(example-cpp-codegen-crba PUBLIC ${CMAKE_DL_LIBS})
SET_PROPERTY(TARGET example-cpp-codegen-crba PROPERTY CXX_STANDARD 11)
TARGET_LINK_LIBRARIES(example-cpp-codegen-crba PUBLIC ${CMAKE_DL_LIBS} ${cppad_LIBRARY})
ENDIF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT AND BUILD_WITH_URDF_SUPPORT)

7 changes: 6 additions & 1 deletion src/autodiff/cppad.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
//
// Copyright (c) 2018-2020 CNRS INRIA
// Copyright (c) 2018-2023 CNRS INRIA
//

#ifndef __pinocchio_autodiff_cppad_hpp__
Expand Down Expand Up @@ -37,6 +37,11 @@ namespace boost
return ADScalar(constant_pi<Scalar>::get(n));
}

template <class T, T value>
static inline ADScalar get(const std::integral_constant<T, value> &n)
{
return ADScalar(constant_pi<Scalar>::get(n));
}
};
}
}
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17 changes: 13 additions & 4 deletions src/codegen/cppadcg.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
//
// Copyright (c) 2018-2020 CNRS INRIA
// Copyright (c) 2018-2023 CNRS INRIA
//

#ifndef __pinocchio_codegen_ccpadcg_hpp__
Expand Down Expand Up @@ -36,6 +36,12 @@ namespace boost
{
return CGScalar(constant_pi<Scalar>::get(n));
}

template <class T, T value>
static inline CGScalar get(const std::integral_constant<T, value> &n)
{
return CGScalar(constant_pi<Scalar>::get(n));
}
};
}
}
Expand Down Expand Up @@ -63,11 +69,14 @@ namespace Eigen

namespace CppAD
{
template <class Scalar>
bool isfinite(const cg::CG<Scalar> & x) { return std::isfinite(x.getValue()); }

template <class Scalar>
bool isfinite(const AD<Scalar> & x) { return isfinite(Value(x)); }

namespace cg
{
template <class Scalar>
bool isfinite(const CG<Scalar> &x) { return std::isfinite(x.getValue()); }
}
}

namespace pinocchio
Expand Down