Modify compilation flags based on os

.github/workflows/macos-linux-conda.yml

@@ -79,7 +79,7 @@ jobs:
         uses: actions/github-script@v7
         with:
           script: |
-            const script = require('./.github/workflows/scripts/get_label.js');
+            const script = require('./.github/workflows/scripts/get_compilation_flags.js');
             await script({github, context, core})
           result-encoding: string
 

.github/workflows/scripts/check_label.js

@@ -17,35 +17,25 @@ module.exports = async ({github, context, core}) => {
     });
     const labelNames = data.labels.map(label => label.name);
 
-    const labelFlags = {
-        build_all: [
-            ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-            ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-            ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-            ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
-            ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-            ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
-            ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-            ' -DINSTALL_DOCUMENTATION=ON',
-            ' -DGENERATE_PYTHON_STUBS=ON',
-            ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
-        ],
-        build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-        build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-        build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-        build_codegen: ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
-        build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-        build_openmp: ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
-        build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-        build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON',
-        build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
-    };
+    const labelFlags= [
+        'build_all',
+        'build_collision',
+        'build_casadi',
+        'build_autodiff',
+        'build_codegen',
+        'build_extra',
+        'build_openmp',
+        'build_mpfr',
+        'build_sdf',
+        'build_accelerate'
+      ];
+
     var hasLabel = false;
     labelNames.forEach(label => {
-        if (labelFlags[label]) {
+        if (labelFlags.includes(label)) {
           hasLabel = true;
         }
-    });
+      });
 
     try
     {

.github/workflows/scripts/get_compilation_flags.js

@@ -0,0 +1,92 @@
+// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master
+module.exports = async ({github, context, core}) => {
+    const getPullRequestNumber = (ref) => {
+        core.debug(`Parsing ref: ${ref}`);
+        // This assumes that the ref is in the form of `refs/pull/:prNumber/merge`
+        const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1');
+        return parseInt(prNumber, 10);
+    };
+
+    const prNumber = context.issue.number || getPullRequestNumber(context.ref);
+
+    let cmakeFlags = '';
+    if(isNaN(prNumber))
+    {
+        core.setOutput("cmakeFlags", cmakeFlags);
+        return;
+    }
+
+    const { data } = await github.rest.pulls.get({
+        owner: context.repo.owner,
+        repo: context.repo.repo,
+        pull_number: prNumber,
+    });
+    const labelNames = data.labels.map(label => label.name);
+
+    const os = process.env.RUNNER_OS;
+
+    var labelFlags;
+    if(os == "Windows")
+    {
+        labelFlags = {
+            build_all: [
+                ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
+                ' -DBUILD_WITH_CASADI_SUPPORT=ON',
+                ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
+                ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
+                ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
+                ' -DINSTALL_DOCUMENTATION=ON',
+                ' -DGENERATE_PYTHON_STUBS=ON',
+                ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF',
+                ' -DBUILD_WITH_SDF_SUPPORT=ON'
+            ],
+            build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
+            build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
+            build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
+            build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
+            build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
+            build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON',
+            build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
+        };
+    }
+    else
+    {
+        labelFlags = {
+            build_all: [
+                ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
+                ' -DBUILD_WITH_CASADI_SUPPORT=ON',
+                ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
+                ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
+                ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
+                ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
+                ' -DINSTALL_DOCUMENTATION=ON',
+                ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
+                ' -DGENERATE_PYTHON_STUBS=ON',
+                ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF',
+                ' -DBUILD_WITH_SDF_SUPPORT=ON'
+            ],
+            build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
+            build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
+            build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
+            build_codegen: ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
+            build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
+            build_openmp: ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
+            build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
+            build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON',
+            build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
+        };
+    }
+
+    labelNames.forEach(label => {
+        if (labelFlags[label]) {
+            if (Array.isArray(labelFlags[label])) {
+                cmakeFlags += labelFlags[label].join(' ');
+            } else {
+                cmakeFlags += labelFlags[label];
+            }
+        }
+    });
+    console.log(cmakeFlags);
+    core.setOutput("cmakeFlags", cmakeFlags);
+    return;
+}

.github/workflows/windows-conda.yml

@@ -65,7 +65,7 @@ jobs:
         uses: actions/github-script@v7
         with:
           script: |
-            const script = require('./.github/workflows/scripts/get_label.js');
+            const script = require('./.github/workflows/scripts/get_compilation_flags.js');
             await script({github, context, core})
           result-encoding: string
 

CHANGELOG.md

@@ -12,22 +12,20 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Add more Python and C++ examples related to inverse kinematics with 3d tasks ([#2428](https://github.com/stack-of-tasks/pinocchio/pull/2428))
 - Add parsing of equality/connect tag for closed-loop chains for MJCF format ([#2413](https://github.com/stack-of-tasks/pinocchio/pull/2413))
 - Add compatibility with NumPy 2 `__array__` API ([#2436](https://github.com/stack-of-tasks/pinocchio/pull/2436))
+- Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402))
 
 ### Fixed
 - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400))
 - Fix mjcf parser appending of inertias at root joint ([#2403](https://github.com/stack-of-tasks/pinocchio/pull/2403))
 - Fix unit tests with GCC 13.3 ([#2406](https://github.com/stack-of-tasks/pinocchio/pull/2416)
-- Fix class abtract error for Rviz viewer ([#2425](https://github.com/stack-of-tasks/pinocchio/pull/2425))
+- Fix class abstract error for Rviz viewer ([#2425](https://github.com/stack-of-tasks/pinocchio/pull/2425))
+- Fix compilation issue with MSCV and C++17 ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437))
+- Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437))
 
 ### Changed
 
 - Modernize python code base with ruff ([#2418](https://github.com/stack-of-tasks/pinocchio/pull/2418))
-
-### Changed
--  Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402))
-
-### Added
-- Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402))
+- Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402))
 
 ## [3.2.0] - 2024-08-27
 

README.md

@@ -265,6 +265,7 @@ The following people have been involved in the development of **Pinocchio** and
 -   [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and manager of the project
 -   [Sebastian Castro](https://roboticseabass.com) (The AI Institute): MeshCat viewer feature extension
 -   [Lev Kozlov](https://github.com/lvjonok): Kinetic and potential energy regressors
+-   [Megane Millan](https://github.com/MegMll) (Inria): Features extension and core developper
 
 If you have participated in the development of **Pinocchio**, please add your name and contribution to this list.
 

include/pinocchio/serialization/eigen.hpp

@@ -80,6 +80,50 @@ namespace Eigen
   #endif
 #endif
 
+// Similar workaround but for MSVC when C++17 is enabled.
+// TODO Find _MSC_VER range.
+#if (defined(_MSVC_LANG) && _MSVC_LANG >= 201703)
+namespace boost
+{
+  namespace archive
+  {
+    class binary_iarchive;
+    class xml_iarchive;
+    class text_iarchive;
+  } // namespace archive
+} // namespace boost
+namespace Eigen
+{
+  namespace internal
+  {
+    template<>
+    struct traits<boost::archive::binary_iarchive>
+    {
+      enum
+      {
+        Flags = 0
+      };
+    };
+    template<>
+    struct traits<boost::archive::xml_iarchive>
+    {
+      enum
+      {
+        Flags = 0
+      };
+    };
+    template<>
+    struct traits<boost::archive::text_iarchive>
+    {
+      enum
+      {
+        Flags = 0
+      };
+    };
+  } // namespace internal
+} // namespace Eigen
+#endif // MSVC with C++17
+
 namespace boost
 {
   namespace serialization

unittest/python/robot_wrapper.py

@@ -62,17 +62,21 @@ def test_sdf_with_root_joint(self):
         model_path = os.path.abspath(
             os.path.join(self.current_file, "../../models/simple_humanoid.sdf")
         )
-        robot = pin.RobotWrapper.BuildFromSDF(model_path, [], pin.JointModelFreeFlyer())
+        mesh_path = os.path.abspath(os.path.join(self.current_file, "../../models/"))
+        robot = pin.RobotWrapper.BuildFromSDF(
+            model_path, [mesh_path], pin.JointModelFreeFlyer(), verbose=True
+        )
         self.assertEqual(robot.model.names[1], "root_joint")
 
     @unittest.skipUnless(pin.WITH_SDFORMAT, "Needs SDFORMAT")
     def test_sdf_with_root_joint_and_root_joint_name(self):
         model_path = os.path.abspath(
             os.path.join(self.current_file, "../../models/simple_humanoid.sdf")
         )
+        mesh_path = os.path.abspath(os.path.join(self.current_file, "../../models/"))
         name_ = "freeflyer_joint"
         robot = pin.RobotWrapper.BuildFromSDF(
-            model_path, [], pin.JointModelFreeFlyer(), root_joint_name=name_
+            model_path, [mesh_path], pin.JointModelFreeFlyer(), root_joint_name=name_
         )
         self.assertEqual(robot.model.names[1], name_)