Add CI machinery

[traversaro]

Fix #7 .

[traversaro]

Windows is failing with:

2022-07-14T10:56:52.6960359Z   Checking Build System
2022-07-14T10:56:52.9751368Z   Building Custom Rule D:/a/idynfor/idynfor/src/CMakeLists.txt
2022-07-14T10:56:53.2077138Z   iDynTreePinocchioConversions.cpp
2022-07-14T10:57:02.1402436Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(69,5): error C2988: unrecognizable template declaration/definition [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1403986Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(69,5): error C2059: syntax error: 'const' [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1404690Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(69,5): error C2059: syntax error: ')' [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1405428Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(69,5): error C2143: syntax error: missing ';' before '{' [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1418336Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(69,5): error C2447: '{': missing function header (old-style formal list?) [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1436983Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(70,5): error C2988: unrecognizable template declaration/definition [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1438451Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(70,5): error C2059: syntax error: 'const' [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1439403Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(70,5): error C2059: syntax error: ')' [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1440853Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(70,5): error C2143: syntax error: missing ';' before '{' [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]
2022-07-14T10:57:02.1442145Z C:\Miniconda\envs\test\Library\include\pinocchio/math/fwd.hpp(70,5): error C2447: '{': missing function header (old-style formal list?) [D:\a\idynfor\idynfor\build\src\iDynFor.vcxproj]

The strange thing is that pinocchio is being tested against that version: https://github.com/stack-of-tasks/pinocchio/blob/c2ad2c60eecc04555e265a8f80a9765d3b84f5f1/.github/workflows/windows-conda-v142.yml . However, probably we can fix this in a separate PR.

[traversaro]

The problematic lines ares:

    PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(min)
    PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(max)

so the problem is probably related to Windows.h included somewhere (why?) and -DNOMINMAX not included.

[traversaro]

Windows.h included somewhere (why?)

I compiled with /showIncludes, and apparently the windows.h is directly included by pinocchio:

Note: including file:              C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\ctype.h
Note: including file:             C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC\Tools\MSVC\14.29.30133\include\clocale
Note: including file:              C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\locale.h
Note: including file:   C:\Users\STraversaro\AppData\Local\mambaforge\envs\idynfordev\Library\include\pinocchio/math/fwd.hpp
Note: including file:    C:\Users\STraversaro\AppData\Local\mambaforge\envs\idynfordev\Library\include\pinocchio/fwd.hpp
Note: including file:     C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um\windows.h
Note: including file:      C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared\winapifamily.h
Note: including file:       C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared\winpackagefamily.h
Note: including file:      C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared\sdkddkver.h

This is something that I think can be fixed upstream in pinocchio, but for the time being we can just compiled with NOMINMAX.