[core] Remove return code in favor of throwing exceptions.

.github/workflows/macos.yml

@@ -15,7 +15,8 @@ jobs:
 
     strategy:
       matrix:
-        OS: ['macos-14']  # 'macos-13': Intel (x86), 'macos-14': Apple Silicon (arm64)
+        OS: ['macos-13']  # 'macos-13': Intel (x86), 'macos-14': Apple Silicon (arm64)
+                          # meshcat video recorder 'playwright' is not working on 'macos-14' runners.
         PYTHON_VERSION: ['3.10', '3.11', '3.12']  # `setup-python` does not support Python<3.10 on Apple Silicon
         BUILD_TYPE: ['Release']
         include:
@@ -25,7 +26,7 @@ jobs:
           - OS: 'macos-13'
             PYTHON_VERSION: '3.9'
             BUILD_TYPE: 'Release'
-          - OS: 'macos-14'
+          - OS: 'macos-13'
             PYTHON_VERSION: '3.11'
             BUILD_TYPE: 'Debug'
 

build_tools/cmake/base.cmake

@@ -11,6 +11,18 @@ if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.27.0)
     cmake_policy(SET CMP0144 NEW)
 endif()
 
+# Forces GCC/Clang compilers to enable color diagnostics.
+# CMake versions 3.24 and below do not support this option, so we have
+# to invoke the color diagnostics flags manually.
+set(CMAKE_COLOR_DIAGNOSTICS ON)
+if(CMAKE_VERSION VERSION_LESS "3.24.0")
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        add_compile_options(-fdiagnostics-color=always)
+    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+        add_compile_options(-fcolor-diagnostics)
+    endif()
+endif()
+
 # Check if network is available before compiling external projects
 if(WIN32)
     find_program(HAS_PING "ping")
@@ -54,7 +66,8 @@ else()
                    -Wno-unknown-warning -Wno-undefined-var-template \
                    -Wno-long-long -Wno-error=maybe-uninitialized \
                    -Wno-error=uninitialized -Wno-error=deprecated \
-                   -Wno-error=array-bounds -Wno-error=redundant-move")
+                   -Wno-error=array-bounds -Wno-error=redundant-move \
+                   -Wno-error=suggest-attribute=noreturn")
 endif()
 
 # Shared libraries need PIC

core/examples/double_pendulum/double_pendulum.cc

@@ -85,8 +85,8 @@ int main(int /* argc */, char * /* argv */[])
     controller->initialize(robot);
 
     // Instantiate and configuration the engine
-    auto engine = std::make_shared<Engine>();
-    GenericConfig simuOptions = engine->getOptions();
+    Engine engine{};
+    GenericConfig simuOptions = engine.getOptions();
     GenericConfig & telemetryOptions = boost::get<GenericConfig>(simuOptions.at("telemetry"));
     boost::get<bool>(telemetryOptions.at("isPersistent")) = true;
     boost::get<bool>(telemetryOptions.at("enableConfiguration")) = true;
@@ -118,8 +118,8 @@ int main(int /* argc */, char * /* argv */[])
     boost::get<double>(contactsOptions.at("friction")) = 5.0;
     boost::get<double>(contactsOptions.at("transitionEps")) = 0.001;
     boost::get<double>(contactsOptions.at("transitionVelocity")) = 0.01;
-    engine->setOptions(simuOptions);
-    engine->initialize(robot, controller, callback);
+    engine.setOptions(simuOptions);
+    engine.initialize(robot, controller, callback);
     std::cout << "Initialization: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // =====================================================================
@@ -134,20 +134,19 @@ int main(int /* argc */, char * /* argv */[])
 
     // Run simulation
     timer.tic();
-    engine->simulate(tf, q0, v0);
+    engine.simulate(tf, q0, v0);
     std::cout << "Simulation: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // Write the log file
     std::vector<std::string> fieldnames;
-    std::shared_ptr<const LogData> logData;
-    engine->getLog(logData);
-    std::cout << logData->times.size() << " log points" << std::endl;
-    std::cout << engine->getStepperState().iter << " internal integration steps" << std::endl;
+    std::shared_ptr<const LogData> logDataPtr = engine.getLog();
+    std::cout << logDataPtr->times.size() << " log points" << std::endl;
+    std::cout << engine.getStepperState().iter << " internal integration steps" << std::endl;
     timer.tic();
-    engine->writeLog((outputDirPath / "log.data").string(), "binary");
+    engine.writeLog((outputDirPath / "log.data").string(), "binary");
     std::cout << "Write log binary: " << timer.toc<std::milli>() << "ms" << std::endl;
     timer.tic();
-    engine->writeLog((outputDirPath / "log.hdf5").string(), "hdf5");
+    engine.writeLog((outputDirPath / "log.hdf5").string(), "hdf5");
     std::cout << "Write log HDF5: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     return 0;

core/examples/external_project/double_pendulum.cc

@@ -81,8 +81,8 @@ int main(int argc, char * argv[])
     controller->initialize(robot);
 
     // Instantiate the engine
-    auto engine = std::make_shared<Engine>();
-    engine->initialize(robot, controller, callback);
+    Engine engine{};
+    engine.initialize(robot, controller, callback);
     std::cout << "Initialization: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // =====================================================================
@@ -97,19 +97,18 @@ int main(int argc, char * argv[])
 
     // Run simulation
     timer.tic();
-    engine->simulate(tf, q0, v0);
+    engine.simulate(tf, q0, v0);
     std::cout << "Simulation: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // Write the log file
     std::vector<std::string> fieldnames;
-    std::shared_ptr<const LogData> logData;
-    engine->getLog(logData);
-    std::cout << logData->times.size() << " log points" << std::endl;
-    std::cout << engine->getStepperState().iter << " internal integration steps" << std::endl;
+    std::shared_ptr<const LogData> logDataPtr = engine.getLog();
+    std::cout << logDataPtr->times.size() << " log points" << std::endl;
+    std::cout << engine.getStepperState().iter << " internal integration steps" << std::endl;
     timer.tic();
-    engine->writeLog((outputDirPath / "log.data").string(), "binary");
+    engine.writeLog((outputDirPath / "log.data").string(), "binary");
     std::cout << "Write log binary: " << timer.toc<std::milli>() << "ms" << std::endl;
-    engine->writeLog((outputDirPath / "log.hdf5").string(), "hdf5");
+    engine.writeLog((outputDirPath / "log.hdf5").string(), "hdf5");
     std::cout << "Write log HDF5: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     return 0;

core/include/jiminy/core/constraints/abstract_constraint.h

@@ -29,17 +29,17 @@ namespace jiminy
         ///
         /// \remark This method is not intended to be called manually. The Robot to which the
         ///         constraint is added is taking care of it when its own `reset` method is called.
-        virtual hresult_t reset(const Eigen::VectorXd & q, const Eigen::VectorXd & v) = 0;
+        virtual void reset(const Eigen::VectorXd & q, const Eigen::VectorXd & v) = 0;
 
         void enable();
         void disable();
         bool getIsEnabled() const;
 
-        hresult_t setBaumgartePositionGain(double kp);
+        void setBaumgartePositionGain(double kp);
         double getBaumgartePositionGain() const;
-        hresult_t setBaumgarteVelocityGain(double kd);
+        void setBaumgarteVelocityGain(double kd);
         double getBaumgarteVelocityGain() const;
-        hresult_t setBaumgarteFreq(double freq);
+        void setBaumgarteFreq(double freq);
         /// \brief Natural frequency of critically damping position/velocity error correction.
         double getBaumgarteFreq() const;
 
@@ -50,8 +50,8 @@ namespace jiminy
         ///
         /// \param[in] q Current joint position.
         /// \param[in] v Current joint velocity.
-        virtual hresult_t computeJacobianAndDrift(const Eigen::VectorXd & q,
-                                                  const Eigen::VectorXd & v) = 0;
+        virtual void computeJacobianAndDrift(const Eigen::VectorXd & q,
+                                             const Eigen::VectorXd & v) = 0;
 
         virtual const std::string & getType() const = 0;
 
@@ -70,7 +70,7 @@ namespace jiminy
         /// \param[in] model Model on which to apply the constraint.
         ///
         /// \return Error code: attach may fail, including if the constraint is already attached.
-        hresult_t attach(std::weak_ptr<const Model> model);
+        void attach(std::weak_ptr<const Model> model);
 
         /// \brief Detach the constraint from its model.
         void detach();

core/include/jiminy/core/constraints/distance_constraint.h

@@ -27,14 +27,13 @@ namespace jiminy
         const std::array<std::string, 2> & getFramesNames() const noexcept;
         const std::array<pinocchio::FrameIndex, 2> & getFrameIndices() const noexcept;
 
-        hresult_t setReferenceDistance(double distanceRef);
+        void setReferenceDistance(double distanceRef);
         double getReferenceDistance() const noexcept;
 
-        virtual hresult_t reset(const Eigen::VectorXd & q,
-                                const Eigen::VectorXd & v) override final;
+        virtual void reset(const Eigen::VectorXd & q, const Eigen::VectorXd & v) override final;
 
-        virtual hresult_t computeJacobianAndDrift(const Eigen::VectorXd & q,
-                                                  const Eigen::VectorXd & v) override final;
+        virtual void computeJacobianAndDrift(const Eigen::VectorXd & q,
+                                             const Eigen::VectorXd & v) override final;
 
     private:
         /// \brief Names of the frames on which the constraint operates.

core/include/jiminy/core/constraints/frame_constraint.h

@@ -39,11 +39,10 @@ namespace jiminy
         void setNormal(const Eigen::Vector3d & normal) noexcept;
         const Eigen::Matrix3d & getLocalFrame() const noexcept;
 
-        virtual hresult_t reset(const Eigen::VectorXd & q,
-                                const Eigen::VectorXd & v) override final;
+        virtual void reset(const Eigen::VectorXd & q, const Eigen::VectorXd & v) override final;
 
-        virtual hresult_t computeJacobianAndDrift(const Eigen::VectorXd & q,
-                                                  const Eigen::VectorXd & v) override final;
+        virtual void computeJacobianAndDrift(const Eigen::VectorXd & q,
+                                             const Eigen::VectorXd & v) override final;
 
     private:
         /// \brief Name of the frame on which the constraint operates.

core/include/jiminy/core/constraints/joint_constraint.h

@@ -33,11 +33,10 @@ namespace jiminy
         void setRotationDir(bool isReversed) noexcept;
         bool getRotationDir() noexcept;
 
-        virtual hresult_t reset(const Eigen::VectorXd & q,
-                                const Eigen::VectorXd & v) override final;
+        virtual void reset(const Eigen::VectorXd & q, const Eigen::VectorXd & v) override final;
 
-        virtual hresult_t computeJacobianAndDrift(const Eigen::VectorXd & q,
-                                                  const Eigen::VectorXd & v) override final;
+        virtual void computeJacobianAndDrift(const Eigen::VectorXd & q,
+                                             const Eigen::VectorXd & v) override final;
 
     private:
         /// \brief Name of the joint on which the constraint operates.

core/include/jiminy/core/constraints/sphere_constraint.h

@@ -38,11 +38,11 @@ namespace jiminy
         void setReferenceTransform(const pinocchio::SE3 & transformRef) noexcept;
         const pinocchio::SE3 & getReferenceTransform() const noexcept;
 
-        virtual hresult_t reset(const Eigen::VectorXd & /* q */,
-                                const Eigen::VectorXd & /* v */) override final;
+        virtual void reset(const Eigen::VectorXd & /* q */,
+                           const Eigen::VectorXd & /* v */) override final;
 
-        virtual hresult_t computeJacobianAndDrift(const Eigen::VectorXd & q,
-                                                  const Eigen::VectorXd & v) override final;
+        virtual void computeJacobianAndDrift(const Eigen::VectorXd & q,
+                                             const Eigen::VectorXd & v) override final;
 
     private:
         /// \brief Name of the frame on which the constraint operates.

core/include/jiminy/core/constraints/wheel_constraint.h

@@ -40,11 +40,11 @@ namespace jiminy
         void setReferenceTransform(const pinocchio::SE3 & transformRef) noexcept;
         const pinocchio::SE3 & getReferenceTransform() const noexcept;
 
-        virtual hresult_t reset(const Eigen::VectorXd & /* q */,
-                                const Eigen::VectorXd & /* v */) override final;
+        virtual void reset(const Eigen::VectorXd & /* q */,
+                           const Eigen::VectorXd & /* v */) override final;
 
-        virtual hresult_t computeJacobianAndDrift(const Eigen::VectorXd & q,
-                                                  const Eigen::VectorXd & v) override final;
+        virtual void computeJacobianAndDrift(const Eigen::VectorXd & q,
+                                             const Eigen::VectorXd & v) override final;
 
     private:
         /// \brief Name of the frame on which the constraint operates.

core/include/jiminy/core/control/abstract_controller.h

@@ -56,9 +56,7 @@ namespace jiminy
         /// \brief Set the parameters of the controller.
         ///
         /// \param[in] robot Robot
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
-        virtual hresult_t initialize(std::weak_ptr<const Robot> robot);
+        virtual void initialize(std::weak_ptr<const Robot> robot);
 
         /// \brief Dynamically registered a scalar variable to the telemetry. It is the main entry
         ///        point for a user to log custom variables.
@@ -70,24 +68,20 @@ namespace jiminy
         ///
         /// \param[in] name Name of the variable. It will appear in the header of the log.
         /// \param[in] values Variable to add to the telemetry.
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
         template<typename T>
-        hresult_t registerVariable(const std::string_view & name, const T & value);
+        void registerVariable(const std::string_view & name, const T & value);
 
         /// \brief Dynamically registered a Eigen Vector to the telemetry.
         ///
         /// \param[in] fieldnames Name of each element of the variable. It will appear in the
         ///                       header of the log.
         /// \param[in] values Eigen vector to add to the telemetry. It accepts non-contiguous
         ///                   temporary.
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
-        hresult_t registerVariable(
+        void registerVariable(
             const std::vector<std::string> & fieldnames,
             const Eigen::Ref<VectorX<double>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>> &
                 values);
-        hresult_t registerVariable(
+        void registerVariable(
             const std::vector<std::string> & fieldnames,
             const Eigen::Ref<VectorX<int64_t>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>> &
                 values);
@@ -96,10 +90,8 @@ namespace jiminy
         ///
         /// \param[in] name Name of the variable.
         /// \param[in] values Variable to add to the telemetry
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
         template<typename T>
-        hresult_t registerConstant(const std::string_view & name, const T & value);
+        void registerConstant(const std::string_view & name, const T & value);
 
         /// \brief Remove all variables dynamically registered to the telemetry.
         ///
@@ -115,12 +107,10 @@ namespace jiminy
         /// \param[in] q Current configuration vector.
         /// \param[in] v Current velocity vector.
         /// \param[out] command Output effort vector.
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
-        virtual hresult_t computeCommand(double t,
-                                         const Eigen::VectorXd & q,
-                                         const Eigen::VectorXd & v,
-                                         Eigen::VectorXd & command) = 0;
+        virtual void computeCommand(double t,
+                                    const Eigen::VectorXd & q,
+                                    const Eigen::VectorXd & v,
+                                    Eigen::VectorXd & command) = 0;
 
         /// \brief Emulate custom phenomenon that are part of the internal dynamics of the system
         ///        but not included in the physics engine.
@@ -129,12 +119,10 @@ namespace jiminy
         /// \param[in] q Current configuration vector.
         /// \param[in] v Current velocity vector.
         /// \param[in] uCustom Output effort vector.
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
-        virtual hresult_t internalDynamics(double t,
-                                           const Eigen::VectorXd & q,
-                                           const Eigen::VectorXd & v,
-                                           Eigen::VectorXd & uCustom) = 0;
+        virtual void internalDynamics(double t,
+                                      const Eigen::VectorXd & q,
+                                      const Eigen::VectorXd & v,
+                                      Eigen::VectorXd & uCustom) = 0;
 
         /// \brief Dictionary with the parameters of the controller.
         GenericConfig getOptions() const noexcept;
@@ -144,9 +132,7 @@ namespace jiminy
         /// \details Note that one must reset Jiminy Engine for this to take effect.
         ///
         /// \param[in] controllerOptions Dictionary with the parameters of the controller.
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
-        hresult_t setOptions(const GenericConfig & controllerOptions);
+        void setOptions(const GenericConfig & controllerOptions);
 
         /// \brief Configure the telemetry of the controller.
         ///
@@ -160,10 +146,8 @@ namespace jiminy
         ///         it before flushing the telemetry data at the end of each simulation steps.
         ///
         /// \param[in] telemetryData Shared pointer to the robot-wide telemetry data object
-        ///
-        /// \return Return code to determine whether the execution of the method was successful.
-        virtual hresult_t configureTelemetry(std::shared_ptr<TelemetryData> telemetryData,
-                                             const std::string & prefix = {});
+        virtual void configureTelemetry(std::shared_ptr<TelemetryData> telemetryData,
+                                        const std::string & prefix = {});
 
         /// \brief Update the internal buffers of the telemetry associated with variables monitored
         ///        by the controller.
@@ -188,7 +172,7 @@ namespace jiminy
         ///
         /// \param[in] resetDynamicTelemetry Whether variables dynamically registered to the
         ///                                  telemetry must be removed. Optional: False by default.
-        virtual hresult_t reset(bool resetDynamicTelemetry = false);
+        virtual void reset(bool resetDynamicTelemetry = false);
 
         /// \brief Whether the controller has been initialized.
         ///