[core] Remove return codes and throw exceptions instead. (#713)

* [core] Remove return codes and throw exceptions instead.
* [misc] Update C++ dependencies to latest releases.

.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/build_install_deps_unix.sh

@@ -110,7 +110,7 @@ if [ ! -d "${RootDir}/eigenpy" ]; then
 fi
 cd "${RootDir}/eigenpy"
 git reset --hard
-git fetch origin "v3.1.4" && git checkout --force FETCH_HEAD || true
+git fetch origin "v3.3.0" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/eigenpy.patch"
@@ -155,7 +155,7 @@ if [ ! -d "${RootDir}/cppad" ]; then
 fi
 cd "${RootDir}/cppad"
 git reset --hard
-git fetch origin "20230000.0" && git checkout --force FETCH_HEAD || true
+git fetch origin "20240000.2" && git checkout --force FETCH_HEAD || true
 
 ### Checkout CppADCodeGen
 if [ ! -d "${RootDir}/cppadcodegen" ]; then
@@ -180,7 +180,7 @@ if [ ! -d "${RootDir}/hpp-fcl" ]; then
 fi
 cd "${RootDir}/hpp-fcl"
 git reset --hard
-git fetch origin "v2.4.0" && git checkout --force FETCH_HEAD || true
+git fetch origin "v2.4.1" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/hppfcl.patch"
@@ -194,7 +194,7 @@ if [ ! -d "${RootDir}/pinocchio" ]; then
 fi
 cd "${RootDir}/pinocchio"
 git reset --hard
-git fetch origin "v2.6.21" && git checkout --force FETCH_HEAD || true
+git fetch origin "v2.7.0" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/pinocchio.patch"

build_tools/build_install_deps_windows.ps1

@@ -108,7 +108,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigenpy")) {
 }
 Push-Location -Path "$RootDir/eigenpy"
 git reset --hard
-git fetch origin "v3.1.4"
+git fetch origin "v3.3.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
@@ -164,7 +164,7 @@ if (-not (Test-Path -PathType Container "$RootDir/cppad")) {
 }
 Push-Location -Path "$RootDir/cppad"
 git reset --hard
-git fetch origin "20230000.0"
+git fetch origin "20240000.2"
 git checkout --force FETCH_HEAD
 Pop-Location
 
@@ -195,7 +195,7 @@ if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl")) {
 }
 Push-Location -Path "$RootDir/hpp-fcl"
 git reset --hard
-git fetch origin "v2.4.0"
+git fetch origin "v2.4.1"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
@@ -214,7 +214,7 @@ if (-not (Test-Path -PathType Container "$RootDir/pinocchio")) {
 }
 Push-Location -Path "$RootDir/pinocchio"
 git reset --hard
-git fetch origin "v2.6.21"
+git fetch origin "v2.7.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8

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

build_tools/easy_install_deps_ubuntu.sh

@@ -81,8 +81,8 @@ fi
 # Note that `apt-get` is used instead of `apt` because it supports wildcard in package names
 apt-mark unhold "robotpkg-py3*-eigenpy" "robotpkg-py3*-hpp-fcl" "robotpkg-py3*-pinocchio"
 apt-get install -y --allow-downgrades --allow-unauthenticated \
-    robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=2.4.0 robotpkg-pinocchio=2.6.21 \
-    robotpkg-py3*-eigenpy=3.1.4 robotpkg-py3*-hpp-fcl=2.4.0 robotpkg-py3*-pinocchio=2.6.21
+    robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=2.4.1 robotpkg-pinocchio=2.7.0 \
+    robotpkg-py3*-eigenpy=3.3.0 robotpkg-py3*-hpp-fcl=2.4.1 robotpkg-py3*-pinocchio=2.7.0
 apt-mark hold "robotpkg-py3*-eigenpy" "robotpkg-py3*-hpp-fcl" "robotpkg-py3*-pinocchio"
 
 # Add openrobots libraries to python packages search path

build_tools/patch_deps_unix/hppfcl.patch

@@ -15,17 +15,17 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
  SET_BOOST_DEFAULT_OPTIONS()
  EXPORT_BOOST_DEFAULT_OPTIONS()
 -IF(WIN32)
--  ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS chrono thread date_time serialization)
+-  ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS chrono thread date_time serialization filesystem)
 -ELSE(WIN32)
--  ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization)
+-  ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization filesystem)
 -ENDIF(WIN32)
  if(BUILD_PYTHON_INTERFACE)
    find_package(Boost REQUIRED COMPONENTS system)
  endif(BUILD_PYTHON_INTERFACE)
 +IF(WIN32)
-+  ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS chrono thread date_time serialization)
++  ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS chrono thread date_time serialization filesystem)
 +ELSE(WIN32)
-+  ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization)
++  ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization filesystem)
 +ENDIF(WIN32)
 
  if(Boost_VERSION_STRING VERSION_LESS 1.81)

build_tools/patch_deps_windows/hppfcl.patch

@@ -10,7 +10,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
  if(BUILD_PYTHON_INTERFACE)
    FIND_PACKAGE(eigenpy 2.7.10 REQUIRED)
 @@ -121,34 +122,24 @@
-   ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization)
+   ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization filesystem)
  ENDIF(WIN32)
  if(BUILD_PYTHON_INTERFACE)
 +  ADD_PROJECT_DEPENDENCY(Boost REQUIRED system)

build_tools/patch_deps_windows/pinocchio.patch

@@ -83,16 +83,3 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
      set(Boost_NO_BOOST_CMAKE ON)
    endif("${Boost_SHORT_VERSION}" VERSION_GREATER "1.70"
          OR "${Boost_SHORT_VERSION}" VERSION_EQUAL "1.70")
-diff --git a/bindings/python/utils/conversions.cpp b/bindings/python/utils/conversions.cpp
-index 87800d2b..c73707e5 100644
---- a/bindings/python/utils/conversions.cpp
-+++ b/bindings/python/utils/conversions.cpp
-@@ -37,7 +37,7 @@ namespace pinocchio
-     template <typename TupleOrList>
-     SE3 XYZQUATToSE3_bp(const TupleOrList& v)
-     {
--      ssize_t size = bp::len(v);
-+      bp::ssize_t size = bp::len(v);
-       if(size != 7)
-       {
-         throw std::invalid_argument(

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.