rewamped.

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

@@ -108,7 +108,7 @@ namespace jiminy
         const std::string & getType() const { return type_; }
 
     public:
-        static const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI type_;
+        static const std::string type_;
     };
 }
 

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

@@ -12,6 +12,9 @@ namespace jiminy
 {
     class Model;
 
+    class DistanceConstraint;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractConstraintTpl<DistanceConstraint>;
+
     class JIMINY_DLLAPI DistanceConstraint : public AbstractConstraintTpl<DistanceConstraint>
     {
     public:
@@ -46,9 +49,11 @@ namespace jiminy
         std::array<Matrix6Xd, 2> frameJacobians_{};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractConstraintTpl<DistanceConstraint>::type_;
+#endif
 }
 
 #endif  // end of JIMINY_TRANSMISSION_CONSTRAINT_H

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

@@ -11,6 +11,9 @@ namespace jiminy
 {
     class Model;
 
+    class FrameConstraint;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractConstraintTpl<FrameConstraint>;
+
     /// \brief This class implements the constraint for fixing a given frame wrt
     /// world.
     class JIMINY_DLLAPI FrameConstraint : public AbstractConstraintTpl<FrameConstraint>
@@ -63,9 +66,11 @@ namespace jiminy
         pinocchio::Motion frameDrift_{};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractConstraintTpl<FrameConstraint>::type_;
+#endif
 }
 
 #endif  // end of JIMINY_ABSTRACT_MOTOR_H

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

@@ -12,6 +12,9 @@ namespace jiminy
 {
     class Model;
 
+    class JointConstraint;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractConstraintTpl<JointConstraint>;
+
     class JIMINY_DLLAPI JointConstraint : public AbstractConstraintTpl<JointConstraint>
     {
     public:
@@ -49,9 +52,11 @@ namespace jiminy
         bool isReversed_{false};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractConstraintTpl<JointConstraint>::type_;
+#endif
 }
 
 #endif  // end of JIMINY_JOINT_CONSTRAINT_H

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

@@ -12,6 +12,9 @@ namespace jiminy
 {
     class Model;
 
+    class SphereConstraint;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractConstraintTpl<SphereConstraint>;
+
     /// \brief Class constraining a sphere to roll without slipping on a flat plane.
     ///
     /// \details Given a frame to represent the sphere center, this class constrains it to move
@@ -61,9 +64,11 @@ namespace jiminy
         Matrix6Xd frameJacobian_{};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractConstraintTpl<SphereConstraint>::type_;
+#endif
 }
 
 #endif  // end of JIMINY_SPHERE_CONSTRAINT_H

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

@@ -12,6 +12,9 @@ namespace jiminy
 {
     class Model;
 
+    class WheelConstraint;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractConstraintTpl<WheelConstraint>;
+
     /// \brief Class constraining a wheel to roll without slipping on a flat plane.
     ///
     /// \details Given a frame to represent the wheel center, this class constrains it to move
@@ -67,9 +70,11 @@ namespace jiminy
         Matrix6Xd frameJacobian_{};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractConstraintTpl<WheelConstraint>::type_;
+#endif
 }
 
 #endif  // end of JIMINY_WHEEL_CONSTRAINT_H

core/include/jiminy/core/hardware/abstract_sensor.h

@@ -358,9 +358,9 @@ namespace jiminy
     public:
         /* Be careful, the static variables must be const since the 'static' keyword binds all the
            sensors together, even if they are associated to complete separated robots. */
-        static const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI type_;
-        static const std::vector<std::string> JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI fieldnames_;
-        static const bool JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI areFieldnamesGrouped_;
+        static const std::string type_;
+        static const std::vector<std::string> fieldnames_;
+        static const bool areFieldnamesGrouped_;
 
     protected:
         std::size_t sensorIndex_{0};

core/include/jiminy/core/hardware/basic_sensors.h

@@ -10,6 +10,9 @@ namespace jiminy
 {
     class Robot;
 
+    class ImuSensor;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractSensorTpl<ImuSensor>;
+
     class JIMINY_DLLAPI ImuSensor final : public AbstractSensorTpl<ImuSensor>
     {
     public:
@@ -41,14 +44,19 @@ namespace jiminy
         Eigen::Matrix3d sensorRotationBiasInv_{Eigen::Matrix3d::Identity()};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI AbstractSensorTpl<ImuSensor>::type_;
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT AbstractSensorTpl<ImuSensor>::type_;
     template<>
-    const std::vector<std::string> JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::vector<std::string> JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<ImuSensor>::fieldnames_;
     template<>
-    const bool JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const bool JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<ImuSensor>::areFieldnamesGrouped_;
+#endif
+
+    class ContactSensor;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractSensorTpl<ContactSensor>;
 
     class JIMINY_DLLAPI ContactSensor final : public AbstractSensorTpl<ContactSensor>
     {
@@ -79,14 +87,20 @@ namespace jiminy
         std::size_t contactIndex_{0};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI AbstractSensorTpl<ContactSensor>::type_;
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
+        AbstractSensorTpl<ContactSensor>::type_;
     template<>
-    const std::vector<std::string> JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::vector<std::string> JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<ContactSensor>::fieldnames_;
     template<>
-    const bool JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const bool JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<ContactSensor>::areFieldnamesGrouped_;
+#endif
+
+    class ForceSensor;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractSensorTpl<ForceSensor>;
 
     class JIMINY_DLLAPI ForceSensor final : public AbstractSensorTpl<ForceSensor>
     {
@@ -120,14 +134,20 @@ namespace jiminy
         pinocchio::Force f_{};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI AbstractSensorTpl<ForceSensor>::type_;
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
+        AbstractSensorTpl<ForceSensor>::type_;
     template<>
-    const std::vector<std::string> JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::vector<std::string> JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<ForceSensor>::fieldnames_;
     template<>
-    const bool JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const bool JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<ForceSensor>::areFieldnamesGrouped_;
+#endif
+
+    class EncoderSensor;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractSensorTpl<EncoderSensor>;
 
     class JIMINY_DLLAPI EncoderSensor final : public AbstractSensorTpl<EncoderSensor>
     {
@@ -159,14 +179,20 @@ namespace jiminy
         JointModelType jointType_{JointModelType::UNSUPPORTED};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI AbstractSensorTpl<EncoderSensor>::type_;
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
+        AbstractSensorTpl<EncoderSensor>::type_;
     template<>
-    const std::vector<std::string> JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::vector<std::string> JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<EncoderSensor>::fieldnames_;
     template<>
-    const bool JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const bool JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<EncoderSensor>::areFieldnamesGrouped_;
+#endif
+
+    class EffortSensor;
+    template class JIMINY_TEMPLATE_INSTANTIATION_DLLAPI AbstractSensorTpl<EffortSensor>;
 
     class JIMINY_DLLAPI EffortSensor final : public AbstractSensorTpl<EffortSensor>
     {
@@ -196,14 +222,17 @@ namespace jiminy
         std::size_t motorIndex_{0};
     };
 
+#ifdef EXPORT_SYMBOLS
     template<>
-    const std::string JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI AbstractSensorTpl<EffortSensor>::type_;
+    const std::string JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
+        AbstractSensorTpl<EffortSensor>::type_;
     template<>
-    const std::vector<std::string> JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const std::vector<std::string> JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<EffortSensor>::fieldnames_;
     template<>
-    const bool JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI
+    const bool JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
         AbstractSensorTpl<EffortSensor>::areFieldnamesGrouped_;
+#endif
 }
 
 #endif  // end of JIMINY_BASIC_SENSORS_H

core/include/jiminy/core/macros.h

@@ -24,31 +24,29 @@
 #    define JIMINY_DLLEXPORT __declspec(dllexport)
 #    define JIMINY_TEMPLATE_DLLIMPORT
 #    define JIMINY_TEMPLATE_DLLEXPORT
-#    define JIMINY_TEMPLATE_STATIC_MEMBER_DLLIMPORT JIMINY_DLLIMPORT
-#    define JIMINY_TEMPLATE_STATIC_MEMBER_DLLEXPORT JIMINY_DLLEXPORT
-#    define JIMINY_TEMPLATE_EXPLICIT_INSTANTIATION_DLLIMPORT JIMINY_DLLIMPORT
-#    define JIMINY_TEMPLATE_EXPLICIT_INSTANTIATION_DLLEXPORT JIMINY_DLLEXPORT
+#    define JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT JIMINY_DLLEXPORT
+#    define JIMINY_TEMPLATE_INSTANTIATION_DLLIMPORT JIMINY_DLLIMPORT
+#    define JIMINY_TEMPLATE_INSTANTIATION_DLLEXPORT JIMINY_DLLEXPORT
 #else
 // On Linux, tag symbols using de-facto standard visibility attribute extension
 #    define JIMINY_DLLIMPORT __attribute__((visibility("default")))
 #    define JIMINY_DLLEXPORT __attribute__((visibility("default")))
 #    define JIMINY_TEMPLATE_DLLIMPORT JIMINY_DLLIMPORT
 #    define JIMINY_TEMPLATE_DLLEXPORT JIMINY_DLLEXPORT
-#    define JIMINY_TEMPLATE_STATIC_MEMBER_DLLIMPORT
-#    define JIMINY_TEMPLATE_STATIC_MEMBER_DLLEXPORT
-#    define JIMINY_TEMPLATE_EXPLICIT_INSTANTIATION_DLLIMPORT
-#    define JIMINY_TEMPLATE_EXPLICIT_INSTANTIATION_DLLEXPORT
+#    define JIMINY_TEMPLATE_SPECIALIZATION_DLLEXPORT
+#    define JIMINY_TEMPLATE_INSTANTIATION_DLLIMPORT
+#    define JIMINY_TEMPLATE_INSTANTIATION_DLLEXPORT
 #endif
 
 // Define DLLAPI to import or export depending on whether one is building or using the library
 #ifdef EXPORT_SYMBOLS
 #    define JIMINY_DLLAPI JIMINY_DLLEXPORT
 #    define JIMINY_TEMPLATE_DLLAPI JIMINY_TEMPLATE_DLLEXPORT
-#    define JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI JIMINY_TEMPLATE_STATIC_MEMBER_DLLEXPORT
+#    define JIMINY_TEMPLATE_INSTANTIATION_DLLAPI JIMINY_TEMPLATE_INSTANTIATION_DLLEXPORT
 #else
 #    define JIMINY_DLLAPI JIMINY_DLLIMPORT
 #    define JIMINY_TEMPLATE_DLLAPI JIMINY_TEMPLATE_DLLIMPORT
-#    define JIMINY_TEMPLATE_STATIC_MEMBER_DLLAPI JIMINY_TEMPLATE_STATIC_MEMBER_DLLIMPORT
+#    define JIMINY_TEMPLATE_INSTANTIATION_DLLAPI JIMINY_TEMPLATE_INSTANTIATION_DLLIMPORT
 #endif
 
 // ******************************* Error and warnings utilities ******************************** //