[core] Move member initialization in header when possible.

.github/workflows/macos.yml

@@ -31,7 +31,7 @@ jobs:
       CMAKE_C_COMPILER: "/usr/bin/clang"
       CMAKE_CXX_COMPILER: "/usr/bin/clang++"
       CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -Wno-deprecated-declarations"
-      MACOSX_DEPLOYMENT_TARGET: "10.15"
+      OSX_DEPLOYMENT_TARGET: "10.15"
       OSX_ARCHITECTURES: "x86_64;arm64"
       WHEEL_ARCH: "universal2"
 
@@ -64,7 +64,7 @@ jobs:
         "${PYTHON_EXECUTABLE}" -m pip install delocate twine
     - name: Build project dependencies
       run: |
-        MACOSX_DEPLOYMENT_TARGET=${MACOSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
+        OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
           BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
         "${PYTHON_EXECUTABLE}" -m pip install "torch==${TORCH_VERSION}" -f https://download.pytorch.org/whl/cpu
         "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
@@ -82,7 +82,7 @@ jobs:
         cmake "${RootDir}" -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
               -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
               -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \
-              -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+              -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
               -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON \
               -DBOOST_ROOT="${InstallDir}" -DBoost_INCLUDE_DIR="${InstallDir}/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
@@ -126,7 +126,7 @@ jobs:
         delocate-wheel -vvv --require-archs "${WHEEL_ARCH}" \
                        -w "${RootDir}/build/wheelhouse" "${RootDir}/build/pypi/dist/jiminy_py/"*.whl
         "${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/wheel_addplat_macos.py" -vvv --rm-orig --clobber \
-            -p "macosx_${MACOSX_DEPLOYMENT_TARGET//./_}_${WHEEL_ARCH}" "${RootDir}/build/wheelhouse/"*.whl
+            -p "macosx_${OSX_DEPLOYMENT_TARGET//./_}_${WHEEL_ARCH}" "${RootDir}/build/wheelhouse/"*.whl
         "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "${RootDir}/build/wheelhouse/"*.whl
     - name: Upload the wheel for Linux of jiminy_py
       if: matrix.BUILD_TYPE == 'Release'

build_tools/build_install_deps_unix.sh

@@ -10,14 +10,14 @@ if [ -z ${BUILD_TYPE} ]; then
 fi
 
 ### Set the macos sdk version min if undefined
-if [ -z ${MACOSX_DEPLOYMENT_TARGET} ]; then
-  MACOSX_DEPLOYMENT_TARGET="10.15"
-  echo "MACOSX_DEPLOYMENT_TARGET is unset. Defaulting to '${MACOSX_DEPLOYMENT_TARGET}'."
+if [ -z ${OSX_DEPLOYMENT_TARGET} ]; then
+  OSX_DEPLOYMENT_TARGET="10.15"
+  echo "OSX_DEPLOYMENT_TARGET is unset. Defaulting to '${OSX_DEPLOYMENT_TARGET}'."
 fi
 
 ### Set the build architecture if undefined
 if [ -z ${OSX_ARCHITECTURES} ]; then
-  OSX_ARCHITECTURES="x86_64"
+  OSX_ARCHITECTURES="arm64"
   echo "OSX_ARCHITECTURES is unset. Defaulting to '${OSX_ARCHITECTURES}'."
 fi
 
@@ -32,6 +32,8 @@ if [ -z ${CMAKE_CXX_COMPILER} ]; then
 fi
 
 ### Set common CMAKE_C/CXX_FLAGS
+#   '_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION' flag is required to compile `boost::container_hash::hash`
+#   with C++17 enabled from "old" releases of Boost.
 CMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION -Wno-deprecated-declarations"
 if [ "${BUILD_TYPE}" == "Release" ]; then
   CMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -DNDEBUG -O3"
@@ -43,8 +45,8 @@ fi
 echo "CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}"
 
 ### Get the fullpath of Jiminy project
-ScriptDir="$(cd "$(dirname "$0")" >/dev/null 2>&1 && pwd)"
-RootDir="$(dirname $ScriptDir)"
+ScriptDir="$(cd "$(dirname -- $0)" >/dev/null 2>&1 && pwd)"
+RootDir="$(dirname -- ${ScriptDir})"
 
 ### Set the fullpath of the install directory, then creates it
 InstallDir="${RootDir}/install"
@@ -79,7 +81,7 @@ unset Boost_ROOT
 #   - Boost.Python == 1.75 fixes support of PyPy
 #   - Boost.Python == 1.76 fixes error handling at import
 #   - Boost >= 1.75 is required to compile ouf-of-the-box on MacOS for intel and Apple Silicon
-#   - Boost < 1.77 causes compilation failure with gcc-12.
+#   - Boost < 1.77 causes compilation failure with gcc-12 if not patched
 #   - Boost >= 1.77 affects the memory layout to improve alignment, breaking retro-compatibility
 if [ ! -d "${RootDir}/boost" ]; then
   git clone --depth 1 https://github.com/boostorg/boost.git "${RootDir}/boost"
@@ -206,6 +208,9 @@ git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/pino
 #   * Set the cmake cache variable CMAKE_PREFIX_PATH
 #   * Set the environment variable Boost_DIR
 
+# Must add toolset to search path for boost build system to find it
+PATH="${PATH}:$(dirname -- ${CMAKE_C_COMPILER})"
+
 ### Build and install the build tool b2 (build-ception !)
 cd "${RootDir}/boost"
 ./bootstrap.sh --prefix="${InstallDir}" --with-python="${PYTHON_EXECUTABLE}"
@@ -234,7 +239,7 @@ else
 fi
 CMAKE_CXX_FLAGS_B2="-fPIC -std=c++11"
 if [ "${OSTYPE//[0-9.]/}" == "darwin" ]; then
-  CMAKE_CXX_FLAGS_B2="${CMAKE_CXX_FLAGS_B2} -mmacosx-version-min=${MACOSX_DEPLOYMENT_TARGET}"
+  CMAKE_CXX_FLAGS_B2="${CMAKE_CXX_FLAGS_B2} -mmacosx-version-min=${OSX_DEPLOYMENT_TARGET}"
 fi
 if grep -q ";" <<< "${OSX_ARCHITECTURES}" ; then
   CMAKE_CXX_FLAGS_B2="${CMAKE_CXX_FLAGS_B2} $(echo "-arch ${OSX_ARCHITECTURES}" | sed "s/;/ -arch /g")"
@@ -249,7 +254,7 @@ mkdir -p "${RootDir}/boost/build"
      architecture= address-model=64 $DebugOptionsB2 \
      threading=single link=static runtime-link=static \
      cxxflags="${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_B2}" \
-     linkflags="${CMAKE_CXX_FLAGS_B2}" \
+     linkflags="${CMAKE_CXX_FLAGS_B2}" toolset="$(basename -- ${CMAKE_C_COMPILER})" \
      variant="$BuildTypeB2" install -q -d0 -j2
 
 ./b2 --prefix="${InstallDir}" --build-dir="${RootDir}/boost/build" \
@@ -258,7 +263,7 @@ mkdir -p "${RootDir}/boost/build"
      architecture= address-model=64 $DebugOptionsB2 \
      threading=single link=shared runtime-link=shared \
      cxxflags="${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_B2}" \
-     linkflags="${CMAKE_CXX_FLAGS_B2}" \
+     linkflags="${CMAKE_CXX_FLAGS_B2}" toolset="$(basename -- ${CMAKE_C_COMPILER})" \
      variant="$BuildTypeB2" install -q -d0 -j2
 
 #################################### Build and install eigen3 ##########################################
@@ -277,7 +282,7 @@ cd "${RootDir}/eigenpy/build"
 cmake "${RootDir}/eigenpy" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=OFF \
       -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" -DPYTHON_STANDARD_LAYOUT=ON \
@@ -295,12 +300,11 @@ cd "${RootDir}/tinyxml/build"
 cmake "${RootDir}/tinyxml" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -DTIXML_USE_STL" \
       -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
-
 make install -j2
 
 ############################## Build and install console_bridge ########################################
@@ -310,7 +314,7 @@ cd "${RootDir}/console_bridge/build"
 cmake "${RootDir}/console_bridge" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
@@ -330,7 +334,7 @@ cd "${RootDir}/urdfdom/build"
 cmake "${RootDir}/urdfdom" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON -DBUILD_TESTING=OFF \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
@@ -343,7 +347,7 @@ cd "${RootDir}/cppad/build"
 cmake "${RootDir}/cppad" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
@@ -356,7 +360,7 @@ cd "${RootDir}/cppadcodegen/build"
 cmake "${RootDir}/cppadcodegen" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DGOOGLETEST_GIT=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
@@ -371,14 +375,14 @@ cd "${RootDir}/assimp/build"
 cmake "${RootDir}/assimp" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DASSIMP_BUILD_ASSIMP_TOOLS=OFF -DASSIMP_BUILD_ZLIB=ON -DASSIMP_BUILD_TESTS=OFF \
       -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF -DBUILD_TESTING=OFF \
       -DCMAKE_C_FLAGS="${CMAKE_CXX_FLAGS} -DHAVE_HIDDEN" -DCMAKE_CXX_FLAGS_RELEASE_INIT="" \
       -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -Wno-strict-overflow -Wno-tautological-compare -Wno-array-compare $(
-      ) -Wno-alloc-size-larger-than -Wno-unknown-warning-option -Wno-unknown-warning" \
+      ) -Wno-alloc-size-larger-than -Wno-unknown-warning-option -Wno-unknown-warning -Wno-error=array-bounds" \
       -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
 
@@ -389,7 +393,7 @@ cd "${RootDir}/hpp-fcl/third-parties/qhull/build"
 cmake "${RootDir}/hpp-fcl/third-parties/qhull" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DCMAKE_C_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -Wno-conversion" \
@@ -401,7 +405,7 @@ cd "${RootDir}/hpp-fcl/build"
 cmake "${RootDir}/hpp-fcl" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=OFF \
       -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" -DPYTHON_STANDARD_LAYOUT=ON \
@@ -423,7 +427,7 @@ cd "${RootDir}/pinocchio/build"
 cmake "${RootDir}/pinocchio" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
-      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+      -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=OFF \
       -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" -DPYTHON_STANDARD_LAYOUT=ON \

build_tools/cmake/base.cmake

@@ -55,7 +55,7 @@ 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=array-bounds -Wno-error=redundant-move")
 endif()
 
 # Shared libraries need PIC

core/CMakeLists.txt

@@ -114,7 +114,7 @@ target_include_directories(${PROJECT_NAME}-object PUBLIC
 )
 
 # Configure jsoncpp and hdf5 dependencies.
-# Note that defining only BUILD_INTERFACE will prevent the header files to be exported,
+# Note that defining only BUILD_INTERFACE will prevent the header files from being exported,
 # thus not making them available by a side-project depending on Jiminy. However, since
 # jsoncpp is installed on the system as an external project, those side-projects must
 # simply call find_package(jsoncpp) and it will be included automatically.
@@ -124,7 +124,7 @@ target_include_directories(${PROJECT_NAME}-object SYSTEM PUBLIC
     $<BUILD_INTERFACE:${INSTALL_DIR}/include>
 )
 
-# Linking with other libraries (in such a way to avoid any warnings compiling them)
+# Linking with other libraries (as a way to avoid any warnings compiling them)
 target_link_libraries_system(${PROJECT_NAME}-object pinocchio::pinocchio hpp-fcl::hpp-fcl Eigen3::Eigen)
 if(NOT "${urdfdom_LIBRARIES}" MATCHES ".*tinyxml.*")
     list(APPEND urdfdom_LIBRARIES "tinyxml")
@@ -133,7 +133,7 @@ target_link_libraries(${PROJECT_NAME}-object ${urdfdom_LIBRARIES})
 target_link_libraries(${PROJECT_NAME}-object jsoncpp::jsoncpp hdf5::hdf5_cpp hdf5::hdf5 hdf5::zlib)  # Beware the order is critical !
 if(WIN32)
     # Adding this dependency on Windows is necessary since HDF5 >= 1.14.3.
-    # Hopefully this broken transitive dependency when build static libary
+    # Hopefully this broken transitive dependency when building static libary
     # will be fixed. See: https://github.com/HDFGroup/hdf5/issues/3663
     target_link_libraries(${PROJECT_NAME}-object shlwapi)
 endif()
@@ -143,7 +143,7 @@ if(UNIX AND NOT APPLE)
     target_link_libraries(${PROJECT_NAME}-object ${CMAKE_DL_LIBS} -lrt)
 endif()
 
-# Create both static and shared libraries from intermediary object
+# Create both static and shared libraries from the intermediary object
 add_library(${PROJECT_NAME} STATIC $<TARGET_OBJECTS:${PROJECT_NAME}-object>)
 target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}-object)
 add_library(${LIBRARY_NAME} SHARED $<TARGET_OBJECTS:${PROJECT_NAME}-object>)
@@ -171,7 +171,7 @@ if(BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif()
 
-# Specialize jiminy core configuration file and install it
+# Specialize Jiminy core configuration file and install it
 set(JIMINY_CONFIG_IN "${CMAKE_SOURCE_DIR}/build_tools/cmake/jiminyConfig.cmake.in")
 set(JIMINY_CONFIG_OUT "${CMAKE_BINARY_DIR}/cmake/jiminyConfig.cmake")
 configure_file(${JIMINY_CONFIG_IN} ${JIMINY_CONFIG_OUT} @ONLY)

core/examples/double_pendulum/double_pendulum.cc

@@ -7,9 +7,10 @@
 #include <filesystem>
 
 #include "jiminy/core/fwd.h"
+#include "jiminy/core/hardware/fwd.h"
+#include "jiminy/core/telemetry/fwd.h"
 #include "jiminy/core/utilities/helpers.h"
 #include "jiminy/core/io/file_device.h"
-#include "jiminy/core/telemetry/telemetry_recorder.h"
 #include "jiminy/core/hardware/abstract_sensor.h"
 #include "jiminy/core/hardware/basic_motors.h"
 #include "jiminy/core/control/controller_functor.h"

core/examples/external_project/double_pendulum.cc

@@ -7,9 +7,10 @@
 #include <filesystem>
 
 #include "jiminy/core/fwd.h"
+#include "jiminy/core/hardware/fwd.h"
+#include "jiminy/core/telemetry/fwd.h"
 #include "jiminy/core/utilities/helpers.h"
 #include "jiminy/core/io/file_device.h"
-#include "jiminy/core/telemetry/telemetry_recorder.h"
 #include "jiminy/core/hardware/abstract_sensor.h"
 #include "jiminy/core/hardware/basic_motors.h"
 #include "jiminy/core/control/controller_functor.h"

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

@@ -22,7 +22,7 @@ namespace jiminy
         DISABLE_COPY(AbstractConstraintBase)
 
     public:
-        AbstractConstraintBase() = default;
+        explicit AbstractConstraintBase() = default;
         virtual ~AbstractConstraintBase();
 
         /// \brief Refresh the internal buffers and proxies.
@@ -77,25 +77,25 @@ namespace jiminy
 
     public:
         /// \brief Lambda multipliers.
-        Eigen::VectorXd lambda_;
+        Eigen::VectorXd lambda_{};
 
     protected:
         /// \brief Model on which the constraint operates.
-        std::weak_ptr<const Model> model_;
+        std::weak_ptr<const Model> model_{};
         /// \brief Flag to indicate whether the constraint has been attached to a model.
-        bool isAttached_;
+        bool isAttached_{false};
         /// \brief Flag to indicate whether the constraint is enabled.
         ///
         /// \remarks Handling of this flag is done at Robot level.
-        bool isEnabled_;
+        bool isEnabled_{false};
         /// \brief Position-related baumgarte stabilization gain.
-        double kp_;
+        double kp_{0.0};
         /// \brief Velocity-related baumgarte stabilization gain.
-        double kd_;
+        double kd_{0.0};
         /// \brief Jacobian of the constraint.
-        Eigen::MatrixXd jacobian_;
+        Eigen::MatrixXd jacobian_{};
         /// \brief Drift of the constraint.
-        Eigen::VectorXd drift_;
+        Eigen::VectorXd drift_{};
     };
 
     template<class T>