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Fix ambiguous function call on Windows #2155

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merged 3 commits into from
Feb 13, 2024
Merged

Fix ambiguous function call on Windows #2155

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4ad8907
liegroup: Use static method when possible in implementation
jorisv Feb 12, 2024
1a0276f
liegroup: disambiguate function call
jorisv Feb 12, 2024
2b3796c
changelog: Add changelog entry
jorisv Feb 12, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -12,6 +12,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
### Fixed
- Remove a lot of warnings ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
- `MeshcatVisualizer` doesn't crash anymore when there is no collision model defined ([#2147](https://github.com/stack-of-tasks/pinocchio/pull/2147))
- Fix MSVC build ([#2155](https://github.com/stack-of-tasks/pinocchio/pull/2155))

### Added
- Add `examples/floating-base-velocity-viewer.py` to visualize floating base velocity [#2143](https://github.com/stack-of-tasks/pinocchio/pull/2143)
Expand Down
46 changes: 22 additions & 24 deletions include/pinocchio/multibody/liegroup/special-euclidean.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -362,10 +362,10 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & J_out) const
const Eigen::MatrixBase<JacobianOut_t> & J_out)
{
JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
Expand All @@ -384,10 +384,10 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & J_out) const
const Eigen::MatrixBase<JacobianOut_t> & J_out)
{
JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2];
Expand All @@ -410,9 +410,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<Jacobian_t> & J) const
const Eigen::MatrixBase<Jacobian_t> & J)
{
Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J);
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
Expand All @@ -431,9 +431,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<Jacobian_t> & J) const
const Eigen::MatrixBase<Jacobian_t> & J)
{
Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J);
MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2];
Expand Down Expand Up @@ -470,16 +470,15 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t>
void random_impl(const Eigen::MatrixBase<Config_t> & qout) const
static void random_impl(const Eigen::MatrixBase<Config_t> & qout)
{
R2crossSO2_t().random(qout);
}

template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> & lower,
static void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> & lower,
const Eigen::MatrixBase<ConfigR_t> & upper,
const Eigen::MatrixBase<ConfigOut_t> & qout)
const
{
R2crossSO2_t ().randomConfiguration(lower, upper, qout);
}
Expand Down Expand Up @@ -581,9 +580,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP

/// \cheatsheet \f$ \frac{\partial\ominus}{\partial q_1} {}^1X_0 = - \frac{\partial\ominus}{\partial q_0} \f$
template <ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
void dDifference_impl (const Eigen::MatrixBase<ConfigL_t> & q0,
static void dDifference_impl (const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1,
const Eigen::MatrixBase<JacobianOut_t> & J) const
const Eigen::MatrixBase<JacobianOut_t> & J)
{
typedef typename SE3::Vector3 Vector3;
typedef typename SE3::Matrix3 Matrix3;
Expand Down Expand Up @@ -741,10 +740,10 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & J_out) const
const Eigen::MatrixBase<JacobianOut_t> & J_out)
{
JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
Eigen::Matrix<Scalar,6,6> Jtmp6;
Expand All @@ -759,10 +758,10 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & J_out) const
const Eigen::MatrixBase<JacobianOut_t> & J_out)
{
JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
Expand All @@ -781,9 +780,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP


template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<Jacobian_t> & J_out) const
const Eigen::MatrixBase<Jacobian_t> & J_out)
{
Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
Eigen::Matrix<Scalar,6,6> Jtmp6;
Expand All @@ -799,9 +798,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<Jacobian_t> & J_out) const
const Eigen::MatrixBase<Jacobian_t> & J_out)
{
Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
Expand Down Expand Up @@ -847,16 +846,15 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t>
void random_impl (const Eigen::MatrixBase<Config_t>& qout) const
static void random_impl (const Eigen::MatrixBase<Config_t>& qout)
{
R3crossSO3_t().random(qout);
}

template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> & lower,
static void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> & lower,
const Eigen::MatrixBase<ConfigR_t> & upper,
const Eigen::MatrixBase<ConfigOut_t> & qout)
const
{
R3crossSO3_t ().randomConfiguration(lower, upper, qout);
}
Expand Down
54 changes: 27 additions & 27 deletions include/pinocchio/multibody/liegroup/special-orthogonal.hpp
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Expand Up @@ -143,9 +143,9 @@ namespace pinocchio
}

template <ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
void dDifference_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
static void dDifference_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1,
const Eigen::MatrixBase<JacobianOut_t> & J) const
const Eigen::MatrixBase<JacobianOut_t> & J)
{
Matrix2 R; // R0.transpose() * R1;
R(0,0) = R(1,1) = q0.dot(q1);
Expand Down Expand Up @@ -176,7 +176,7 @@ namespace pinocchio
// See quaternion::firstOrderNormalize for equations.
const Scalar norm2 = out.squaredNorm();
out *= (3 - norm2) / 2;
assert (isNormalized(out));
assert (pinocchio::isNormalized(out));
}

template <class Config_t, class Jacobian_t>
Expand Down Expand Up @@ -237,32 +237,32 @@ namespace pinocchio
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & /*v*/,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & Jout) const
const Eigen::MatrixBase<JacobianOut_t> & Jout)
{
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout) = Jin;
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & /*v*/,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & Jout) const
const Eigen::MatrixBase<JacobianOut_t> & Jout)
{
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout) = Jin;
}

template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & /*v*/,
const Eigen::MatrixBase<Jacobian_t> & /*J*/) const {}
const Eigen::MatrixBase<Jacobian_t> & /*J*/) {}

template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & /*v*/,
const Eigen::MatrixBase<Jacobian_t> & /*J*/) const {}
const Eigen::MatrixBase<Jacobian_t> & /*J*/) {}



Expand Down Expand Up @@ -316,7 +316,7 @@ namespace pinocchio
}

template <class Config_t>
void random_impl (const Eigen::MatrixBase<Config_t>& qout) const
static void random_impl (const Eigen::MatrixBase<Config_t>& qout)
{
Config_t & out = PINOCCHIO_EIGEN_CONST_CAST(Config_t,qout);

Expand All @@ -326,9 +326,9 @@ namespace pinocchio
}

template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> &,
static void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> &,
const Eigen::MatrixBase<ConfigR_t> &,
const Eigen::MatrixBase<ConfigOut_t> & qout) const
const Eigen::MatrixBase<ConfigOut_t> & qout)
{
random_impl(qout);
}
Expand Down Expand Up @@ -387,9 +387,9 @@ namespace pinocchio
}

template <ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
void dDifference_impl (const Eigen::MatrixBase<ConfigL_t> & q0,
static void dDifference_impl (const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1,
const Eigen::MatrixBase<JacobianOut_t> & J) const
const Eigen::MatrixBase<JacobianOut_t> & J)
{
typedef typename SE3::Matrix3 Matrix3;

Expand Down Expand Up @@ -510,10 +510,10 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & J_out) const
const Eigen::MatrixBase<JacobianOut_t> & J_out)
{
typedef typename SE3::Matrix3 Matrix3;
JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
Expand All @@ -522,10 +522,10 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianIn_t> & Jin,
const Eigen::MatrixBase<JacobianOut_t> & J_out) const
const Eigen::MatrixBase<JacobianOut_t> & J_out)
{
typedef typename SE3::Matrix3 Matrix3;
JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
Expand All @@ -538,9 +538,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<Jacobian_t> & J_out) const
const Eigen::MatrixBase<Jacobian_t> & J_out)
{
typedef typename SE3::Matrix3 Matrix3;
Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
Expand All @@ -549,9 +549,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
static void dIntegrateTransport_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<Jacobian_t> & J_out) const
const Eigen::MatrixBase<Jacobian_t> & J_out)
{
typedef typename SE3::Matrix3 Matrix3;
Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
Expand Down Expand Up @@ -610,7 +610,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class Config_t>
void random_impl(const Eigen::MatrixBase<Config_t> & qout) const
static void random_impl(const Eigen::MatrixBase<Config_t> & qout)
{
QuaternionMap_t quat_map(PINOCCHIO_EIGEN_CONST_CAST(Config_t,qout).data());
quaternion::uniformRandom(quat_map);
Expand All @@ -619,9 +619,9 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
}

template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> &,
static void randomConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> &,
const Eigen::MatrixBase<ConfigR_t> &,
const Eigen::MatrixBase<ConfigOut_t> & qout) const
const Eigen::MatrixBase<ConfigOut_t> & qout)
{
random_impl(qout);
}
Expand Down
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