Make TSID compatible with Pinocchio 2

[huaijiangzhu]

This PR resolves the issue #23 by replacing the namespace se3 with pinocchio.

[jcarpent]

@huaijiangzhu Do you know why your system has changed the right on each file of TSID? Can you revert it?

[huaijiangzhu]

@huaijiangzhu Do you know why your system has changed the right on each file of TSID? Can you revert it?

What do you mean by "right"?

[jviereck]

What do you mean by "right"?

@huaijiangzhu, if you look at the file changes on GitHub, you see many files have no content change but an ownership/permission change from 100644 → 100755.

[huaijiangzhu]

What do you mean by "right"?

@huaijiangzhu, if you look at the file changes on GitHub, you see many files have no content change but an ownership/permission change from 100644 → 100755.

I see. The new commits should fix it!

[jviereck]

Builds with pinocchio v2 and make test passes for me. Well done @huaijiangzhu 👍 .

[wxmerkt]

Awesome! Can this be merged before the MEMMO winter school such that people have an easier time installing it?

[andreadelprete]

I could merge it right now, but I am afraid we are right now in a limbo where people who install pinocchio from source would benefit from this PR, while people who install pinocchio from binaries would not, so I don't know if it's worth it. @jcarpent maybe has a clearer view of the status of Pinocchio's binaries?

[wxmerkt]

That's a good point! We've also noticed that the Romeo example does not work when run from source.

[andreadelprete]

That's a good point! We've also noticed that the Romeo example does not work when run from source.

Maybe you could open an issue describing the problem(s) you've found? So I can try to help and hopefully everybody can benefit from this.

[andreadelprete]

I've checked and I can now confirm that Pinocchio's binaries are still on version 1.3, so merging this PR on master would make TSID incompatible with Pinocchio's binaries. For this reason I think it's better to create a new branch of TSID that is compatible with Pinocchio 2, so that people can choose which one to use depending on their version of Pinocchio.

[jcarpent]

@andreadelprete If I were you, I would let this PR open but set it in a waiting mode.
Indeed, @nim65s is about to release Pinocchio 2.0.0 on robotpkg this week. @nim65s Can you confirm this schedule?

[nim65s]

I can confirm this is the expected schedule :)

[andreadelprete]

Too late, I've already merged it in the new branch pinocchio_v2

[wxmerkt]

Is there a way to do it with a compile time define guard? [Version guard I mean]

[nim65s]

We can put ADD_REQUIRED_DEPENDENCY("pinocchio < 2.0.0") in master and ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0") in the pinocchio_v2 branch

[wxmerkt]

I was more thinking of a way to check for the pinocchio version during compile time and have defines for the API bits that changed. E.g.:

#ifdef PINOCCHIO_VERSION_2
using namespace se3 = pinocchio;
#endif

or similar - so it can be a single branch instead of two to be maintained.

[jcarpent]

Yes, there is such can of mechanism in Pinocchio itself. You just need to add the compilation flag -DPINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1. See #23 for related discussions.