pinocchio
2.6.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
macros.hpp
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//
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// Copyright (c) 2017-2020 CNRS INRIA
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//
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#ifndef __pinocchio_macros_hpp__
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#define __pinocchio_macros_hpp__
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// On Windows, __cplusplus is not necessarily set to the C++ version being used.
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// See https://docs.microsoft.com/fr-fr/cpp/build/reference/zc-cplusplus?view=vs-2019 for further information.
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#if (__cplusplus >= 201703L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703))
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#define PINOCCHIO_WITH_CXX17_SUPPORT
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#endif
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#if (__cplusplus >= 201403L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201403))
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#define PINOCCHIO_WITH_CXX14_SUPPORT
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#endif
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#if (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
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#define PINOCCHIO_WITH_CXX11_SUPPORT
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#endif
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#define PINOCCHIO_STRING_LITERAL(string) #string
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// For more details, visit https://stackoverflow.com/questions/171435/portability-of-warning-preprocessor-directive
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#if defined(__GNUC__) || defined(__clang__)
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#define PINOCCHIO_PRAGMA(x) _Pragma(#x)
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#define PINOCCHIO_PRAGMA_MESSAGE(the_message) PINOCCHIO_PRAGMA(GCC message #the_message)
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#define PINOCCHIO_PRAGMA_WARNING(the_message) PINOCCHIO_PRAGMA(GCC warning #the_message)
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#define PINOCCHIO_PRAGMA_DEPRECATED(the_message) PINOCCHIO_PRAGMA_WARNING(Deprecated: #the_message)
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#define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header,new_header) \
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PINOCCHIO_PRAGMA_WARNING(Deprecated header file: #old_header has been replaced by #new_header.\n Please use #new_header instead of #old_header.)
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#endif
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// This macro can be used to prevent from macro expansion, similarly to EIGEN_NOT_A_MACRO
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#define PINOCCHIO_NOT_A_MACRO
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namespace
pinocchio
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{
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namespace
helper
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{
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template
<
typename
T>
struct
argument_type
;
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template
<
typename
T,
typename
U>
struct
argument_type
<T(U)> {
typedef
U type; };
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}
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}
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#define PINOCCHIO_MACRO_EMPTY_ARG
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#define PINOCCHIO_UNUSED_VARIABLE(var) (void)(var)
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#define PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(type,M,nrows,ncols) \
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EIGEN_STATIC_ASSERT( (type::RowsAtCompileTime == Eigen::Dynamic || type::RowsAtCompileTime == nrows) \
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&& (type::ColsAtCompileTime == Eigen::Dynamic || type::ColsAtCompileTime == ncols),\
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THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE); \
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assert(M.rows()==nrows && M.cols()==ncols);
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#define PINOCCHIO_STATIC_ASSERT(condition,msg) \
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{ int msg[(condition) ? 1 : -1];
/*avoid unused-variable warning*/
(void) msg; }
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namespace
pinocchio
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{
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namespace
helper
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{
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template
<
typename
D,
template
<
typename
>
class
TypeAccess>
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struct
handle_return_type_without_typename
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{
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typedef
typename
TypeAccess<
typename
argument_type
<void(D)>::type >::type type;
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};
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}
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}
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#if defined(__GNUC__) || defined(__clang__)
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
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#elif defined (WIN32)
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH _Pragma("warning(push)")
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_POP _Pragma("warning(pop)")
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS _Pragma("warning(disable : 4996)")
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#else
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_POP
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# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
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#endif // __GNUC__
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// Handle explicitely the GCC boring warning: 'anonymous variadic macros were introduced in C++11'
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#include <exception>
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#include <stdexcept>
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#if defined(__GNUC__)
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#pragma GCC system_header
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#endif
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#if defined(__GNUC__) || defined(__clang__)
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wvariadic-macros"
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#endif
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#if !defined(PINOCCHIO_NO_THROW)
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#define PINOCCHIO_THROW(condition,exception_type,message) \
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if (!(condition)) { throw exception_type(message); }
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#else
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#define PINOCCHIO_THROW(condition,exception_type,message)
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#endif
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#define _PINOCCHIO_EXPAND(x) x
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#define _PINOCCHIO_GET_OVERRIDE_FOR_CHECK_INPUT_ARGUMENT(_1, _2, MACRO_NAME, ...) MACRO_NAME
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#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_2(condition, message) \
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PINOCCHIO_THROW(condition,std::invalid_argument,message)
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#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_1(condition) \
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_PINOCCHIO_CHECK_INPUT_ARGUMENT_2(condition,\
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"The following check on the input argument has failed: "#condition)
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#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_0
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#define PINOCCHIO_CHECK_INPUT_ARGUMENT(...) \
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_PINOCCHIO_EXPAND(_PINOCCHIO_EXPAND(_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_INPUT_ARGUMENT(__VA_ARGS__,_PINOCCHIO_CHECK_INPUT_ARGUMENT_2,\
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_PINOCCHIO_CHECK_INPUT_ARGUMENT_1,_PINOCCHIO_CHECK_INPUT_ARGUMENT_0))(__VA_ARGS__))
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#define _PINOCCHIO_GET_OVERRIDE_FOR_CHECK_ARGUMENT_SIZE(_1, _2, _3, MACRO_NAME, ...) MACRO_NAME
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#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_3(size, expected_size, message) \
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if (size != expected_size) { \
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std::ostringstream oss; \
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oss << "wrong argument size: expected " << expected_size << ", got " << size << std::endl; \
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oss << "hint: " << message << std::endl; \
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PINOCCHIO_THROW(false, std::invalid_argument, oss.str()); \
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}
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#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_2(size, expected_size) \
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_PINOCCHIO_CHECK_ARGUMENT_SIZE_3(size, expected_size, PINOCCHIO_STRING_LITERAL(size) " is different from " PINOCCHIO_STRING_LITERAL(expected_size))
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#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_1
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#define PINOCCHIO_CHECK_ARGUMENT_SIZE(...) \
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_PINOCCHIO_EXPAND(_PINOCCHIO_EXPAND(_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_ARGUMENT_SIZE(__VA_ARGS__,_PINOCCHIO_CHECK_ARGUMENT_SIZE_3, \
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_PINOCCHIO_CHECK_ARGUMENT_SIZE_2, _PINOCCHIO_CHECK_ARGUMENT_SIZE_1))(__VA_ARGS__))
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#if defined(__GNUC__) || defined(__clang__)
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#pragma GCC diagnostic pop
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#endif
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#endif // ifndef __pinocchio_macros_hpp__
pinocchio::helper::handle_return_type_without_typename
Definition:
macros.hpp:71
pinocchio::helper::argument_type
Definition:
macros.hpp:42
pinocchio
Main pinocchio namespace.
Definition:
treeview.dox:24
src
macros.hpp
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