Merge pull request #250 from Simple-Robotics/topic/fix-build-without-pinocchio

Fully support building aligator without Pinocchio support (including without proxsuite-nlp Pinocchio support)

Author: ManifoldFR

.gersemirc

@@ -1,6 +1,4 @@
+definitions: [./CMakeLists.txt, ./examples, ./tests, ./bindings]
 line_length: 80
-cache: true
 indent: 2
-quiet: true
 warn_about_unknown_commands: false
-workers: 8

.pre-commit-config.yaml

@@ -4,14 +4,14 @@ ci:
   autoupdate_schedule: quarterly
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.1
+    rev: v19.1.4
     hooks:
     - id: clang-format
       types_or: []
       types: [text]
       files: '\.(cpp|cxx|c|h|hpp|hxx|txx)$'
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -28,13 +28,13 @@ repos:
             )$
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.6.9'
+    rev: 'v0.8.1'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]
       - id: ruff-format
   - repo: https://github.com/BlankSpruce/gersemi
-    rev: 0.15.1
+    rev: 0.17.1
     hooks:
       - id: gersemi
   - repo: https://github.com/Lucas-C/pre-commit-hooks

CHANGELOG.md

@@ -32,6 +32,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Default constructor for `LQRProblemTpl`
 - Removed header `gar/fwd.hpp` with forward-declarations
 
+### Fixed
+
+- Building aligator without Pinocchio support (including without Pinocchio support in the proxsuite-nlp dependency) is now supported. ([#250](https://github.com/Simple-Robotics/aligator/pull/250))
+
 ## [0.9.0] - 2024-10-11
 
 ### Added

CMakeLists.txt

@@ -212,14 +212,37 @@ if(BUILD_WITH_OPENMP_SUPPORT)
   add_compile_definitions(ALIGATOR_MULTITHREADING)
 endif()
 
+set(BOOST_REQUIRED_COMPONENTS filesystem)
+set_boost_default_options()
+export_boost_default_options()
+add_project_dependency(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
+add_project_dependency(proxsuite-nlp 0.8.0 REQUIRED PKG_CONFIG_REQUIRES "proxsuite-nlp >= 0.8.0")
+
 if(BUILD_WITH_PINOCCHIO_SUPPORT)
-  message(STATUS "Building with Pinocchio support.")
+  message(STATUS "Building aligator with Pinocchio support.")
+  if(NOT DEFINED PROXSUITE_NLP_WITH_PINOCCHIO_SUPPORT)
+    message(
+      FATAL_ERROR
+      "The aligator Pinocchio features require Pinocchio support in proxsuite-nlp. Please check your installation of proxsuite-nlp (found at ${proxsuite-nlp_DIR}).\n"
+      "If you didn't build proxsuite-nlp yourself, please contact the maintainer for the distribution you used."
+    )
+  endif()
   add_compile_definitions(ALIGATOR_WITH_PINOCCHIO)
   list(APPEND CFLAGS_DEPENDENCIES "-DALIGATOR_WITH_PINOCCHIO")
+  set(PINOCCHIO_V3 ${pinocchio_VERSION} VERSION_GREATER "3.0.0")
+  if(PINOCCHIO_V3)
+    add_compile_definitions(ALIGATOR_PINOCCHIO_V3)
+  endif()
+elseif(PROXSUITE_NLP_WITH_PINOCCHIO_SUPPORT)
+  message(
+    WARNING
+    "Aligator is being built without Pinocchio features, although the provided version of proxsuite-nlp has Pinocchio support. "
+    "Make sure this is what you want."
+  )
 endif()
 
 if(BUILD_CROCODDYL_COMPAT)
-  message(STATUS "Building with Crocoddyl compatibility.")
+  message(STATUS "Building with Crocoddyl support.")
   add_compile_definitions(ALIGATOR_WITH_CROCODDYL_COMPAT)
   list(APPEND CFLAGS_DEPENDENCIES "-DALIGATOR_WITH_CROCODDYL_COMPAT")
 endif()
@@ -238,21 +261,13 @@ if(BUILD_WITH_CHOLMOD_SUPPORT)
   add_compile_definitions(ALIGATOR_WITH_CHOLMOD)
 endif()
 
-set(BOOST_REQUIRED_COMPONENTS filesystem)
-set_boost_default_options()
-export_boost_default_options()
-add_project_dependency(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
-
 if(BUILD_PYTHON_INTERFACE)
   set(PYTHON_COMPONENTS Interpreter Development NumPy)
-  findpython(REQUIRED)
   add_project_dependency(eigenpy 3.7.0 REQUIRED PKG_CONFIG_REQUIRES "eigenpy >= 3.7.0")
   set(PYLIB_NAME "py${PROJECT_NAME}")
   set(${PYLIB_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PROJECT_NAME})
 endif()
 
-add_project_dependency(proxsuite-nlp 0.8.0 REQUIRED PKG_CONFIG_REQUIRES "proxsuite-nlp >= 0.8.0")
-
 set(LIB_SOURCES src/utils/exceptions.cpp src/utils/logger.cpp)
 
 file(
@@ -432,9 +447,14 @@ add_subdirectory(bindings)
 
 # benchmarks, examples, and tests
 
-macro(create_ex_or_bench exfile exname)
+macro(create_ex_or_bench is_bench exfile exname)
   add_executable(${exname} ${exfile})
-  message(STATUS "Adding cpp example ${exname}")
+  if(${is_bench})
+    set(ex_type "bench")
+  else()
+    set(ex_type "example")
+  endif()
+  message(STATUS "Adding cpp ${ex_type} ${exname}")
   set_target_properties(${exname} PROPERTIES LINKER_LANGUAGE CXX)
   set_standard_output_directory(${exname})
   target_include_directories(${exname} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -483,13 +503,6 @@ if(BUILD_BENCHMARKS OR BUILD_TESTING)
   set_standard_output_directory(gar_test_utils)
 endif()
 
-if(
-  BUILD_WITH_PINOCCHIO_SUPPORT
-  AND ${pinocchio_VERSION} VERSION_GREATER "2.9.0"
-)
-  set(PINOCCHIO_V3 True)
-endif()
-
 if(PINOCCHIO_V3 AND (BUILD_EXAMPLES OR BUILD_BENCHMARKS))
   add_library(
     talos_walk_utils
@@ -534,19 +547,19 @@ macro(EXPORT_VARIABLE var_name var_value)
 endmacro()
 
 if(BUILD_WITH_PINOCCHIO_SUPPORT)
-  export_variable(ALIGATOR_WITH_PINOCCHIO_SUPPORT ON)
+  EXPORT_VARIABLE(ALIGATOR_WITH_PINOCCHIO_SUPPORT ON)
 endif()
 if(ENABLE_TEMPLATE_INSTANTIATION)
-  export_variable(ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION ON)
+  EXPORT_VARIABLE(ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION ON)
 endif()
 if(BUILD_PYTHON_INTERFACE)
-  export_variable(ALIGATOR_WITH_PYTHON_INTERFACE ON)
+  EXPORT_VARIABLE(ALIGATOR_WITH_PYTHON_INTERFACE ON)
 endif()
 if(BUILD_WITH_OPENMP_SUPPORT)
-  export_variable(ALIGATOR_WITH_OPENMP_SUPPORT ON)
+  EXPORT_VARIABLE(ALIGATOR_WITH_OPENMP_SUPPORT ON)
 endif()
 if(BUILD_CROCODDYL_COMPAT)
-  export_variable(ALIGATOR_WITH_CROCODDYL_COMPAT ON)
+  EXPORT_VARIABLE(ALIGATOR_WITH_CROCODDYL_COMPAT ON)
   pkg_config_append_libs(aligator_croc_compat)
 endif()
 

README.md

@@ -48,7 +48,7 @@ It's used by our CI agent so you have the guarantee to get the right dependencie
 Run the following command to install dependencies, configure, build and test the project:
 
 ```bash
-pixi run -e all test
+pixi run test
 ```
 
 The project will be built in the `build` directory.

bench/CMakeLists.txt

@@ -1,12 +1,12 @@
 #
-# Copyright (C) 2023 LAAS-CNRS, INRIA
+# Copyright (C) 2023-2024 LAAS-CNRS, INRIA
 #
 
 # Create a benchmark
 function(create_bench exfile croc)
   get_filename_component(exname ${exfile} NAME_WE)
   set(exname "bench-${exname}")
-  create_ex_or_bench(${exfile} ${exname})
+  create_ex_or_bench(TRUE ${exfile} ${exname})
 
   target_include_directories(${exname} PRIVATE ../examples)
   target_link_libraries(${exname} PRIVATE benchmark::benchmark)

bindings/python/src/modelling/expose-fly-high.cpp

@@ -1,7 +1,7 @@
 /// @file
 /// @copyright Copyright (C) 2023 LAAS-CNRS, INRIA
-#include "aligator/modelling/multibody/context.hpp"
 #ifdef ALIGATOR_WITH_PINOCCHIO
+#include "aligator/modelling/multibody/context.hpp"
 
 #include "aligator/python/fwd.hpp"
 #include "aligator/python/modelling/multibody-utils.hpp"

bindings/python/src/modelling/expose-freefwd.cpp

@@ -1,4 +1,5 @@
-/// @copyright Copyright (C) 2022 LAAS-CNRS, INRIA
+/// @copyright Copyright (C) 2022-2024 LAAS-CNRS, INRIA
+#ifdef ALIGATOR_WITH_PINOCCHIO
 #include "aligator/modelling/dynamics/context.hpp"
 #include "aligator/python/fwd.hpp"
 
@@ -55,3 +56,4 @@ void exposeFreeFwdDynamics() {
 }
 } // namespace python
 } // namespace aligator
+#endif

bindings/python/src/modelling/expose-gravity-compensation.cpp

@@ -1,3 +1,5 @@
+/// @copyright Copyright (C) 2024 LAAS-CNRS, INRIA
+#ifdef ALIGATOR_WITH_PINOCCHIO
 #include "aligator/python/fwd.hpp"
 #include "aligator/modelling/multibody/context.hpp"
 #include "aligator/modelling/multibody/gravity-compensation-residual.hpp"
@@ -30,3 +32,4 @@ void exposeGravityCompensation() {
 }
 
 } // namespace aligator::python
+#endif

bindings/python/src/modelling/expose-kinodynamics.cpp

@@ -1,6 +1,7 @@
 /// @copyright Copyright (C) 2022 LAAS-CNRS, INRIA
 #include "aligator/python/fwd.hpp"
 
+#ifdef PROXSUITE_NLP_WITH_PINOCCHIO
 #include "aligator/modelling/dynamics/kinodynamics-fwd.hpp"
 #include <pinocchio/multibody/fwd.hpp>
 #include <proxsuite-nlp/modelling/spaces/multibody.hpp>
@@ -49,3 +50,4 @@ void exposeKinodynamics() {
 }
 } // namespace python
 } // namespace aligator
+#endif

examples/CMakeLists.txt

@@ -1,34 +1,60 @@
 #
-# Copyright (C) 2022-2023 LAAS-CNRS, INRIA
+# Copyright (C) 2022-2024 LAAS-CNRS, INRIA
 #
 
 cmake_policy(SET CMP0057 NEW)
 
 # Create an example
-macro(create_example exfile)
+function(create_example exfile)
+  set(options "")
+  set(oneValueArgs "")
+  set(multiValueArgs DEPENDENCIES)
+
+  cmake_parse_arguments(
+    arg_crex
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
+
   get_filename_component(exname ${exfile} NAME_WE)
   set(exname "${PROJECT_NAME}-example-${exname}")
-  create_ex_or_bench(${exfile} ${exname})
-endmacro()
-
-function(create_example_with_croco exfile)
-  create_example(${exfile})
-  target_link_libraries(
-    ${exname}
-    PRIVATE aligator::croc_compat croc_talos_arm_utils
-  )
+  create_ex_or_bench(False ${exfile} ${exname})
+  if(DEFINED arg_crex_DEPENDENCIES)
+    message("   > depends on ${arg_crex_DEPENDENCIES}")
+    foreach(dep ${arg_crex_DEPENDENCIES})
+      target_link_libraries(${exname} PRIVATE ${dep})
+    endforeach()
+  endif()
 endfunction()
 
-create_example(se2-car.cpp)
-create_example(clqr.cpp)
+set(EXAMPLES_LIST clqr)
+
+if(PROXSUITE_NLP_WITH_PINOCCHIO_SUPPORT)
+  list(APPEND EXAMPLES_LIST se2-car)
+endif()
+if(PINOCCHIO_V3)
+  list(APPEND EXAMPLES_LIST talos-walk)
+endif()
+
+foreach(filename ${EXAMPLES_LIST})
+  create_example(${filename}.cpp)
+endforeach()
+
 if(PINOCCHIO_V3)
-  create_example(talos-walk.cpp)
-  target_add_talos_walk(${exname})
+  target_add_talos_walk(aligator-example-talos-walk)
 endif()
 
 if(BUILD_CROCODDYL_COMPAT)
-  create_example_with_croco(talos-arm.cpp)
-  target_add_example_robot_data(${exname})
+  add_project_private_dependency(example-robot-data 4.0.9 REQUIRED)
+  create_example(
+    talos-arm.cpp
+    DEPENDENCIES
+      aligator::croc_compat
+      croc_talos_arm_utils
+      example-robot-data::example-robot-data
+  )
 endif()
 
 file(GLOB EXAMPLES_PY *.py)

include/aligator/fwd.hpp

@@ -8,9 +8,6 @@
 
 #ifdef ALIGATOR_WITH_PINOCCHIO
 #include <pinocchio/config.hpp>
-#if PINOCCHIO_VERSION_AT_LEAST(3, 0, 0)
-#define ALIGATOR_PINOCCHIO_V3
-#endif
 #endif
 
 #include "aligator/math.hpp"

include/aligator/modelling/dynamics/kinodynamics-fwd.hpp

@@ -3,6 +3,8 @@
 
 #include "aligator/modelling/dynamics/ode-abstract.hpp"
 
+#ifdef PROXSUITE_NLP_WITH_PINOCCHIO
+
 #include <Eigen/LU>
 #include <proxsuite-nlp/modelling/spaces/multibody.hpp>
 #include <pinocchio/multibody/model.hpp>
@@ -99,3 +101,4 @@ struct KinodynamicsFwdDataTpl : ContinuousDynamicsDataTpl<Scalar> {
 } // namespace aligator
 
 #include "aligator/modelling/dynamics/kinodynamics-fwd.hxx"
+#endif

include/aligator/modelling/dynamics/kinodynamics-fwd.hxx

@@ -1,6 +1,8 @@
 /// @copyright Copyright (C) 2022 LAAS-CNRS, INRIA
 #pragma once
 
+#include "aligator/fwd.hpp"
+#ifdef PROXSUITE_NLP_WITH_PINOCCHIO
 #include "aligator/modelling/dynamics/kinodynamics-fwd.hpp"
 
 #include <pinocchio/algorithm/centroidal-derivatives.hpp>
@@ -227,3 +229,4 @@ KinodynamicsFwdDataTpl<Scalar>::KinodynamicsFwdDataTpl(
 }
 } // namespace dynamics
 } // namespace aligator
+#endif

include/aligator/modelling/dynamics/multibody-free-fwd.hpp

@@ -3,6 +3,7 @@
 
 #include "aligator/modelling/dynamics/ode-abstract.hpp"
 
+#ifdef ALIGATOR_WITH_PINOCCHIO
 #include <proxsuite-nlp/modelling/spaces/multibody.hpp>
 #include <pinocchio/multibody/data.hpp>
 
@@ -86,3 +87,4 @@ struct MultibodyFreeFwdDataTpl : ContinuousDynamicsDataTpl<Scalar> {
 #ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
 #include "aligator/modelling/dynamics/multibody-free-fwd.txx"
 #endif
+#endif

include/aligator/modelling/multibody/contact-force.hpp

@@ -1,12 +1,12 @@
 #pragma once
 
+#ifdef ALIGATOR_PINOCCHIO_V3
+
 #include "./fwd.hpp"
 #include "aligator/core/function-abstract.hpp"
 
 #include <Eigen/src/Core/util/Constants.h>
 #include <proxsuite-nlp/modelling/spaces/multibody.hpp>
-
-#ifdef ALIGATOR_PINOCCHIO_V3
 #include <pinocchio/algorithm/proximal.hpp>
 
 namespace aligator {

include/aligator/modelling/multibody/contact-force.hxx

@@ -1,5 +1,7 @@
 #pragma once
 
+#ifdef ALIGATOR_PINOCCHIO_V3
+
 #include "aligator/modelling/multibody/contact-force.hpp"
 
 #include <pinocchio/algorithm/constrained-dynamics.hpp>
@@ -60,3 +62,4 @@ ContactForceDataTpl<Scalar>::ContactForceDataTpl(
 }
 
 } // namespace aligator
+#endif