Test for precompiled headers

- Eigen/Dense
- pinocchio/algorithm
- pinocchio/multibody

Author: ManifoldFR

CMakeLists.txt

@@ -409,8 +409,17 @@ function(create_library)
   if(BUILD_WITH_OPENMP_SUPPORT)
     target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
   endif()
-  target_link_libraries(${PROJECT_NAME} PUBLIC proxsuite-nlp::proxsuite-nlp)
-  target_link_libraries(${PROJECT_NAME} PUBLIC fmt::fmt)
+  target_link_libraries(
+    ${PROJECT_NAME}
+    PUBLIC proxsuite-nlp::proxsuite-nlp fmt::fmt
+  )
+  target_precompile_headers(
+    ${PROJECT_NAME}
+    PRIVATE
+      <Eigen/Dense>
+      include/aligator/pinocchio-algorithm.pch.h
+      include/aligator/pinocchio-multibody.pch.h
+  )
   # set the install-tree include dirs
   # used by dependent projects to consume this target
   target_include_directories(

bindings/python/CMakeLists.txt

@@ -53,16 +53,14 @@ function(make_bindings)
   # deprecated functions are exposed up until they are removed. remove warnings.
   target_compile_options(${PYLIB_NAME} PRIVATE "-Wno-deprecated-declarations")
   target_compile_definitions(${PYLIB_NAME} PRIVATE MODULE_NAME=${PYLIB_NAME})
-  target_include_directories(
-    ${PYLIB_NAME}
-    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  )
-
   target_link_libraries(${PYLIB_NAME} PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
   target_include_directories(
     ${PYLIB_NAME}
-    PUBLIC $<TARGET_PROPERTY:proxsuite-nlp::pyproxsuite_nlp,INCLUDE_DIRECTORIES>
+    PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<TARGET_PROPERTY:proxsuite-nlp::pyproxsuite_nlp,INCLUDE_DIRECTORIES>
   )
+  target_precompile_headers(${PYLIB_NAME} REUSE_FROM ${PROJECT_NAME})
 
   if(BUILD_CROCODDYL_COMPAT)
     target_link_libraries(${PYLIB_NAME} PUBLIC aligator::croc_compat)

include/aligator/pinocchio-algorithm.pch.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <pinocchio/algorithm/aba.hpp>
+#include <pinocchio/algorithm/aba-derivatives.hpp>
+
+#include <pinocchio/algorithm/center-of-mass.hpp>
+#include <pinocchio/algorithm/center-of-mass-derivatives.hpp>
+
+#include <pinocchio/algorithm/centroidal.hpp>
+#include <pinocchio/algorithm/centroidal-derivatives.hpp>
+
+#include <pinocchio/algorithm/constrained-dynamics.hpp>
+#include <pinocchio/algorithm/constrained-dynamics-derivatives.hpp>
+#include <pinocchio/algorithm/contact-jacobian.hpp>
+
+#include <pinocchio/algorithm/frames.hpp>
+#include <pinocchio/algorithm/frames-derivatives.hpp>
+
+#include <pinocchio/algorithm/joint-configuration.hpp>
+
+#include <pinocchio/algorithm/rnea.hpp>
+#include <pinocchio/algorithm/rnea-derivatives.hpp>

include/aligator/pinocchio-multibody.pch.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include <pinocchio/multibody/data.hpp>
+#include <pinocchio/multibody/model.hpp>
+#include <pinocchio/multibody/geometry.hpp>