[Minor][C++] Fix compilation issues

src/math/quaternion.hpp

@@ -18,7 +18,7 @@
 #ifndef __math_quaternion_hpp__
 #define __math_quaternion_hpp__
 
-#include <boost/math/constants/constants.hpp>
+#include <pinocchio/math/fwd.hpp>
 
 namespace se3
 {

src/multibody/joint/joint-base.hpp

@@ -20,6 +20,7 @@
 #define __se3_joint_base_hpp__
 
 #include "pinocchio/multibody/fwd.hpp"
+#include "pinocchio/multibody/joint/fwd.hpp"
 
 #include <Eigen/Core>
 #include <limits>

unittest/liegroups.cpp

@@ -16,7 +16,6 @@
 
 #include "pinocchio/multibody/liegroup/liegroup.hpp"
 
-#include "pinocchio/multibody/joint/joint-composite.hpp"
 #include "pinocchio/multibody/joint/joint.hpp"
 
 #include <boost/test/unit_test.hpp>
@@ -74,21 +73,6 @@ struct TestJoint{
     test_lie_group_methods(jmodel, jdata);    
   }
 
-  void operator()(const se3::JointModelComposite & ) const
-  {
-    // se3::JointModelComposite jmodel(2);
-    // jmodel.addJointModel(se3::JointModelRX());
-    // jmodel.addJointModel(se3::JointModelRY());
-
-    se3::JointModelComposite jmodel((se3::JointModelRX()));
-    jmodel.addJoint(se3::JointModelRY());
-    jmodel.setIndexes(0,0,0);
-
-    se3::JointModelComposite::JointDataDerived jdata = jmodel.createData();
-
-    test_lie_group_methods(jmodel, jdata);
-  }
-
   void operator()(const se3::JointModelRevoluteUnaligned & ) const
   {
     se3::JointModelRevoluteUnaligned jmodel(1.5, 1., 0.);