define locally BOOST_BIND_GLOBAL_PLACEHOLDERS, fix #128

CMakeLists.txt

@@ -161,6 +161,7 @@ SET(${PROJECT_NAME}_FORMULATIONS_HEADERS
   )
 
 FILE(GLOB ${PYWRAP}_HEADERS
+  include/tsid/bindings/python/fwd.hpp
   include/tsid/bindings/python/constraint/*.hpp
   include/tsid/bindings/python/contacts/*.hpp
   include/tsid/bindings/python/formulations/*.hpp

include/tsid/bindings/python/constraint/constraint-bound.hpp

@@ -19,10 +19,7 @@
 #ifndef __tsid_python_constriant_bound_hpp__
 #define __tsid_python_constriant_bound_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/math/constraint-bound.hpp"
 

include/tsid/bindings/python/constraint/constraint-equality.hpp

@@ -19,10 +19,7 @@
 #ifndef __tsid_python_constriant_equality_hpp__
 #define __tsid_python_constriant_equality_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/math/constraint-equality.hpp"
 

include/tsid/bindings/python/constraint/constraint-inequality.hpp

@@ -17,10 +17,7 @@
 #ifndef __tsid_python_constriant_inequality_hpp__
 #define __tsid_python_constriant_inequality_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/math/constraint-inequality.hpp"
 

include/tsid/bindings/python/contacts/contact-6d.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_contact_6d_hpp__
 #define __tsid_python_contact_6d_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/contacts/contact-6d.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/contacts/contact-point.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_contact_6d_hpp__
 #define __tsid_python_contact_6d_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/contacts/contact-point.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/formulations/formulation.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_HQPOutput_hpp__
 #define __tsid_python_HQPOutput_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include <pinocchio/bindings/python/utils/deprecation.hpp>
 

include/tsid/bindings/python/fwd.hpp

+//
+// Copyright (c) 2021 CNRS - INRIA
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#ifndef __tsid_python_fwd_hpp__
+#define __tsid_python_fwd_hpp__
+
+#include <string>
+
+#include <pinocchio/fwd.hpp>
+#include <eigenpy/eigenpy.hpp>
+
+// Silence a warning about a deprecated use of boost bind by boost python
+// at least fo boost 1.73 to 1.75
+// ref. https://github.com/stack-of-tasks/tsid/issues/128
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+
+#include <boost/python.hpp>
+#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include <boost/python/make_constructor.hpp>
+
+#undef BOOST_BIND_GLOBAL_PLACEHOLDERS
+
+#endif

include/tsid/bindings/python/robots/robot-wrapper.hpp

@@ -18,12 +18,7 @@
 #ifndef __tsid_python_robot_wrapper_hpp__
 #define __tsid_python_robot_wrapper_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
-#include <boost/python/make_constructor.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/robots/robot-wrapper.hpp"
 

include/tsid/bindings/python/solvers/HQPData.hpp

@@ -18,10 +18,7 @@
 #ifndef __tsid_python_test_hpp__
 #define __tsid_python_test_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/bindings/python/utils/container.hpp"
 

include/tsid/bindings/python/solvers/HQPOutput.hpp

@@ -18,10 +18,7 @@
 #ifndef __tsid_python_HQPOutput_hpp__
 #define __tsid_python_HQPOutput_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/solvers/solver-HQP-output.hpp"
 

include/tsid/bindings/python/solvers/solver-HQP-eiquadprog.hpp

@@ -18,10 +18,7 @@
 #ifndef __tsid_python_solver_quadprog_hpp__
 #define __tsid_python_solver_quadprog_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/solvers/solver-HQP-eiquadprog.hpp"
 #include "tsid/solvers/solver-HQP-eiquadprog-fast.hpp"

include/tsid/bindings/python/tasks/task-actuation-bounds.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_task_actuation_bounds_hpp__
 #define __tsid_python_task_actuation_bounds_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/tasks/task-actuation-bounds.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/tasks/task-am-equality.hpp

@@ -17,11 +17,8 @@
 
 #ifndef __tsid_python_task_am_hpp__
 #define __tsid_python_task_am_hpp__
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/tasks/task-angular-momentum-equality.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/tasks/task-com-equality.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_task_com_hpp__
 #define __tsid_python_task_com_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/tasks/task-com-equality.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/tasks/task-cop-equality.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_task_cop_hpp__
 #define __tsid_python_task_cop_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/tasks/task-cop-equality.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/tasks/task-joint-bounds.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_task_joint_bounds_hpp__
 #define __tsid_python_task_joint_bounds_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/tasks/task-joint-bounds.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/tasks/task-joint-posture.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_task_joint_hpp__
 #define __tsid_python_task_joint_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/tasks/task-joint-posture.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/tasks/task-se3-equality.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_task_se3_hpp__
 #define __tsid_python_task_se3_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/tasks/task-se3-equality.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/trajectories/trajectory-base.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_traj_sample_hpp__
 #define __tsid_python_traj_sample_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include <tsid/math/utils.hpp>
 #include "tsid/trajectories/trajectory-base.hpp"