Merge pull request #1218 from francois-keith/dev_clang_win32

Allows compiling with clang + Visual Studio 2019

.github/workflows/conda-env.yml

+name: pinocchio
+channels:
+  - conda-forge
+  - nodefaults
+dependencies:
+  - eigen
+  - numpy
+  - boost
+  - eigenpy
+  - urdfdom
+  - python

.github/workflows/ccpp.yml → .github/workflows/linux.yml

-name: C/C++ CI of Pinocchio
+name: Test Pinocchio on Linux
 
 on: [push,pull_request]
 

.github/workflows/windows-conda.yml

+name: Build Pinocchio for Windows via Conda
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+      - devel
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        name: [windows-latest-clang-cl]
+
+        include:
+          - name: windows-latest-clang-cl
+            os: windows-2019
+            compiler: clang-cl
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Checkout submodules
+      run: |
+        git submodule update --init
+    - uses: goanpeca/setup-miniconda@v1
+      with:
+        activate-environment: pinocchio
+        environment-file: .github/workflows/conda-env.yml
+        python-version: 3.7
+    - name: Install cmake and update conda
+      run: |
+        conda install cmake -c main
+    
+    - name: Build Pinocchio
+      shell: cmd /C CALL {0}
+      run: |
+        :: unset extra Boost envs
+        set Boost_ROOT=
+        set BOOST_ROOT_1_69_0=
+        set BOOST_ROOT_1_72_0=
+        set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=%
+
+        call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
+    
+        :: start building
+        mkdir build
+        pushd build
+
+        set PKG_CONFIG_PATH=%CONDA_PREFIX%\Library\share\pkgconfig:%CONDA_PREFIX%\Library\share\pkgconfig
+        cmake ^
+          -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^
+          -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
+          -DCMAKE_BUILD_TYPE=Release ^
+          -DPINOCCHIO_SITELIB_ROOT=%CONDA_PREFIX% ^
+          -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
+          -DBUILD_WITH_URDF_SUPPORT=ON -DBUILD_PYTHON_INTERFACE=ON ^
+          ..
+        cmake --build . --config Release --target install
+        set PATH=%PATH%;%CONDA_PREFIX%\Library\lib;%CONDA_PREFIX%\Lib\site-packages\pinocchio
+        ctest --output-on-failure -C Release

.travis.yml

@@ -52,11 +52,8 @@ install:
   - pip install --user numpy
 script:
   - export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE} -DBUILD_WITH_COLLISION_SUPPORT=${BUILD_WITH_COLLISION_SUPPORT} -DBUILD_ADVANCED_TESTING=ON"
-  - sudo free -m -t
+  - export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH
   - travis_wait 60 ./.travis/run ../travis_custom/custom_build
 after_failure: ./.travis/run after_failure
 after_success:
   - ./.travis/run after_success
-  #- export PYTHONPATH=$install_dir/lib/python2.7/site-packages
-  #- coveralls-lcov -v -n $build_dir/coverage.info > coverage.json
-  - export PYTHONPATH=$PYHTONPATH:/tmp/_ci/install/lib/python2.7/site-packages:/usr/lib/python2.7/dist-packages

CMakeLists.txt

@@ -90,34 +90,36 @@ SET(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/models")
 # ----------------------------------------------------
 # --- DEPENDENCIES -----------------------------------
 # ----------------------------------------------------
-ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
+ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
 
 # Variable containing all the cflags definition relative to optional dependencies
 SET(CFLAGS_DEPENDENCIES)
 
 IF(BUILD_WITH_URDF_SUPPORT)
-  ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.0")
+  ADD_PROJECT_DEPENDENCY(urdfdom_headers)
+  ADD_PROJECT_DEPENDENCY(urdfdom PKG_CONFIG_REQUIRES "urdfdom >= 0.2.0")
+  SET(urdfdom_VERSION ${urdfdom_headers_VERSION})
   ADD_DEFINITIONS(-DPINOCCHIO_WITH_URDFDOM)
   LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
 
-  IF(${URDFDOM_VERSION} VERSION_GREATER "0.4.2")
+  IF(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
     SET(CMAKE_CXX_STANDARD 11)
     SET(CMAKE_CXX_STANDARD_REQUIRED ON)
     MESSAGE(STATUS "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard.")
-  ENDIF(${URDFDOM_VERSION} VERSION_GREATER "0.4.2")
+  ENDIF(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
 ENDIF(BUILD_WITH_URDF_SUPPORT)
 
 IF(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   IF(BUILD_WITH_CODEGEN_SUPPORT)
-    ADD_REQUIRED_DEPENDENCY("cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
+    ADD_PROJECT_DEPENDENCY(cppadcg 2.4.1 REQUIRED PKG_CONFIG_REQUIRES "cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
     IF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
       ADD_DEFINITIONS(-DPINOCCHIO_WITH_CPPADCG_SUPPORT)
       PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CPPADCG_SUPPORT")
     ENDIF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT)
   ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
 
-  ADD_REQUIRED_DEPENDENCY("cppad >= 20180000.0")
+  ADD_PROJECT_DEPENDENCY(cppad 20180000.0 REQUIRED PKG_CONFIG_REQUIRES "cppad >= 20180000.0")
   ADD_DEFINITIONS(-DPINOCCHIO_WITH_CPPAD_SUPPORT)
   PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CPPAD_SUPPORT")
   IF(NOT ${EIGEN3_VERSION} VERSION_GREATER "3.3.0")
@@ -127,13 +129,10 @@ IF(BUILD_WITH_AUTODIFF_SUPPORT)
 ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
 IF(BUILD_WITH_CASADI_SUPPORT)
-  ADD_REQUIRED_DEPENDENCY("casadi >= 3.4.5")
-ENDIF(BUILD_WITH_CASADI_SUPPORT)
-
-IF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
+  ADD_PROJECT_DEPENDENCY(casadi 3.4.5 REQUIRED PKG_CONFIG_REQUIRES "casadi >= 3.4.5")
   ADD_DEFINITIONS(-DPINOCCHIO_WITH_CASADI_SUPPORT)
   PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CASADI_SUPPORT")
-ENDIF(CASADI_FOUND AND BUILD_WITH_CASADI_SUPPORT)
+ENDIF(BUILD_WITH_CASADI_SUPPORT)
 
 SET(BOOST_REQUIRED_COMPONENTS filesystem serialization system)
 SET(BOOST_BUILD_COMPONENTS unit_test_framework)
@@ -142,12 +141,13 @@ SET(BOOST_OPTIONAL_COMPONENTS "")
 IF(BUILD_PYTHON_INTERFACE)
   SET(BOOST_OPTIONAL_COMPONENTS ${BOOST_OPTIONAL_COMPONENTS} python)
   FINDPYTHON()
+  ADD_PROJECT_DEPENDENCY(eigenpy 2.2.0 REQUIRED)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
   ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
   LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
-  ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 1.4.0")
+  ADD_PROJECT_DEPENDENCY(hpp-fcl 1.4.0 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 1.4.0")
   # Check whether hpp-fcl python bindings are available.
   SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
   IF(BUILD_PYTHON_INTERFACE)

benchmark/CMakeLists.txt

 #
-# Copyright (c) 2015-2019 CNRS INRIA
+# Copyright (c) 2015-2020 CNRS INRIA
 #
 
 # ----------------------------------------------------
 # --- BENCHMARK --------------------------------------
 # ----------------------------------------------------
+IF(WIN32)
+  ADD_DEFINITIONS("-DNOMINMAX")
+ENDIF()
+
 ADD_CUSTOM_TARGET(bench)
 
 MACRO(ADD_BENCH bench_name)
@@ -20,16 +24,6 @@ MACRO(ADD_BENCH bench_name)
     IF(link_to_main_lib)
       SET_TARGET_PROPERTIES(${bench_name} PROPERTIES COMPILE_DEFINITIONS PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
       TARGET_LINK_LIBRARIES(${bench_name} PUBLIC ${PROJECT_NAME})
-      PKG_CONFIG_USE_DEPENDENCY(${bench_name} eigen3)
-
-      IF(HPP_FCL_FOUND)
-        PKG_CONFIG_USE_DEPENDENCY(${bench_name} hpp-fcl)
-      ENDIF(HPP_FCL_FOUND)
-
-      IF(URDFDOM_FOUND)
-        PKG_CONFIG_USE_DEPENDENCY(${bench_name} urdfdom)
-      ENDIF(URDFDOM_FOUND)
-
     ENDIF(link_to_main_lib)
   ENDIF()
   
@@ -46,7 +40,7 @@ ADD_BENCH(timings TRUE)
 IF(CPPADCG_FOUND)
   ADD_BENCH(timings-cg TRUE)
   SET_PROPERTY(TARGET timings-cg PROPERTY CXX_STANDARD 11)
-  PKG_CONFIG_USE_DEPENDENCY(timings-cg "cppadcg")
+  TARGET_LINK_LIBRARIES(timings-cg PUBLIC cppadcg::cppadcg)
   TARGET_LINK_LIBRARIES(timings-cg PUBLIC ${CMAKE_DL_LIBS})
 ENDIF(CPPADCG_FOUND)
 
@@ -58,17 +52,17 @@ ADD_BENCH(timings-cholesky TRUE)
  
 ADD_BENCH(timings-derivatives TRUE)
 IF(CPPAD_FOUND)
-  PKG_CONFIG_USE_DEPENDENCY(timings-derivatives "cppad")
+  TARGET_LINK_LIBRARIES(timings-derivatives PUBLIC cppad::cppad)
 ENDIF(CPPAD_FOUND)
 IF(CPPADCG_FOUND)
   SET_PROPERTY(TARGET timings-derivatives PROPERTY CXX_STANDARD 11)
-  PKG_CONFIG_USE_DEPENDENCY(timings-derivatives "cppadcg")
+  TARGET_LINK_LIBRARIES(timings-derivatives PUBLIC cppadcg::cppadcg)
 ENDIF(CPPADCG_FOUND)
 
 # timings-eigen
 # 
 ADD_BENCH(timings-eigen)
-PKG_CONFIG_USE_DEPENDENCY(timings-eigen "eigen3")
+TARGET_INCLUDE_DIRECTORIES(timings-eigen PUBLIC ${EIGEN3_INCLUDE_DIRS})
 
 # timings-geometry
 # 

bindings/python/CMakeLists.txt

@@ -27,31 +27,9 @@ FUNCTION(REMOVE_PATH_FROM_LIST list_name path_name dest_list)
   SET(${dest_list} ${list_name_} PARENT_SCOPE)
 ENDFUNCTION(REMOVE_PATH_FROM_LIST)
 
-
 # --- PYTHON TARGET --- #
-IF(BUILD_PYTHON_INTERFACE)
-  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS}) 
-  ADD_CUSTOM_TARGET(python)
-  SET_TARGET_PROPERTIES(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
-
-  SET(PYWRAP ${PROJECT_NAME}_pywrap)
-  SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
-
-  # --- DEPENDENCIES --- #
-  # The following quiet finding of Eigen is necessary to retrive 
-  # the include directory when packaging Pinocchio in ROS
-  find_package(Eigen3 QUIET)
-  if (EIGEN3_FOUND)
-    include_directories(${EIGEN3_INCLUDE_DIR})
-  endif()
-  SET(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 2.2.0")
-  FOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
-    ADD_COMPILE_DEPENDENCY(${dep})
-  ENDFOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
-
-  # --- LIBRARY --- #
-  SET(${PYWRAP}_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${PROJECT_NAME})
-ENDIF(BUILD_PYTHON_INTERFACE)
+SET(PYWRAP ${PROJECT_NAME}_pywrap)
+SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
 FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_HEADERS
      ${CMAKE_CURRENT_SOURCE_DIR}/*.hpp 
@@ -112,6 +90,11 @@ SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_PYTHON_SOURCES})
 SET(${PYWRAP}_HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
 
 IF(BUILD_PYTHON_INTERFACE)
+  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS}) 
+  ADD_CUSTOM_TARGET(python)
+  SET_TARGET_PROPERTIES(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
+
+  SET(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 2.2.0")
   ADD_LIBRARY(${PYWRAP} SHARED ${${PYWRAP}_SOURCES} ${${PYWRAP}_HEADERS})
   ADD_DEPENDENCIES(python ${PYWRAP})
   
@@ -128,33 +111,30 @@ IF(BUILD_PYTHON_INTERFACE)
   ENDIF(BUILD_WITH_COMMIT_VERSION)
   ADD_HEADER_GROUP(${PYWRAP}_HEADERS)
   ADD_SOURCE_GROUP(${PYWRAP}_SOURCES)
-  PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} eigenpy)
 
-  TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PROJECT_NAME})
+  TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
   TARGET_LINK_BOOST_PYTHON(${PYWRAP} PUBLIC)
-
-  IF(HPP_FCL_FOUND)
-    PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} hpp-fcl)
-  ENDIF(HPP_FCL_FOUND)
   IF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
     TARGET_COMPILE_DEFINITIONS(${PYWRAP} PRIVATE -DPINOCCHIO_WITH_HPP_FCL_PYTHON_BINDINGS)
   ENDIF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-
-  IF(CPPAD_FOUND)
-    PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} "cppad")
-  ENDIF(CPPAD_FOUND)
-  IF(CPPADCG_FOUND)
-    SET_PROPERTY(TARGET ${PYWRAP} PROPERTY CXX_STANDARD 11)
-    PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} "cppadcg")
-  ENDIF(CPPADCG_FOUND)
-
-  IF(APPLE)
-    # We need to change the extension for Python bindings
-    SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES SUFFIX ".so")
-  ENDIF(APPLE)
-
-  SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES
-    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
+  IF(WIN32)
+    TARGET_COMPILE_DEFINITIONS(${PYWRAP} PRIVATE -DNOMINMAX)
+    TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PYTHON_LIBRARY})
+  ENDIF(WIN32)
+
+  IF(PINOCCHIO_SITELIB_ROOT)
+    SET(${PYWRAP}_INSTALL_DIR ${PINOCCHIO_SITELIB_ROOT}/${PYTHON_SITELIB}/${PROJECT_NAME})
+  ELSE()
+    SET(${PYWRAP}_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${PROJECT_NAME})
+  ENDIF()
+
+  SET_TARGET_PROPERTIES(${PYWRAP}
+    PROPERTIES 
+    PREFIX ""
+    SUFFIX ${PYTHON_EXT_SUFFIX}
+    OUTPUT_NAME "${PYWRAP}"
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+    )
 
   INSTALL(
     TARGETS ${PYWRAP} 

bindings/python/parsers/python.hpp

@@ -9,6 +9,16 @@
 
 #include <boost/python.hpp>
 
+#if defined _WIN32
+# ifdef pinocchio_pywrap_EXPORTS
+#   define PINOCCHIO_PYWRAP_DLLAPI __declspec(dllexport)
+# else
+#   define PINOCCHIO_PYWRAP_DLLAPI __declspec(dllimport)
+# endif // pinocchio_pywrap_EXPORTS
+#else
+# define PINOCCHIO_PYWRAP_DLLAPI
+#endif // _WIN32
+
 namespace pinocchio
 {
   namespace python
@@ -24,6 +34,7 @@ namespace pinocchio
     /// \returns The model constructed by the Python script.
     ///
     // TODO: look inside the context of Python and find an occurence of object Model
+    PINOCCHIO_PYWRAP_DLLAPI
     Model buildModel(const std::string & filename,
                      const std::string & var_name = "model",
                      bool verbose = false);

cmake @ 9e21ae22

-Subproject commit e715bf761e97dbcd704adecd03c28d8e195e7811
+Subproject commit 9e21ae2222fdb51dccd1320bb7208f73259b0c73

examples/CMakeLists.txt

@@ -7,16 +7,6 @@ FUNCTION(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   SET(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
   ADD_UNIT_TEST(${EXAMPLE_NAME} ${EXAMPLE})
   TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
-  PKG_CONFIG_USE_DEPENDENCY(${EXAMPLE_NAME} eigen3)
-  IF(URDFDOM_FOUND)
-    PKG_CONFIG_USE_DEPENDENCY(${EXAMPLE_NAME} urdfdom)
-  ENDIF(URDFDOM_FOUND)
-  IF(HPP_FCL_FOUND)
-    PKG_CONFIG_USE_DEPENDENCY(${EXAMPLE_NAME} hpp-fcl)
-  ENDIF(HPP_FCL_FOUND)
-  IF(CPPAD_FOUND)
-    PKG_CONFIG_USE_DEPENDENCY(${EXAMPLE_NAME} "cppad")
-  ENDIF(CPPAD_FOUND)
 ENDFUNCTION()
 
 SET(${PROJECT_NAME}_EXAMPLES
@@ -56,6 +46,10 @@ ENDIF(HPP_FCL_FOUND)
 
 ADD_DEFINITIONS(-DPINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
 
+IF(WIN32)
+  ADD_DEFINITIONS("-DNOMINMAX -D_USE_MATH_DEFINES")
+ENDIF(WIN32)
+
 FOREACH(EXAMPLE ${${PROJECT_NAME}_EXAMPLES})
   ADD_PINOCCHIO_CPP_EXAMPLE(${EXAMPLE})
 ENDFOREACH(EXAMPLE ${${PROJECT_NAME}_EXAMPLES})

examples/codegen/CMakeLists.txt

@@ -5,6 +5,6 @@
 IF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT AND BUILD_WITH_URDF_SUPPORT)
   ADD_PINOCCHIO_CPP_EXAMPLE(codegen-crba)
   SET_PROPERTY(TARGET example-cpp-codegen-crba PROPERTY CXX_STANDARD 11) 
-  TARGET_LINK_LIBRARIES(example-cpp-codegen-crba ${CMAKE_DL_LIBS})
+  TARGET_LINK_LIBRARIES(example-cpp-codegen-crba PUBLIC ${CMAKE_DL_LIBS} cppadcg::cppadcg)
 ENDIF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT AND BUILD_WITH_URDF_SUPPORT)
 

src/CMakeLists.txt

@@ -3,10 +3,6 @@
 # Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 #
 
-# ----------------------------------------------------
-# --- C++ --------------------------------------------
-# ----------------------------------------------------
-
 IF(BUILD_WITH_URDF_SUPPORT)
   SET(${PROJECT_NAME}_SOURCES
     parsers/urdf/model.cpp
@@ -17,49 +13,51 @@ ENDIF()
 # Extract the compile definitions of the project for export
 GET_DIRECTORY_PROPERTY(CURRENT_COMPILE_DEFINITIONS COMPILE_DEFINITIONS)
 
-IF(UNIX)
-    # Create target libpinocchio.so
-    ADD_LIBRARY(${PROJECT_NAME} SHARED ${HEADERS} ${${PROJECT_NAME}_SOURCES})
-    SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
-    TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC ${CURRENT_COMPILE_DEFINITIONS})
-
-    SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES VERSION ${PROJECT_VERSION})
-    IF(BUILD_WITH_COMMIT_VERSION)
-      TAG_LIBRARY_VERSION(${PROJECT_NAME})
-    ENDIF(BUILD_WITH_COMMIT_VERSION)
-
-    PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} eigen3)
-    TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_SERIALIZATION_LIBRARY})
-    TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-
-    # Special care of urdfdom version
-    IF(URDFDOM_FOUND)
-      IF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
-        TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME)
-      ENDIF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
-
-      # defines types from version 0.4.0
-      IF(NOT ${URDFDOM_VERSION} VERSION_LESS "0.4.0")
-        TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR)
-      ENDIF(NOT ${URDFDOM_VERSION} VERSION_LESS "0.4.0")
-
-      # std::shared_ptr appears from version 1.0.0
-      IF(${URDFDOM_VERSION} VERSION_GREATER "0.4.2")
-        TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR)
-      ENDIF(${URDFDOM_VERSION} VERSION_GREATER "0.4.2")
-
-      PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} urdfdom)
-    ENDIF(URDFDOM_FOUND)
-
-    IF(HPP_FCL_FOUND)
-      PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} hpp-fcl)
-    ENDIF(HPP_FCL_FOUND)
-
-    ADD_HEADER_GROUP(HEADERS)
-    ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
-
-    INSTALL(TARGETS ${PROJECT_NAME}
-            EXPORT ${TARGETS_EXPORT_NAME}
-            DESTINATION lib)
-ENDIF(UNIX)
+# Create target libpinocchio.so
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${HEADERS} ${${PROJECT_NAME}_SOURCES})
+SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
+TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC ${CURRENT_COMPILE_DEFINITIONS})
+
+SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES VERSION ${PROJECT_VERSION})
+IF(BUILD_WITH_COMMIT_VERSION)
+  TAG_LIBRARY_VERSION(${PROJECT_NAME})
+ENDIF(BUILD_WITH_COMMIT_VERSION)
+IF(WIN32)
+  TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DNOMINMAX)
+ENDIF(WIN32)
+
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_SERIALIZATION_LIBRARY})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+
+# Special care of urdfdom version
+IF(urdfdom_FOUND)
+  IF(${urdfdom_VERSION} VERSION_LESS "0.3.0")
+    TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DPINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME)
+  ENDIF(${urdfdom_VERSION} VERSION_LESS "0.3.0")
+
+  # defines types from version 0.4.0
+  IF(NOT ${urdfdom_VERSION} VERSION_LESS "0.4.0")
+    TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR)
+  ENDIF(NOT ${urdfdom_VERSION} VERSION_LESS "0.4.0")
+
+  # std::shared_ptr appears from version 1.0.0
+  IF(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
+    TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR)
+  ENDIF(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
+
+  TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${urdfdom_LIBRARIES})
+  TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${urdfdom_INCLUDE_DIRS})
+ENDIF(urdfdom_FOUND)
+
+IF(hpp-fcl_FOUND)
+  TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC hpp-fcl::hpp-fcl)
+ENDIF(hpp-fcl_FOUND)
+
+ADD_HEADER_GROUP(HEADERS)
+ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
+
+INSTALL(TARGETS ${PROJECT_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION lib)
 

src/algorithm/aba-derivatives.hxx

@@ -312,9 +312,9 @@ namespace pinocchio
       PINOCCHIO_CHECK_INPUT_ARGUMENT(model.gravity.angular().isZero(), "The gravity must be a pure force vector, no angular part");
       for(Eigen::DenseIndex k =0; k < jmodel.nv(); ++k)
       {
-        MotionRef<typename ColsBlock::ColXpr> min(J_cols.col(k));
-        MotionRef<typename ColsBlock::ColXpr> mout(dAdq_cols.col(k));
-        mout.linear() += model.gravity.linear().cross(min.angular());
+        MotionRef<typename ColsBlock::ColXpr> m_in(J_cols.col(k));
+        MotionRef<typename ColsBlock::ColXpr> m_out(dAdq_cols.col(k));
+        m_out.linear() += model.gravity.linear().cross(m_in.angular());
       }
     }
     

src/algorithm/cholesky.hxx

@@ -465,12 +465,12 @@ namespace pinocchio
         const std::vector<int> & nvt = data.nvSubtree_fromRow;
         Mat & v_ = PINOCCHIO_EIGEN_CONST_CAST(Mat,v);
         
-        const int last_col = std::min(col-1,model.nv-2); // You can start from nv-2 (no child in nv-1)
+        const int last_col = std::min<int>(col-1,model.nv-2); // You can start from nv-2 (no child in nv-1)
         v_.tail(model.nv - col - 1).setZero();
         v_[col] = 1.;
         for( int k=last_col;k>=0;--k )
         {
-          int nvt_max = std::min(col,nvt[(size_t)k]-1);
+          int nvt_max = std::min<int>(col,nvt[(size_t)k]-1);
           v_[k] = -U.row(k).segment(k+1,nvt_max).dot(v_.segment(k+1,nvt_max));
         }
         

src/algorithm/rnea-derivatives.hxx

@@ -391,9 +391,9 @@ namespace pinocchio
       PINOCCHIO_CHECK_INPUT_ARGUMENT(model.gravity.angular().isZero(), "The gravity must be a pure force vector, no angular part");
       for(Eigen::DenseIndex k =0; k < jmodel.nv(); ++k)
       {
-        MotionRef<typename ColsBlock::ColXpr> min(J_cols.col(k));
-        MotionRef<typename ColsBlock::ColXpr> mout(dAdq_cols.col(k));
-        mout.linear() += model.gravity.linear().cross(min.angular());
+        MotionRef<typename ColsBlock::ColXpr> m_in(J_cols.col(k));
+        MotionRef<typename ColsBlock::ColXpr> m_out(dAdq_cols.col(k));
+        m_out.linear() += model.gravity.linear().cross(m_in.angular());
       }
     }
     

src/fwd.hpp

@@ -8,6 +8,12 @@
 // Forward declaration of the main pinocchio namespace
 namespace pinocchio {}
 
+#ifdef _WIN32
+  #include <windows.h>
+  #undef far
+  #undef near
+#endif
+
 #include "pinocchio/macros.hpp"
 #include "pinocchio/deprecation.hpp"
 #include "pinocchio/warning.hpp"
@@ -18,9 +24,12 @@ namespace pinocchio {}
 
 #include "pinocchio/container/boost-container-limits.hpp"
 
+// Import Eigen and all the required modules
 #include <Eigen/Core>
-
 #include "pinocchio/eigen-macros.hpp"
+#ifdef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
+  #include <unsupported/Eigen/CXX11/Tensor>
+#endif
 
 #include "pinocchio/core/binary-op.hpp"
 #include "pinocchio/core/unary-op.hpp"

src/math/tensor.hpp

@@ -11,9 +11,7 @@
   #define EIGEN_DEVICE_FUNC
 #endif
 
-#ifdef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
-  #include <unsupported/Eigen/CXX11/Tensor>
-#else
+#ifndef PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
   #if (__cplusplus <= 199711L && EIGEN_COMP_MSVC < 1900) || defined(__CUDACC__) || defined(EIGEN_AVOID_STL_ARRAY)
     namespace Eigen {
       template <typename T, std::size_t n>

src/multibody/data.hxx

@@ -144,7 +144,7 @@ namespace pinocchio
     {
       if(lastChild[(Index)i] == -1) lastChild[(Index)i] = i;
       const Index & parent = model.parents[(Index)i];
-      lastChild[parent] = std::max(lastChild[(Index)i],lastChild[parent]);
+      lastChild[parent] = std::max<int>(lastChild[(Index)i],lastChild[parent]);
       
       nvSubtree[(Index)i]
       = idx_v(model.joints[(Index)lastChild[(Index)i]]) + nv(model.joints[(Index)lastChild[(Index)i]])

src/multibody/model.hxx

@@ -167,7 +167,7 @@ namespace pinocchio
 
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
   inline void ModelTpl<Scalar,Options,JointCollectionTpl>::
-  appendBodyToJoint(const ModelTpl::JointIndex joint_index,
+  appendBodyToJoint(const typename ModelTpl::JointIndex joint_index,
                     const Inertia & Y,
                     const SE3 & body_placement)
   {

src/parsers/urdf/geometry.hxx

@@ -63,7 +63,7 @@ namespace pinocchio
        * @param[in]  type           The type of objects that must be loaded ( can be VISUAL or COLLISION)
        *
        */
-      void parseTreeForGeom(UrdfGeomVisitorBase& visitor,