[Macros] Add dedicated file to contain Eigen macros

This splitting is mandatory with CPPAD support.

CMakeLists.txt

@@ -367,6 +367,7 @@ SET(HEADERS
   exception.hpp
   assert.hpp
   macros.hpp
+  eigen-macros.hpp
   fwd.hpp
  )
 LIST(REMOVE_DUPLICATES HEADERS)

src/eigen-macros.hpp

+//
+// Copyright (c) 2017-2018 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio 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.
+//
+// Pinocchio 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
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_eigen_macros_hpp__
+#define __se3_eigen_macros_hpp__
+
+#include "pinocchio/utils/eigen-fix.hpp"
+
+/// \brief Macro giving access to the equivalent plain type of D
+#define EIGEN_PLAIN_TYPE(D) Eigen::internal::plain_matrix_type< typename se3::helper::argument_type<void(D)>::type >::type
+
+/// \brief Similar to macro EIGEN_PLAIN_TYPE but with guaranty to provite a column major type
+#define EIGEN_PLAIN_COLUMN_MAJOR_TYPE(D) se3::helper::handle_return_type_without_typename<D,Eigen::internal::plain_matrix_type_column_major>::type
+
+/// \brief Similar to macro EIGEN_PLAIN_TYPE but with guaranty to provite a row major type
+#define EIGEN_PLAIN_ROW_MAJOR_TYPE(D) se3::helper::handle_return_type_without_typename<D,Eigen::internal::fix::plain_matrix_type_row_major>::type
+
+/// \brief Macro giving access to the reference type of D
+#define EIGEN_REF_CONSTTYPE(D) Eigen::internal::ref_selector<D>::type
+#if EIGEN_VERSION_AT_LEAST(3,2,90)
+#define EIGEN_REF_TYPE(D) Eigen::internal::ref_selector<D>::non_const_type
+#else
+#define EIGEN_REF_TYPE(D) \
+Eigen::internal::conditional< \
+bool(Eigen::internal::traits<D>::Flags & Eigen::NestByRefBit), \
+D &, \
+D \
+>::type
+#endif
+
+/// \brief Macro giving access to the return type of the dot product operation
+#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#define EIGEN_DOT_PRODUCT_RETURN_TYPE(D1,D2) \
+Eigen::ScalarBinaryOpTraits< typename Eigen::internal::traits< D1 >::Scalar, typename Eigen::internal::traits< D2 >::Scalar >::ReturnType
+#else
+#define EIGEN_DOT_PRODUCT_RETURN_TYPE(D1,D2) \
+Eigen::internal::scalar_product_traits<typename Eigen::internal::traits< D1 >::Scalar,typename Eigen::internal::traits< D2 >::Scalar>::ReturnType
+#endif
+
+/// \brief Macro for an automatic const_cast
+#define EIGEN_CONST_CAST(TYPE,OBJ) const_cast<TYPE &>(OBJ.derived())
+
+#endif // ifndef __se3_eigen_macros_hpp__

src/fwd.hpp

@@ -18,12 +18,16 @@
 #ifndef __se3_fwd_hpp__
 #define __se3_fwd_hpp__
 
+#include "pinocchio/macros.hpp"
+
 #ifdef PINOCCHIO_WITH_CPPAD_SUPPORT
 #include "pinocchio/math/cppad.hpp"
 #else
 #include <Eigen/Core>
 #endif
 
+#include "pinocchio/eigen-macros.hpp"
+
 namespace se3
 {
   ///

src/macros.hpp

@@ -18,9 +18,6 @@
 #ifndef __se3_macros_hpp__
 #define __se3_macros_hpp__
 
-#include <Eigen/Core>
-#include "pinocchio/utils/eigen-fix.hpp"
-
 #if __cplusplus >= 201103L
   #define PINOCCHIO_WITH_CXX11_SUPPORT
 #endif
@@ -62,37 +59,4 @@ namespace se3
   }
 }
 
-/// \brief Macro giving access to the equivalent plain type of D
-#define EIGEN_PLAIN_TYPE(D) Eigen::internal::plain_matrix_type< typename se3::helper::argument_type<void(D)>::type >::type
-
-/// \brief Similar to macro EIGEN_PLAIN_TYPE but with guaranty to provite a column major type
-#define EIGEN_PLAIN_COLUMN_MAJOR_TYPE(D) se3::helper::handle_return_type_without_typename<D,Eigen::internal::plain_matrix_type_column_major>::type
-
-/// \brief Similar to macro EIGEN_PLAIN_TYPE but with guaranty to provite a row major type
-#define EIGEN_PLAIN_ROW_MAJOR_TYPE(D) se3::helper::handle_return_type_without_typename<D,Eigen::internal::fix::plain_matrix_type_row_major>::type
-
-/// \brief Macro giving access to the reference type of D
-#define EIGEN_REF_CONSTTYPE(D) Eigen::internal::ref_selector<D>::type
-#if EIGEN_VERSION_AT_LEAST(3,2,90)
-#define EIGEN_REF_TYPE(D) Eigen::internal::ref_selector<D>::non_const_type
-#else
-#define EIGEN_REF_TYPE(D) \
-Eigen::internal::conditional< \
-bool(Eigen::internal::traits<D>::Flags & Eigen::NestByRefBit), \
-D &, \
-D \
->::type
-#endif
-/// \brief Macro giving access to the return type of the dot product operation
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
-#define EIGEN_DOT_PRODUCT_RETURN_TYPE(D1,D2) \
-Eigen::ScalarBinaryOpTraits< typename Eigen::internal::traits< D1 >::Scalar, typename Eigen::internal::traits< D2 >::Scalar >::ReturnType
-#else
-#define EIGEN_DOT_PRODUCT_RETURN_TYPE(D1,D2) \
-Eigen::internal::scalar_product_traits<typename Eigen::internal::traits< D1 >::Scalar,typename Eigen::internal::traits< D2 >::Scalar>::ReturnType
-#endif
-
-/// \brief Macro for an automatic const_cast
-#define EIGEN_CONST_CAST(TYPE,OBJ) const_cast<TYPE &>(OBJ.derived())
-
 #endif // ifndef __se3_macros_hpp__

src/math/cppad.hpp

@@ -27,13 +27,14 @@
 #define EIGEN_MATRIXBASE_PLUGIN <cppad/example/eigen_plugin.hpp>
 #endif
 
-#include <Eigen/Core>
 #if defined(PINOCCHIO_WITH_CPPADCG_SUPPORT) && defined(PINOCCHIO_WITH_CXX11_SUPPORT)
   #include <cppad/cg/support/cppadcg_eigen.hpp>
 #else
   #include <cppad/cppad.hpp>
 #endif
 
+#include <Eigen/Core>
+
 namespace Eigen
 {
   namespace internal