Merge pull request #1341 from jcarpent/topic/boost

Fix Boost warning + fix doc

doc/Overview.md

@@ -67,7 +67,7 @@ We start with a simple program to compute the robot inverse dynamics. It is give
 
 You can compile the C++ version by including Pinocchio and Eigen header directories.
 
-\code g++ -I /path/to/eigen -I /path/to/pinocchio/include/ overview-simple.cpp -o overview-simple \endcode
+\code g++ -std=c++11 $(pkg-config --cflags --libs pinocchio) overview-simple.cpp -o overview-simple \endcode
 
 where `/path/to/pinocchio` is your chosen installation directory for Pinocchio.
 If you do not know Eigen's installation path, you can retrive it with `pkg-config --cflags eigen3`.
@@ -136,10 +136,9 @@ in Python.
 
 \subsection OverviewComplexCompile Compiling and running your program
 
-This time, we must specify that URDFDOM is needed, as the model will be parsed from URDF.
-Also, we need to link to `liburdfdom_model` and to `libboost_system`.
+In similar way than the previous example, you simple need to do:
 
-\code g++ -I /path/to/eigen -I /path/to/pinocchio/include/ -DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR -DPINOCCHIO_WITH_URDFDOM overview-urdf.cpp -lboost_system -lurdfdom_model -o overview-urdf \endcode
+\code g++ -std=c++11 $(pkg-config --cflags --libs pinocchio) overview-urdf.cpp -o overview-urdf \endcode
 
 The program typically runs with a UR5 URDF description, that can be found for example in this repository https://github.com/humanoid-path-planner/ur_description
 

src/multibody/data.hxx

 //
-// Copyright (c) 2015-2019 CNRS INRIA
+// Copyright (c) 2015-2020 CNRS INRIA
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 
@@ -11,9 +11,6 @@
 #include "pinocchio/utils/string-generator.hpp"
 #include "pinocchio/multibody/liegroup/liegroup-algo.hpp"
 
-#include <boost/bind.hpp>
-#include <boost/utility.hpp>
-
 /// @cond DEV
 
 namespace pinocchio

src/multibody/geometry.hxx

@@ -7,6 +7,9 @@
 
 #include "pinocchio/multibody/model.hpp"
 
+#include <boost/bind/bind.hpp>
+#include <boost/utility.hpp>
+
 /// @cond DEV
 
 namespace pinocchio
@@ -94,7 +97,7 @@ namespace pinocchio
 
   inline GeomIndex GeometryModel::getGeometryId(const std::string & name) const
   {
-
+    using namespace boost::placeholders;
     GeometryObjectVector::const_iterator it
     = std::find_if(geometryObjects.begin(),
                    geometryObjects.end(),
@@ -105,6 +108,7 @@ namespace pinocchio
 
   inline bool GeometryModel::existGeometryName(const std::string & name) const
   {
+    using namespace boost::placeholders;
     return std::find_if(geometryObjects.begin(),
                         geometryObjects.end(),
                         boost::bind(&GeometryObject::name, _1) == name) != geometryObjects.end();

src/multibody/model.hxx

@@ -10,9 +10,6 @@
 #include "pinocchio/utils/string-generator.hpp"
 #include "pinocchio/multibody/liegroup/liegroup-algo.hpp"
 
-#include <boost/bind.hpp>
-#include <boost/utility.hpp>
-
 /// @cond DEV
 
 namespace pinocchio