Unverified Commit 822fa051 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
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Merge pull request #1341 from jcarpent/topic/boost

Fix Boost warning + fix doc
parents 4dcea71b 4bea0715
Pipeline #12244 passed with stage
in 118 minutes and 41 seconds
...@@ -67,7 +67,7 @@ We start with a simple program to compute the robot inverse dynamics. It is give ...@@ -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. 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. 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`. If you do not know Eigen's installation path, you can retrive it with `pkg-config --cflags eigen3`.
...@@ -136,10 +136,9 @@ in Python. ...@@ -136,10 +136,9 @@ in Python.
\subsection OverviewComplexCompile Compiling and running your program \subsection OverviewComplexCompile Compiling and running your program
This time, we must specify that URDFDOM is needed, as the model will be parsed from URDF. In similar way than the previous example, you simple need to do:
Also, we need to link to `liburdfdom_model` and to `libboost_system`.
\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 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
......
// //
// Copyright (c) 2015-2019 CNRS INRIA // Copyright (c) 2015-2020 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
// //
...@@ -11,9 +11,6 @@ ...@@ -11,9 +11,6 @@
#include "pinocchio/utils/string-generator.hpp" #include "pinocchio/utils/string-generator.hpp"
#include "pinocchio/multibody/liegroup/liegroup-algo.hpp" #include "pinocchio/multibody/liegroup/liegroup-algo.hpp"
#include <boost/bind.hpp>
#include <boost/utility.hpp>
/// @cond DEV /// @cond DEV
namespace pinocchio namespace pinocchio
......
...@@ -7,6 +7,9 @@ ...@@ -7,6 +7,9 @@
#include "pinocchio/multibody/model.hpp" #include "pinocchio/multibody/model.hpp"
#include <boost/bind/bind.hpp>
#include <boost/utility.hpp>
/// @cond DEV /// @cond DEV
namespace pinocchio namespace pinocchio
...@@ -94,7 +97,7 @@ namespace pinocchio ...@@ -94,7 +97,7 @@ namespace pinocchio
inline GeomIndex GeometryModel::getGeometryId(const std::string & name) const inline GeomIndex GeometryModel::getGeometryId(const std::string & name) const
{ {
using namespace boost::placeholders;
GeometryObjectVector::const_iterator it GeometryObjectVector::const_iterator it
= std::find_if(geometryObjects.begin(), = std::find_if(geometryObjects.begin(),
geometryObjects.end(), geometryObjects.end(),
...@@ -105,6 +108,7 @@ namespace pinocchio ...@@ -105,6 +108,7 @@ namespace pinocchio
inline bool GeometryModel::existGeometryName(const std::string & name) const inline bool GeometryModel::existGeometryName(const std::string & name) const
{ {
using namespace boost::placeholders;
return std::find_if(geometryObjects.begin(), return std::find_if(geometryObjects.begin(),
geometryObjects.end(), geometryObjects.end(),
boost::bind(&GeometryObject::name, _1) == name) != geometryObjects.end(); boost::bind(&GeometryObject::name, _1) == name) != geometryObjects.end();
......
...@@ -10,9 +10,6 @@ ...@@ -10,9 +10,6 @@
#include "pinocchio/utils/string-generator.hpp" #include "pinocchio/utils/string-generator.hpp"
#include "pinocchio/multibody/liegroup/liegroup-algo.hpp" #include "pinocchio/multibody/liegroup/liegroup-algo.hpp"
#include <boost/bind.hpp>
#include <boost/utility.hpp>
/// @cond DEV /// @cond DEV
namespace pinocchio namespace pinocchio
......
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