core: fix packaging of autodiff and codegen plugins

CMakeLists.txt

@@ -114,25 +114,13 @@ IF(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   IF(BUILD_WITH_CODEGEN_SUPPORT)
     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_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")
-    ADD_DEFINITIONS(-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN)
-    PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN")
-  ENDIF(NOT ${EIGEN3_VERSION} VERSION_GREATER "3.3.0")
 ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
 IF(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(BUILD_WITH_CASADI_SUPPORT)
 
 SET(BOOST_REQUIRED_COMPONENTS filesystem serialization system)

src/algorithm/aba.hxx

 //
-// Copyright (c) 2016-2019 CNRS, INRIA
+// Copyright (c) 2016-2020 CNRS, INRIA
 //
 
 #ifndef __pinocchio_aba_hxx__
 #define __pinocchio_aba_hxx__
 
-#ifdef PINOCCHIO_WITH_CPPAD_SUPPORT
-  #include "pinocchio/autodiff/cppad.hpp"
-#endif
-
 #include "pinocchio/spatial/act-on-set.hpp"
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/algorithm/check.hpp"

src/autodiff/casadi.hpp

@@ -5,6 +5,8 @@
 #ifndef __pinocchio_autodiff_casadi_hpp__
 #define __pinocchio_autodiff_casadi_hpp__
 
+#define PINOCCHIO_WITH_CASADI_SUPPORT
+
 #include "pinocchio/math/fwd.hpp"
 
 #include <casadi/casadi.hpp>

src/autodiff/cppad.hpp

@@ -2,19 +2,18 @@
 // Copyright (c) 2018-2020 CNRS INRIA
 //
 
-#ifndef __pinocchio_autodiff_ccpad_hpp__
-#define __pinocchio_autodiff_ccpad_hpp__
+#ifndef __pinocchio_autodiff_cppad_hpp__
+#define __pinocchio_autodiff_cppad_hpp__
 
 #include "pinocchio/math/fwd.hpp"
+#define PINOCCHIO_WITH_CPPAD_SUPPORT
 
 // Do not include this file directly.
 // Copy and use directly the intructions from <cppad/example/cppad_eigen.hpp>
 // to avoid redifinition of EIGEN_MATRIXBASE_PLUGIN for Eigen 3.3.0 and later
 //#include <cppad/example/cppad_eigen.hpp>
 
-#ifdef PINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN
-  #define EIGEN_MATRIXBASE_PLUGIN <cppad/example/eigen_plugin.hpp>
-#endif
+#define EIGEN_MATRIXBASE_PLUGIN <pinocchio/autodiff/cppad/math/eigen_plugin.hpp>
 
 #include <cppad/cppad.hpp>
 #include <Eigen/Dense>
@@ -178,4 +177,4 @@ namespace pinocchio
 #include "pinocchio/autodiff/cppad/utils/static-if.hpp"
 #include "pinocchio/autodiff/cppad/math/quaternion.hpp"
 
-#endif // #ifndef __pinocchio_autodiff_ccpad_hpp__
+#endif // #ifndef __pinocchio_autodiff_cppad_hpp__

src/autodiff/cppad/math/eigen_plugin.hpp

+#if !EIGEN_VERSION_AT_LEAST(3,3,3)
+  typedef Scalar value_type;
+#endif

src/codegen/code-generator-base.hpp

 //
-// Copyright (c) 2018 CNRS
+// Copyright (c) 2018-2020 CNRS INRIA
 //
 
 #ifndef __pinocchio_utils_code_generator_base_hpp__
@@ -10,8 +10,6 @@
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
 
-#ifdef PINOCCHIO_WITH_CPPADCG_SUPPORT
-
 namespace pinocchio
 {
   
@@ -178,6 +176,4 @@ namespace pinocchio
   
 } // namespace pinocchio
 
-#endif // PINOCCHIO_WITH_CPPADCG_SUPPORT
-
 #endif // ifndef __pinocchio_utils_code_generator_base_hpp__

src/codegen/cppadcg.hpp

@@ -5,6 +5,8 @@
 #ifndef __pinocchio_codegen_ccpadcg_hpp__
 #define __pinocchio_codegen_ccpadcg_hpp__
 
+#define PINOCCHIO_WITH_CPPADCG_SUPPORT
+
 #include "pinocchio/math/fwd.hpp"
 
 #include <cmath>