[Win32] Correct use of min/max, add typename, remove ambiguity

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/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<Scalar>(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)
   {