include pinocchio before boost

include/sot/core/robot-utils.hh

@@ -12,43 +12,16 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/** pinocchio is forcing the BOOST_MPL_LIMIT_VECTOR_SIZE to a specific value.
-    This happen to be not working when including the boost property_tree
-   library. For this reason if defined, the current value of
-   BOOST_MPL_LIMIT_VECTOR_SIZE is saved in the preprocessor stack and unset.
-    Once the property_tree included the pinocchio value of this variable is
-    restored.
- */
-
-#ifdef BOOST_MPL_LIMIT_VECTOR_SIZE
-#pragma push_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
-#define UNDEF_BOOST_MPL_LIMIT_VECTOR_SIZE
-#undef BOOST_MPL_LIMIT_VECTOR_SIZE
-#endif
+#include <map>
 
-#ifdef BOOST_MPL_LIMIT_LIST_SIZE
-#pragma push_macro("BOOST_MPL_LIMIT_LIST_SIZE")
-#define UNDEF_BOOST_MPL_LIMIT_LIST_SIZE
-#undef BOOST_MPL_LIMIT_LIST_SIZE
-#endif
+#include <pinocchio/fwd.hpp>
 
+#include <boost/assign.hpp>
 #include <boost/property_tree/ptree.hpp>
 
-#ifdef UNDEF_BOOST_MPL_LIMIT_VECTOR_SIZE
-#pragma pop_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
-#undef UNDEF_BOOST_MPL_LIMIT_VECTOR_SIZE
-#endif
-
-#ifdef UNDEF_BOOST_MPL_LIMIT_LIST_SIZE
-#pragma pop_macro("BOOST_MPL_LIMIT_LIST_SIZE")
-#undef UNDEF_BOOST_MPL_LIMIT_LIST_SIZE
-#endif
-
-#include "boost/assign.hpp"
 #include <dynamic-graph/linear-algebra.h>
 #include <dynamic-graph/logger.h>
 #include <dynamic-graph/signal-helper.h>
-#include <map>
 #include <sot/core/matrix-geometry.hh>
 
 namespace dynamicgraph {

src/tools/parameter-server.cpp

@@ -14,26 +14,14 @@
  * with sot-torque-control.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-/** pinocchio is forcing the BOOST_MPL_LIMIT_VECTOR_SIZE to a specific value.
-    This happen to be not working when including the boost property_tree
-   library. For this reason if defined, the current value of
-   BOOST_MPL_LIMIT_VECTOR_SIZE is saved in the preprocessor stack and unset.
-    Once the property_tree included the pinocchio value of this variable is
-    restored.
- */
+#include <iostream>
+
+#include <pinocchio/fwd.hpp>
 
-#ifdef BOOST_MPL_LIMIT_VECTOR_SIZE
-#pragma push_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
-#undef BOOST_MPL_LIMIT_VECTOR_SIZE
-#include <boost/property_tree/ptree.hpp>
-#pragma pop_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
-#else
 #include <boost/property_tree/ptree.hpp>
-#endif
 
 #include <dynamic-graph/all-commands.h>
 #include <dynamic-graph/factory.h>
-#include <iostream>
 #include <sot/core/debug.hh>
 #include <sot/core/exception-tools.hh>
 #include <sot/core/parameter-server.hh>

src/tools/robot-utils-py.cpp

@@ -4,18 +4,15 @@
  * This file is part of sot-core.
  * See license file.
  */
-#ifdef BOOST_MPL_LIMIT_VECTOR_SIZE
-#pragma push_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
-#undef BOOST_MPL_LIMIT_VECTOR_SIZE
-#include <boost/property_tree/ptree.hpp>
-#pragma pop_macro("BOOST_MPL_LIMIT_VECTOR_SIZE")
-#else
-#include <boost/property_tree/ptree.hpp>
-#endif
 
+#include <pinocchio/fwd.hpp>
+
+#include <boost/property_tree/ptree.hpp>
 #include <boost/python.hpp>
 #include <boost/python/suite/indexing/map_indexing_suite.hpp>
+
 #include <sot/core/robot-utils.hh>
+
 using namespace boost::python;
 using namespace dynamicgraph::sot;