Merge pull request #384 from jorisv/topic/fix-build-without-pinocchio

Fix build without pinocchio

Author: ManifoldFR

.github/workflows/macos-linux-pixi.yml

@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest, macos-15-intel]
-        environment: [all, all-python-oldest]
+        environment: [default, all, all-python-oldest]
         build_type: [Release, Debug]
 
     steps:

CHANGELOG.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Fixed
 
 - Fixed the missing minus signs in the `LogResidualCost` (https://github.com/Simple-Robotics/aligator/pull/382)
+- Fix build without pinocchio dependency (https://github.com/Simple-Robotics/aligator/pull/384)
 
 ## [0.17.1] - 2025-12-01
 

CMakeLists.txt

@@ -264,20 +264,59 @@ file(
 
 if(ENABLE_TEMPLATE_INSTANTIATION)
   file(
-    GLOB_RECURSE LIB_TEMPLATE_SOURCES
+    GLOB LIB_TEMPLATE_SOURCES
     CONFIGURE_DEPENDS
     ${PROJECT_SOURCE_DIR}/src/core/*.cpp
     ${PROJECT_SOURCE_DIR}/src/gar/*.cpp
     ${PROJECT_SOURCE_DIR}/src/solvers/*.cpp
+    ${PROJECT_SOURCE_DIR}/src/solvers/fddp/*.cpp
+    ${PROJECT_SOURCE_DIR}/src/solvers/proxddp/*.cpp
+    ${PROJECT_SOURCE_DIR}/src/utils/*.cpp
     ${PROJECT_SOURCE_DIR}/src/modelling/*.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/autodiff/*.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/centroidal/*.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/costs/*.cpp
   )
+  list(
+    APPEND
+    LIB_TEMPLATE_SOURCES
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/continuous-dynamics-abstract.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/integrator-abstract.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/integrator-euler.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/integrator-explicit.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/integrator-midpoint.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/integrator-rk2.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/integrator-semi-euler.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/linear-ode.cpp
+    ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/ode-abstract.cpp
+  )
+  if(BUILD_WITH_PINOCCHIO_SUPPORT)
+    file(
+      GLOB_RECURSE LIB_WITH_PINOCCHIO_TEMPLATE_SOURCES
+      CONFIGURE_DEPENDS
+      ${PROJECT_SOURCE_DIR}/src/modelling/multibody/*.cpp
+      ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/*.cpp
+    )
+    list(
+      APPEND
+      LIB_WITH_PINOCCHIO_TEMPLATE_SOURCES
+      ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/kinodynamics-fwd.cpp
+      ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/multibody-constraint-fwd.cpp
+      ${PROJECT_SOURCE_DIR}/src/modelling/dynamics/multibody-free-fwd.cpp
+    )
+  endif()
   file(
     GLOB_RECURSE LIB_TEMPLATE_DECLARATIONS
     CONFIGURE_DEPENDS
     ${PROJECT_SOURCE_DIR}/include/aligator/*.txx
   )
   list(APPEND LIB_HEADERS ${LIB_TEMPLATE_DECLARATIONS})
-  list(APPEND LIB_SOURCES ${LIB_TEMPLATE_SOURCES})
+  list(
+    APPEND
+    LIB_SOURCES
+    ${LIB_TEMPLATE_SOURCES}
+    ${LIB_WITH_PINOCCHIO_TEMPLATE_SOURCES}
+  )
 endif()
 
 list(

bindings/python/src/modelling/multibody/expose-constrained-fwd.cpp

@@ -1,5 +1,6 @@
 /// @file
 /// @copyright Copyright (C) 2022-2023 LAAS-CNRS, 2022-2025 INRIA
+#ifdef ALIGATOR_WITH_PINOCCHIO
 #include "aligator/python/fwd.hpp"
 
 #include "aligator/modelling/dynamics/context.hpp"
@@ -61,3 +62,5 @@ void exposeConstrainedFwdDynamics() {
 }
 } // namespace python
 } // namespace aligator
+
+#endif // ifdef ALIGATOR_WITH_PINOCCHIO

bindings/python/src/modelling/multibody/expose-pinocchio-manifolds.cpp

@@ -1,3 +1,4 @@
+#ifdef ALIGATOR_WITH_PINOCCHIO
 #include "aligator/python/fwd.hpp"
 #include "aligator/python/utils.hpp"
 
@@ -121,3 +122,5 @@ void exposePinocchioSpaces() {
 }
 
 } // namespace aligator::python
+
+#endif // ifdef ALIGATOR_WITH_PINOCCHIO

bindings/python/src/module.cpp

@@ -65,6 +65,8 @@ static void exposeContainers() {
   using context::Scalar;
   using context::VectorRef;
 
+  eigenpy::StdContainerFromPythonList<
+      std::vector<std::string>>::register_converter();
   StdVectorPythonVisitor<std::vector<long>, true>::expose("StdVec_long");
   eigenpy::exposeStdVectorEigenSpecificType<context::Vector3s>(
       "StdVec_Vector3s");