Merge pull request #129 from nim65s/issue/128

define locally BOOST_BIND_GLOBAL_PLACEHOLDERS, fix #128

Author: nim65s

CMakeLists.txt

@@ -86,12 +86,6 @@ IF(BUILD_PYTHON_INTERFACE)
   SET(PYWRAP ${PROJECT_NAME}_pywrap)
   ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES eigenpy)
   SEARCH_FOR_BOOST_PYTHON(REQUIRED)
-
-  IF(Boost_VERSION GREATER 107299)
-    # Silence a warning about a deprecated use of boost bind by boost python
-    # at least fo boost 1.73 to 1.75
-    ADD_DEFINITIONS(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
-  ENDIF()
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 # Main Library
@@ -163,6 +157,7 @@ SET(${PROJECT_NAME}_FORMULATIONS_HEADERS
   )
 
 FILE(GLOB ${PYWRAP}_HEADERS
+  include/tsid/bindings/python/fwd.hpp
   include/tsid/bindings/python/constraint/*.hpp
   include/tsid/bindings/python/contacts/*.hpp
   include/tsid/bindings/python/formulations/*.hpp

bindings/python/module.cpp

@@ -15,8 +15,7 @@
 // <http://www.gnu.org/licenses/>.
 //
 
-#include <pinocchio/fwd.hpp>
-#include <eigenpy/eigenpy.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 #include <eigenpy/geometry.hpp>
 
 #include "tsid/bindings/python/robots/expose-robots.hpp"
@@ -27,11 +26,6 @@
 #include "tsid/bindings/python/solvers/expose-solvers.hpp"
 #include "tsid/bindings/python/formulations/expose-formulations.hpp"
 
-#include <boost/python/module.hpp>
-#include <boost/python/def.hpp>
-#include <boost/python/tuple.hpp>
-#include <boost/python/to_python_converter.hpp>
-
 namespace bp = boost::python;
 using namespace tsid::python;
 
@@ -62,4 +56,3 @@ BOOST_PYTHON_MODULE(libtsid_pywrap)
   exposeFormulations();
 
 }
- 

include/tsid/bindings/python/constraint/constraint-bound.hpp

@@ -19,10 +19,7 @@
 #ifndef __tsid_python_constriant_bound_hpp__
 #define __tsid_python_constriant_bound_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/math/constraint-bound.hpp"
 

include/tsid/bindings/python/constraint/constraint-equality.hpp

@@ -19,10 +19,7 @@
 #ifndef __tsid_python_constriant_equality_hpp__
 #define __tsid_python_constriant_equality_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/math/constraint-equality.hpp"
 

include/tsid/bindings/python/constraint/constraint-inequality.hpp

@@ -17,10 +17,7 @@
 #ifndef __tsid_python_constriant_inequality_hpp__
 #define __tsid_python_constriant_inequality_hpp__
 
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/math/constraint-inequality.hpp"
 

include/tsid/bindings/python/contacts/contact-6d.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_contact_6d_hpp__
 #define __tsid_python_contact_6d_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/contacts/contact-6d.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/contacts/contact-point.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_contact_6d_hpp__
 #define __tsid_python_contact_6d_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/contacts/contact-point.hpp"
 #include "tsid/robots/robot-wrapper.hpp"

include/tsid/bindings/python/formulations/formulation.hpp

@@ -18,11 +18,7 @@
 #ifndef __tsid_python_HQPOutput_hpp__
 #define __tsid_python_HQPOutput_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include <pinocchio/bindings/python/utils/deprecation.hpp>
 

include/tsid/bindings/python/fwd.hpp

@@ -0,0 +1,37 @@
+//
+// Copyright (c) 2021 CNRS - INRIA
+//
+// This file is part of tsid
+// tsid is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+// tsid is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// tsid If not, see
+// <http://www.gnu.org/licenses/>.
+//
+
+#ifndef __tsid_python_fwd_hpp__
+#define __tsid_python_fwd_hpp__
+
+#include <string>
+
+// Silence a warning about a deprecated use of boost bind by boost python
+// at least fo boost 1.73 to 1.75
+// ref. https://github.com/stack-of-tasks/tsid/issues/128
+#define BOOST_BIND_GLOBAL_PLACEHOLDERS
+
+#include <pinocchio/fwd.hpp>
+#include <eigenpy/eigenpy.hpp>
+
+#include <boost/python.hpp>
+#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+#include <boost/python/make_constructor.hpp>
+
+#undef BOOST_BIND_GLOBAL_PLACEHOLDERS
+
+#endif

include/tsid/bindings/python/robots/robot-wrapper.hpp

@@ -18,12 +18,7 @@
 #ifndef __tsid_python_robot_wrapper_hpp__
 #define __tsid_python_robot_wrapper_hpp__
 
-#include <pinocchio/fwd.hpp>
-#include <boost/python.hpp>
-#include <string>
-#include <eigenpy/eigenpy.hpp>
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
-#include <boost/python/make_constructor.hpp>
+#include "tsid/bindings/python/fwd.hpp"
 
 #include "tsid/robots/robot-wrapper.hpp"