Fix compatibility with ubuntu22.04 for real-time usage

CMakeLists.txt

@@ -243,9 +243,9 @@ if(BUILD_PYTHON_INTERFACE)
   set(PYTHON_COMPONENTS Interpreter Development NumPy)
   ADD_PROJECT_DEPENDENCY(
     eigenpy
-    3.10.3
+    3.10.2
     REQUIRED
-    PKG_CONFIG_REQUIRES "eigenpy >= 3.10.3"
+    PKG_CONFIG_REQUIRES "eigenpy >= 3.10.2"
   )
   set(PYLIB_NAME "py${PROJECT_NAME}")
   set(${PYLIB_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PROJECT_NAME})

README.md

@@ -71,12 +71,12 @@ cmake --build . -jNCPUS
 * [Boost](https://www.boost.org) >= 1.71.0
 * OpenMP
 * [fmtlib](https://github.com/fmtlib/fmt) >= 10.0.0 | [conda](https://github.com/fmtlib/fmt)
+* [mimalloc](https://github.com/microsoft/mimalloc) >= 2.1.0 | [conda](https://github.com/microsoft/mimalloc)
 * (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)>=3.9.0 | [conda](https://anaconda.org/conda-forge/eigenpy) (Python bindings)
 * (optional) [Pinocchio](https://github.com/stack-of-tasks/pinocchio) | [conda](https://anaconda.org/conda-forge/pinocchio)
 * (optional) [Crocoddyl](https://github.com/loco-3d/crocoddyl) | [conda](https://anaconda.org/conda-forge/crocoddyl)
 * (optional) [example-robot-data](https://github.com/Gepetto/example-robot-data) | [conda](https://anaconda.org/conda-forge/example-robot-data) (required for some examples and benchmarks)
-* (optional) [Catch2](https://github.com/catchorg/Catch2) | [conda](https://anaconda.org/conda-forge/catch2) for testing
-* a C++17 compliant compiler
+* (optional) [Catch2](https://github.com/catchorg/Catch2) | [conda](https://anaconda.org/conda-forge/catch2) for testing a C++17 compliant compiler
 
 #### Python dependencies
 

bindings/python/include/aligator/python/fwd.hpp

@@ -1,5 +1,5 @@
 #pragma once
-
+#include <pinocchio/fwd.hpp>
 #include "aligator/context.hpp"
 
 namespace boost {

bindings/python/src/modelling/expose-cost-stack.cpp

@@ -59,7 +59,7 @@ void exposeCostStack() {
             .def(
                 "getComponent",
                 +[](CostStack &self, const CostKey &key) -> PolyCost & {
-                  if (!self.components_.contains(key)) {
+                  if (self.components_.find(key) == self.components_.end()) {
                     key_err_python_manager(key);
                   }
                   CostItem &c = self.components_.at(key);

examples/se2-car.cpp

@@ -16,7 +16,7 @@ int main() {
   solver.setup(problem);
   solver.run(problem);
 
-  fmt::print("{}\n", fmt::streamed(solver.results_));
+  fmt::print("{}\n", solver.results_);
 
   return 0;
 }

include/aligator/compat/boost/core/data.hpp

@@ -0,0 +1,60 @@
+/*
+Copyright 2023 Glen Joseph Fernandes
+([email protected])
+
+Distributed under the Boost Software License, Version 1.0.
+(http://www.boost.org/LICENSE_1_0.txt)
+*/
+#ifndef BOOST_CORE_DATA_HPP
+#define BOOST_CORE_DATA_HPP
+
+#include <iterator>
+
+// Note: MSVC doesn't define __cpp_lib_nonmember_container_access but supports the feature even in C++14 mode
+#if (defined(__cpp_lib_nonmember_container_access) && (__cpp_lib_nonmember_container_access >= 201411l)) || \
+    (defined(_MSC_VER) && (_MSC_VER >= 1900))
+
+namespace boost {
+using std::data;
+} /* boost */
+
+#else // (defined(__cpp_lib_nonmember_container_access) ...
+
+#include <cstddef>
+#include <initializer_list>
+
+namespace boost {
+
+template<class C>
+inline constexpr auto
+data(C& c) noexcept(noexcept(c.data())) -> decltype(c.data())
+{
+    return c.data();
+}
+
+template<class C>
+inline constexpr auto
+data(const C& c) noexcept(noexcept(c.data())) -> decltype(c.data())
+{
+    return c.data();
+}
+
+template<class T, std::size_t N>
+inline constexpr T*
+data(T(&a)[N]) noexcept
+{
+    return a;
+}
+
+template<class T>
+inline constexpr const T*
+data(std::initializer_list<T> l) noexcept
+{
+    return l.begin();
+}
+
+} /* boost */
+
+#endif // (defined(__cpp_lib_nonmember_container_access) ...
+
+#endif

include/aligator/compat/boost/core/detail/assert.hpp

@@ -0,0 +1,18 @@
+/*
+Copyright 2025 Glen Joseph Fernandes
+([email protected])
+
+Distributed under the Boost Software License, Version 1.0.
+(http://www.boost.org/LICENSE_1_0.txt)
+*/
+#undef BOOST_CORE_DETAIL_ASSERT
+
+#if !defined(__clang__) && \
+    !defined(__INTEL_COMPILER) && \
+    defined(__GNUC__) && \
+    (__GNUC__ < 5)
+#define BOOST_CORE_DETAIL_ASSERT(expr) void(0)
+#else
+#include <boost/assert.hpp>
+#define BOOST_CORE_DETAIL_ASSERT(expr) BOOST_ASSERT(expr)
+#endif

include/aligator/compat/boost/core/make_span.hpp

@@ -0,0 +1,59 @@
+/*
+Copyright 2023 Glen Joseph Fernandes
+([email protected])
+
+Distributed under the Boost Software License, Version 1.0.
+(http://www.boost.org/LICENSE_1_0.txt)
+*/
+#ifndef BOOST_CORE_MAKE_SPAN_HPP
+#define BOOST_CORE_MAKE_SPAN_HPP
+
+#include "aligator/compat/boost/core/span.hpp"
+
+namespace boost {
+
+template<class I>
+inline constexpr span<I>
+make_span(I* f, std::size_t c) noexcept
+{
+    return span<I>(f, c);
+}
+
+template<class I>
+inline constexpr span<I>
+make_span(I* f, I* l) noexcept
+{
+    return span<I>(f, l);
+}
+
+template<class T, std::size_t N>
+inline constexpr span<T, N>
+make_span(T(&a)[N]) noexcept
+{
+    return span<T, N>(a);
+}
+
+template<class T, std::size_t N>
+inline constexpr span<T, N>
+make_span(std::array<T, N>& a) noexcept
+{
+    return span<T, N>(a);
+}
+
+template<class T, std::size_t N>
+inline constexpr span<const T, N>
+make_span(const std::array<T, N>& a) noexcept
+{
+    return span<const T, N>(a);
+}
+
+template<class R>
+inline span<typename detail::span_data<R>::type>
+make_span(R&& r)
+{
+    return span<typename detail::span_data<R>::type>(std::forward<R>(r));
+}
+
+} /* boost */
+
+#endif