include/pinocchio/macros.hpp

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//
// Copyright (c) 2017-2020 CNRS INRIA
//
 
#ifndef __pinocchio_macros_hpp__
#define __pinocchio_macros_hpp__
 
// On Windows, __cplusplus is not necessarily set to the C++ version being used.
// See https://docs.microsoft.com/fr-fr/cpp/build/reference/zc-cplusplus?view=vs-2019 for further information.
 
#if (__cplusplus >= 201703L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703))
  #define PINOCCHIO_WITH_CXX17_SUPPORT
#endif
 
#if (__cplusplus >= 201402L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201403))
  #define PINOCCHIO_WITH_CXX14_SUPPORT
#endif
 
#if (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
  #define PINOCCHIO_WITH_CXX11_SUPPORT
#endif
 
#define PINOCCHIO_STRING_LITERAL(string) #string
 
// For more details, visit https://stackoverflow.com/questions/171435/portability-of-warning-preprocessor-directive
#if defined(__GNUC__) || defined(__clang__)
  #define PINOCCHIO_PRAGMA(x) _Pragma(#x)
  #define PINOCCHIO_PRAGMA_MESSAGE(the_message) PINOCCHIO_PRAGMA(GCC message #the_message)
  #define PINOCCHIO_PRAGMA_WARNING(the_message) PINOCCHIO_PRAGMA(GCC warning #the_message)
  #define PINOCCHIO_PRAGMA_DEPRECATED(the_message) PINOCCHIO_PRAGMA_WARNING(Deprecated: #the_message)
  #define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header,new_header) \
          PINOCCHIO_PRAGMA_WARNING(Deprecated header file: #old_header has been replaced by #new_header.\n Please use #new_header instead of #old_header.)
#endif
 
// This macro can be used to prevent from macro expansion, similarly to EIGEN_NOT_A_MACRO
#define PINOCCHIO_NOT_A_MACRO
 
namespace pinocchio
{
  namespace helper
  {
    template<typename T> struct argument_type;
    template<typename T, typename U> struct argument_type<T(U)> { typedef U type; };
  }
}
 
#define PINOCCHIO_MACRO_EMPTY_ARG
 
#define PINOCCHIO_UNUSED_VARIABLE(var) (void)(var)
 
#define PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(type,M,nrows,ncols)              \
  EIGEN_STATIC_ASSERT(   (type::RowsAtCompileTime == Eigen::Dynamic || type::RowsAtCompileTime == nrows) \
                      && (type::ColsAtCompileTime == Eigen::Dynamic || type::ColsAtCompileTime == ncols),\
                      THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE);    \
  assert(M.rows()==nrows && M.cols()==ncols);
 
#define PINOCCHIO_STATIC_ASSERT(condition,msg)                                 \
  { int msg[(condition) ? 1 : -1]; /*avoid unused-variable warning*/ (void) msg; }
 
namespace pinocchio
{
  namespace helper
  {
    template<typename D, template<typename> class TypeAccess>
    struct handle_return_type_without_typename
    {
      typedef typename TypeAccess< typename argument_type<void(D)>::type >::type type;
    };
  }
}
 
#if defined(__GNUC__) || defined(__clang__)
# define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH  _Pragma("GCC diagnostic push")
# define PINOCCHIO_COMPILER_DIAGNOSTIC_POP   _Pragma("GCC diagnostic pop")
# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS  _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
# if defined(__clang__)
#  define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
# else
#  define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED  _Pragma("GCC diagnostic ignored \"-Wmaybe-uninitialized\"")
# endif
#elif defined (WIN32)
# define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH  _Pragma("warning(push)")
# define PINOCCHIO_COMPILER_DIAGNOSTIC_POP   _Pragma("warning(pop)")
# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS  _Pragma("warning(disable : 4996)")
# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
#else
# define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
# define PINOCCHIO_COMPILER_DIAGNOSTIC_POP
# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
#endif // __GNUC__
 
// Handle explicitely the GCC boring warning: 'anonymous variadic macros were introduced in C++11'
#include <exception>
#include <stdexcept>
 
#if defined(__GNUC__)
  #pragma GCC system_header
#endif
 
#if defined(__GNUC__) || defined(__clang__)
  #pragma GCC diagnostic push
  #pragma GCC diagnostic ignored "-Wvariadic-macros"
#endif
 
#if !defined(PINOCCHIO_NO_THROW)
  #define PINOCCHIO_THROW(condition,exception_type,message) \
    if (!(condition)) { throw exception_type(message); }
#else
  #define PINOCCHIO_THROW(condition,exception_type,message)
#endif
 
#define _PINOCCHIO_EXPAND(x) x
#define _PINOCCHIO_GET_OVERRIDE_FOR_CHECK_INPUT_ARGUMENT(_1, _2, MACRO_NAME, ...) MACRO_NAME
 
#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_2(condition, message) \
  PINOCCHIO_THROW(condition,std::invalid_argument,message)
 
#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_1(condition) \
  _PINOCCHIO_CHECK_INPUT_ARGUMENT_2(condition,\
                                    "The following check on the input argument has failed: "#condition)
 
#define _PINOCCHIO_CHECK_INPUT_ARGUMENT_0
 
#define PINOCCHIO_CHECK_INPUT_ARGUMENT(...) \
  _PINOCCHIO_EXPAND(_PINOCCHIO_EXPAND(_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_INPUT_ARGUMENT(__VA_ARGS__,_PINOCCHIO_CHECK_INPUT_ARGUMENT_2,\
  _PINOCCHIO_CHECK_INPUT_ARGUMENT_1,_PINOCCHIO_CHECK_INPUT_ARGUMENT_0))(__VA_ARGS__))
 
#define _PINOCCHIO_GET_OVERRIDE_FOR_CHECK_ARGUMENT_SIZE(_1, _2, _3, MACRO_NAME, ...) MACRO_NAME
 
#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_3(size, expected_size, message) \
  if (size != expected_size) { \
    std::ostringstream oss; \
    oss << "wrong argument size: expected " << expected_size << ", got " << size << std::endl; \
    oss << "hint: " << message << std::endl; \
    PINOCCHIO_THROW(false, std::invalid_argument, oss.str()); \
  }
 
#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_2(size, expected_size) \
  _PINOCCHIO_CHECK_ARGUMENT_SIZE_3(size, expected_size, PINOCCHIO_STRING_LITERAL(size) " is different from " PINOCCHIO_STRING_LITERAL(expected_size))
 
#define _PINOCCHIO_CHECK_ARGUMENT_SIZE_1
 
#define PINOCCHIO_CHECK_ARGUMENT_SIZE(...) \
  _PINOCCHIO_EXPAND(_PINOCCHIO_EXPAND(_PINOCCHIO_GET_OVERRIDE_FOR_CHECK_ARGUMENT_SIZE(__VA_ARGS__,_PINOCCHIO_CHECK_ARGUMENT_SIZE_3, \
  _PINOCCHIO_CHECK_ARGUMENT_SIZE_2, _PINOCCHIO_CHECK_ARGUMENT_SIZE_1))(__VA_ARGS__))
 
#if defined(__GNUC__) || defined(__clang__)
  #pragma GCC diagnostic pop
#endif
 
#endif // ifndef __pinocchio_macros_hpp__