Fix build with Boost < 1.77

CHANGELOG.md

@@ -16,6 +16,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Remove f-strings to fix install with python 2 ([#2110](https://github.com/stack-of-tasks/pinocchio/pull/2110))
 - CMake: stop exporting CppAd/cppadcodegen & fetch submodule if not available ([#2112](https://github.com/stack-of-tasks/pinocchio/pull/2112))
 - Fix malloc issue in CRBA algo ([#2126](https://github.com/stack-of-tasks/pinocchio/pull/2126))
+- Fix build cppad and cppadcg with Boost < 1.77 ([#2132](https://github.com/stack-of-tasks/pinocchio/pull/2132))
 
 ## [2.6.21] - 2023-11-27
 

examples/codegen/CMakeLists.txt

@@ -7,5 +7,6 @@ IF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT AND BUILD_WITH_URDF_SUPPORT)
   ADD_PINOCCHIO_CPP_EXAMPLE(codegen-crba)
   SET_PROPERTY(TARGET example-cpp-codegen-crba PROPERTY CXX_STANDARD 11)
   TARGET_LINK_LIBRARIES(example-cpp-codegen-crba PUBLIC ${CMAKE_DL_LIBS} ${cppad_LIBRARY})
+  TARGET_COMPILE_DEFINITIONS(example-cpp-codegen-crba PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
 ENDIF(CPPADCG_FOUND AND BUILD_WITH_CODEGEN_SUPPORT AND BUILD_WITH_URDF_SUPPORT)
 

examples/codegen/codegen-crba.cpp

@@ -28,7 +28,7 @@ int main(int argc, const char ** argv)
 
   // Generate the lib if it does not exist and load it afterwards.
   crba_code_gen.initLib();
-  crba_code_gen.loadLib();
+  crba_code_gen.compileAndLoadLib(PINOCCHIO_CXX_COMPILER);
 
   // Use it with a random configuration samples in the bounds of the joint limits
   VectorXd q = randomConfiguration(model);

include/pinocchio/autodiff/cppad.hpp

@@ -37,11 +37,19 @@ namespace boost
             return ADScalar(constant_pi<Scalar>::get(n));
           }
 
+#if BOOST_VERSION >= 107700
           template <class T, T value>
           static inline ADScalar get(const std::integral_constant<T, value> &n)
           {
             return ADScalar(constant_pi<Scalar>::get(n));
           }
+#else
+          template <class T, T value>
+          static inline ADScalar get(const boost::integral_constant<T, value> &n)
+          {
+            return ADScalar(constant_pi<Scalar>::get(n));
+          }
+#endif
         };
       }
     }

include/pinocchio/codegen/code-generator-base.hpp

@@ -83,9 +83,9 @@ namespace pinocchio
     CppAD::cg::ModelCSourceGen<Scalar> & codeGenerator()
     { return *cgen_ptr; }
 
-    void compileLib()
+    void compileLib(const std::string& gccPath = "/usr/bin/gcc")
     {
-      CppAD::cg::GccCompiler<Scalar> compiler;
+      CppAD::cg::GccCompiler<Scalar> compiler(gccPath);
       std::vector<std::string> compile_options = compiler.getCompileFlags();
       compile_options[0] = "-Ofast";
       compiler.setCompileFlags(compile_options);
@@ -99,6 +99,12 @@ namespace pinocchio
       return file.good();
     }
 
+    void compileAndLoadLib(const std::string& gccPath)
+    {
+      compileLib(gccPath);
+      loadLib(false);
+    }
+
     void loadLib(const bool generate_if_not_exist = true)
     {
       if(!existLib() && generate_if_not_exist)

include/pinocchio/codegen/cppadcg.hpp

@@ -37,11 +37,19 @@ namespace boost
             return CGScalar(constant_pi<Scalar>::get(n));
           }
 
+#if BOOST_VERSION >= 107700
           template <class T, T value>
           static inline CGScalar get(const std::integral_constant<T, value> &n)
           {
             return CGScalar(constant_pi<Scalar>::get(n));
           }
+#else
+          template <class T, T value>
+          static inline CGScalar get(const boost::integral_constant<T, value> &n)
+          {
+            return CGScalar(constant_pi<Scalar>::get(n));
+          }
+#endif
         };
       }
     }

unittest/CMakeLists.txt

@@ -197,6 +197,7 @@ MACRO(ADD_CPPADCG_UNIT_TEST name)
   ADD_DEPENDENCIES(test-cppadcg test-cpp-${name})
   SET_PROPERTY(TARGET test-cpp-${name} PROPERTY CXX_STANDARD 11)
   TARGET_LINK_LIBRARIES(test-cpp-${name} PUBLIC ${cppad_LIBRARY} ${CMAKE_DL_LIBS})
+  TARGET_COMPILE_DEFINITIONS(test-cpp-${name} PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
 ENDMACRO()
 
 IF(BUILD_WITH_AUTODIFF_SUPPORT)

unittest/cppadcg-algo.cpp

@@ -82,7 +82,7 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
     // compile source code
     CppAD::cg::DynamicModelLibraryProcessor<Scalar> p(libcgen);
 
-    CppAD::cg::GccCompiler<Scalar> compiler;
+    CppAD::cg::GccCompiler<Scalar> compiler(PINOCCHIO_CXX_COMPILER);
     std::unique_ptr<CppAD::cg::DynamicLib<Scalar>> dynamicLib = p.createDynamicLibrary(compiler);
 
     // save to files (not really required)

unittest/cppadcg-basic.cpp

@@ -189,7 +189,7 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
     // compile source code
     DynamicModelLibraryProcessor<double> p(libcgen);
 
-    GccCompiler<double> compiler;
+    GccCompiler<double> compiler(PINOCCHIO_CXX_COMPILER);
     std::unique_ptr<DynamicLib<double>> dynamicLib = p.createDynamicLibrary(compiler);
 
     // save to files (not really required)

unittest/cppadcg-joint-configurations.cpp

@@ -35,7 +35,7 @@ BOOST_AUTO_TEST_CASE(test_joint_configuration_code_generation)
   //Integrate
   CodeGenIntegrate<double> cg_integrate(model);
   cg_integrate.initLib();
-  cg_integrate.loadLib();
+  cg_integrate.compileAndLoadLib(PINOCCHIO_CXX_COMPILER);
 
   cg_integrate.evalFunction(q1,v, results_q[0]);
   pinocchio::integrate(model, q1,v,results_q[1]);
@@ -47,7 +47,7 @@ BOOST_AUTO_TEST_CASE(test_joint_configuration_code_generation)
   //Difference
   CodeGenDifference<double> cg_difference(model);
   cg_difference.initLib();
-  cg_difference.loadLib();
+  cg_difference.compileAndLoadLib(PINOCCHIO_CXX_COMPILER);
 
   cg_difference.evalFunction(q1,q2, results_v[0]);
   pinocchio::difference(model,q1,q2,results_v[1]);
@@ -59,7 +59,7 @@ BOOST_AUTO_TEST_CASE(test_joint_configuration_code_generation)
   //dDifference
   CodeGenDDifference<double> cg_dDifference(model);
   cg_dDifference.initLib();
-  cg_dDifference.loadLib();
+  cg_dDifference.compileAndLoadLib(PINOCCHIO_CXX_COMPILER);
 
   //ARG0
   std::vector<Eigen::MatrixXd> results_J(2,Eigen::MatrixXd::Zero(model.nv,model.nv));