Simple-Robotics · jorisv · May 21, 2025 · May 21, 2025 · May 21, 2025 · May 22, 2025
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,21 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Added joint methods `jointQrows`, `jointQcols` (resp. `jointQVblock`) that make selections of size `NQ` (resp. `NQ x NV`).
 - Added joint method `lieGroup` that returns the Lie group instance associated to a joint. This allows performing some operations (e.g. `integrate`...) individually.
 - Added model method `lieGroup` that returns the Lie group instance associated to the model. It is a Cartesian product of multiple Lie groups. It allows combination of the model Lie group with other Lie groups.
+- Add Python example showcasing the candlewick visualizer
+
+### Changed
+
+- bindings/python : Add missing arg names in `visualizer-visitor.hpp`
+- use deprecation, warning macros already provided by jrl-cmakemodules
+- renamed `PINOCCHIO_PRAGMA_DEPRECATED_HEADER` to `PINOCCHIO_DEPRECATED_MOVED_HEADER`
+- docs : update documentation stylesheet, fix some Doxygen config options
+
+### Removed
+
+- Remove unused headers `deprecated-macros.hpp` and `deprecated-namespaces.hpp`
+- Remove header `pinocchio/deprecation.hpp`, directly use generated `pinocchio/deprecated.hpp`
+- macros.hpp : remove macros already provided by jrl-cmakemodules
+- bindings/python : deprecate and remove contents of `utils/copyable.hpp`, `utils/registration.hpp` and `utils/deprecation.hpp`, include corresponding eigenpy headers instead
 
 ## [3.7.0] - 2025-05-21
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -109,8 +109,8 @@ if(CMAKE_VERSION VERSION_GREATER "3.12")
   cmake_policy(SET CMP0074 NEW)
 endif()
 
-# Force C++ standard to be C++11 at least
-check_minimal_cxx_standard(11 ENFORCE)
+# Force C++ standard to be C++17 at least
+check_minimal_cxx_standard(17 ENFORCE)
 
 # --- OPTIONS ----------------------------------------
 option(BUILD_BENCHMARK "Build the benchmarks" OFF)
@@ -212,7 +212,7 @@ set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/models")
 # --- DEPENDENCIES -----------------------------------
 # ----------------------------------------------------
 set(CMAKE_MODULE_PATH "${JRL_CMAKE_MODULES}/find-external/CppAD/" ${CMAKE_MODULE_PATH})
-add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
+add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.4.0")
 
 if(BUILD_WITH_URDF_SUPPORT)
   add_project_dependency(urdfdom_headers REQUIRED)

diff --git a/README.md b/README.md
@@ -253,7 +253,7 @@ The currently active core developers of **Pinocchio** are:
 -   [Justin Carpentier](https://jcarpent.github.io) (Inria): main developer and manager of the project
 -   [Guilhem Saurel](https://www.laas.fr/fr/annuaire/gsaurel) (LAAS-CNRS): CI/CD, packaging
 -   [Etienne Arlaud](https://github.com/EtienneAr) (Inria): core developer
--   [Wilson Jallet](https://github.com/ManifoldFR) (LAAS-CNRS/Inria): extension of Python bindings, C++ visualization API
+-   [Wilson Jallet](https://github.com/ManifoldFR) (Inria): extension of Python bindings, C++ visualization API
 -   [Fabian Schramm](https://github.com/fabinsch) (Inria): core developper
 -   [Stéphane Caron](https://scaron.info) (Inria): core developper
 -   [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and project manager

diff --git a/bindings/python/algorithm/admm-solver.cpp b/bindings/python/algorithm/admm-solver.cpp
@@ -168,6 +168,7 @@ namespace pinocchio
             ;
         }
 
+#ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
         class_
           .def(
             "solve",
@@ -200,7 +201,7 @@ namespace pinocchio
              bp::arg("admm_update_rule") = ADMMUpdateRule::SPECTRAL,
              bp::arg("stat_record") = false),
             "Solve the constrained conic problem, starting from the optional initial guess.");
-#ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
+  #ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
         {
           typedef Eigen::AccelerateLLT<context::SparseMatrix> AccelerateLLT;
           typedef DelassusOperatorSparseTpl<context::Scalar, context::Options, AccelerateLLT>
@@ -216,8 +217,10 @@ namespace pinocchio
              bp::arg("stat_record") = false),
             "Solve the constrained conic problem, starting from the optional initial guess.");
         }
-#endif
+  #endif // ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
+#endif   // ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
 
+#ifndef PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED
         bp::def(
           "computeConeProjection",
           computeConeProjection_wrapper<ConstraintModel, ConstraintModelAllocator>,
@@ -247,6 +250,7 @@ namespace pinocchio
           computeDeSaxeCorrection_wrapper<ConstraintModel, ConstraintModelAllocator>,
           bp::args("constraint_models", "velocities"),
           "Compute the complementarity shift associated to the De Saxé function.");
+#endif // ifndef PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED
       }
       //
       //      template<typename S, int O>

diff --git a/bindings/python/algorithm/constraints/expose-cones.cpp b/bindings/python/algorithm/constraints/expose-cones.cpp
@@ -13,6 +13,29 @@
 // #include "pinocchio/bindings/python/serialization/serialization.hpp"
 #include "pinocchio/bindings/python/utils/std-aligned-vector.hpp"
 
+#ifdef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
+namespace eigenpy
+{
+  // has_operator_equal return true for CoulombFrictionCone and DualCoulombFrictionCone with casadi
+  // but it should not.
+  // We provide specialization to enforce good result.
+  template<>
+  struct has_operator_equal<
+    pinocchio::python::context::CoulombFrictionCone,
+    pinocchio::python::context::CoulombFrictionCone>
+  {
+    typedef std::false_type type;
+  };
+  template<>
+  struct has_operator_equal<
+    pinocchio::python::context::DualCoulombFrictionCone,
+    pinocchio::python::context::DualCoulombFrictionCone>
+  {
+    typedef std::false_type type;
+  };
+} // namespace eigenpy
+#endif // ifdef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
+
 namespace pinocchio
 {
   namespace python

diff --git a/bindings/python/algorithm/expose-constrained-dynamics.cpp b/bindings/python/algorithm/expose-constrained-dynamics.cpp
@@ -8,7 +8,6 @@
 #include "pinocchio/bindings/python/algorithm/contact-cholesky.hpp"
 
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 #include "pinocchio/bindings/python/utils/model-checker.hpp"
 
 #include "pinocchio/algorithm/constrained-dynamics.hpp"
@@ -120,7 +119,7 @@ namespace pinocchio
 
       ContactCholeskyDecompositionPythonVisitor<context::ContactCholeskyDecomposition>::expose();
 
-      exposeConstraintDynamicsFor<RigidConstraintModel>();
+      exposeConstraintDynamicsFor<context::RigidConstraintModel>();
       // exposeConstraintDynamicsFor<WeldConstraintModel>();
     }
   } // namespace python

diff --git a/bindings/python/algorithm/pgs-solver.cpp b/bindings/python/algorithm/pgs-solver.cpp
@@ -57,6 +57,7 @@ namespace pinocchio
       void run(ConstraintModelBase<ConstraintModel> * ptr = 0)
       {
         PINOCCHIO_UNUSED_VARIABLE(ptr);
+#ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
         class_
           .def(
             "solve", solve_wrapper<context::MatrixXs, ConstraintModel>,
@@ -72,6 +73,7 @@ namespace pinocchio
              bp::arg("solve_ncp") = true, bp::arg("stat_record") = false),
             "Solve the constrained conic problem composed of problem data (G,g,cones) and starting "
             "from the initial guess.");
+#endif // ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
       }
 
       //      template<typename S, int O>

diff --git a/bindings/python/math/expose-eigen-types.cpp b/bindings/python/math/expose-eigen-types.cpp
@@ -1,9 +1,8 @@
 //
-// Copyright (c) 2020-2021 INRIA
+// Copyright (c) 2020-2025 INRIA
 //
 
 #include "pinocchio/bindings/python/fwd.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
 #include <eigenpy/eigenpy.hpp>

diff --git a/bindings/python/module.cpp b/bindings/python/module.cpp
@@ -1,13 +1,12 @@
 //
-// Copyright (c) 2015-2022 CNRS INRIA
+// Copyright (c) 2015-2022 CNRS INRIA, 2025 INRIA
 //
 
 #include "pinocchio/bindings/python/fwd.hpp"
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/utils/version.hpp"
 #include "pinocchio/bindings/python/utils/version.hpp"
 #include "pinocchio/bindings/python/utils/dependencies.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 #include "pinocchio/spatial/cartesian-axis.hpp"

diff --git a/bindings/python/parsers/urdf/console-bridge.cpp b/bindings/python/parsers/urdf/console-bridge.cpp
@@ -1,10 +1,10 @@
 //
-// Copyright (c) 2020 INRIA
+// Copyright (c) 2020-2025 INRIA
 //
 
 #include <boost/python.hpp>
+#include <eigenpy/registration.hpp>
 #include "pinocchio/bindings/python/parsers/urdf.hpp"
-#include "pinocchio/bindings/python/utils/registration.hpp"
 
 #ifdef PINOCCHIO_WITH_URDFDOM
   #include <console_bridge/console.h>
@@ -24,7 +24,7 @@ namespace pinocchio
       ::console_bridge::setLogLevel(::console_bridge::CONSOLE_BRIDGE_LOG_ERROR);
 
       typedef ::console_bridge::LogLevel LogLevel;
-      if (!register_symbolic_link_to_registered_type<LogLevel>())
+      if (!eigenpy::register_symbolic_link_to_registered_type<LogLevel>())
       {
         bp::enum_<LogLevel>("LogLevel")
           .value("CONSOLE_BRIDGE_LOG_DEBUG", ::console_bridge::CONSOLE_BRIDGE_LOG_DEBUG)

diff --git a/development/scripts/pixi/activation.bat b/development/scripts/pixi/activation.bat
@@ -23,3 +23,4 @@ if not defined PINOCCHIO_CODEGEN_SUPPORT (set PINOCCHIO_CODEGEN_SUPPORT=OFF)
 if not defined PINOCCHIO_SDF_SUPPORT (set PINOCCHIO_SDF_SUPPORT=OFF)
 if not defined PINOCCHIO_MPFR_SUPPORT (set PINOCCHIO_MPFR_SUPPORT=OFF)
 if not defined PINOCCHIO_BUILD_BENCHMARK (set PINOCCHIO_BUILD_BENCHMARK=OFF)
+if not defined PINOCCHIO_BUILD_WITH_TRACY(set PINOCCHIO_BUILD_WITH_TRACY=OFF)
diff --git a/development/scripts/pixi/activation.sh b/development/scripts/pixi/activation.sh
@@ -51,3 +51,4 @@ export PINOCCHIO_CODEGEN_SUPPORT=${PINOCCHIO_CODEGEN_SUPPORT:=OFF}
 export PINOCCHIO_SDF_SUPPORT=${PINOCCHIO_SDF_SUPPORT:=OFF}
 export PINOCCHIO_MPFR_SUPPORT=${PINOCCHIO_MPFR_SUPPORT:=OFF}
 export PINOCCHIO_BUILD_BENCHMARK=${PINOCCHIO_BUILD_BENCHMARK:=OFF}
+export PINOCCHIO_BUILD_WITH_TRACY=${PINOCCHIO_BUILD_WITH_TRACY:=OFF}
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
@@ -315,10 +315,11 @@ FILE_PATTERNS          = *.cc *.cpp *.h *.hpp *.hh *.dox *.md *.py
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-#EXCLUDE                = @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
+EXCLUDE                = @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
 
 # Put them back for inclusion as whole files
-HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
+HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src \
+                          @PROJECT_SOURCE_DIR@/doc/doxygen-awesome-darkmode-toggle.js
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -355,8 +356,7 @@ EXCLUDE_PATTERNS      += CMake* \
 # wildcard * is used, a substring. Examples: ANamespace, AClass,
 # AClass::ANamespace, ANamespace::*Test
 
-EXCLUDE_SYMBOLS        = internal::* \
-                         *Visitor
+EXCLUDE_SYMBOLS        = internal::*,detail*::**Visitor,boost::*,Eigen::*,eigenpy::*,std::*
 
 # The IMAGE_PATH tag can be used to specify one or more files or
 # directories that contain image that are included in the documentation (see
@@ -397,12 +397,6 @@ VERBATIM_HEADERS       = YES
 
 ALPHABETICAL_INDEX     = YES
 
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
-# in which this list will be split (can be a number in the range [1..20])
-
-COLS_IN_ALPHA_INDEX    = 4
-
 #---------------------------------------------------------------------------
 # configuration options related to the HTML output
 #---------------------------------------------------------------------------
@@ -413,7 +407,8 @@ COLS_IN_ALPHA_INDEX    = 4
 # Doxygen will copy the logo to the output directory.
 
 PROJECT_LOGO           = @PROJECT_SOURCE_DIR@/doc/pinocchio.png
-HTML_EXTRA_FILES       += pinocchio.png
+HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/pinocchio.png \
+                          @PROJECT_SOURCE_DIR@/doc/pinocchio.ico
 
 # The HTML_HEADER tag can be used to specify a personal HTML header for
 # each generated HTML page. If it is left blank doxygen will generate a
@@ -427,60 +422,21 @@ HTML_EXTRA_FILES       += pinocchio.png
 # changing the value of configuration settings such as GENERATE_TREEVIEW!
 
 HTML_HEADER            = @PROJECT_SOURCE_DIR@/doc/header.html
-HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/pinocchio.ico
 
 # The HTML_FOOTER tag can be used to specify a personal HTML footer for
 # each generated HTML page. If it is left blank doxygen will generate a
 # standard footer.
 
-HTML_FOOTER            =
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
-# style sheet that is used by each HTML page. It can be used to
-# fine-tune the look of the HTML output. If the tag is left blank doxygen
-# will generate a default style sheet. Note that doxygen will try to copy
-# the style sheet file to the HTML output directory, so don't put your own
-# style sheet in the HTML output directory as well, or it will be erased!
-# NOTE: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag,
-# as it is more robust and this tag (HTML_STYLESHEET)
-# will in the future become obsolete.
-
-#HTML_STYLESHEET        = @PROJECT_SOURCE_DIR@/doc/package.css
-
-# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
-# cascading style sheets that are included after the standard style sheets
-# created by doxygen. Using this option one can overrule certain style aspects.
-# This is preferred over using HTML_STYLESHEET since it does not replace
-# the standard style sheet and is therefore more robust against future updates.
-# Doxygen will copy the style sheet files to the output directory.
-
-HTML_EXTRA_STYLESHEET        = @PROJECT_SOURCE_DIR@/doc/customdoxygen.css
-
-# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
-# Doxygen will adjust the colors in the style sheet and background images
-# according to this color. Hue is specified as an angle on a colorwheel,
-# see http://en.wikipedia.org/wiki/Hue for more information.
-# For instance the value 0 represents red, 60 is yellow, 120 is green,
-# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
-# The allowed range is 0 to 359.
-# The default is 220.
-
-HTML_COLORSTYLE_HUE    = 220
-
-# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
-# the colors in the HTML output. For a value of 0 the output will use
-# grayscales only. A value of 255 will produce the most vivid colors.
+HTML_FOOTER             =
 
-HTML_COLORSTYLE_SAT    = 100
+FULL_SIDEBAR            = NO
 
-# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
-# the luminance component of the colors in the HTML output. Values below
-# 100 gradually make the output lighter, whereas values above 100 make
-# the output darker. The value divided by 100 is the actual gamma applied,
-# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
-# and 100 does not change the gamma.
+HTML_EXTRA_STYLESHEET        = @PROJECT_SOURCE_DIR@/doc/doxygen-awesome.css
 
-HTML_COLORSTYLE_GAMMA  = 80
+HTML_COLORSTYLE_HUE     = 209
+HTML_COLORSTYLE_SAT     = 255
+HTML_COLORSTYLE_GAMMA   = 113
+HTML_COLORSTYLE         = LIGHT
 
 # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
 # documentation will contain sections that can be hidden and shown after the
@@ -534,7 +490,7 @@ ECLIPSE_DOC_ID         = org.doxygen.@PACKAGE_NAME@
 # top of each HTML page. The value NO (the default) enables the index and
 # the value YES disables it.
 
-DISABLE_INDEX          = YES
+DISABLE_INDEX          = NO
 
 # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
 # structure should be generated to display hierarchical information.
@@ -608,7 +564,8 @@ PREDEFINED             += EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
                           PINOCCHIO_WITH_URDFDOM \
                           PINOCCHIO_WITH_CPPAD_SUPPORT \
                           PINOCCHIO_WITH_CPPADCG_SUPPORT \
-                          PINOCCHIO_WITH_LUA5
+                          PINOCCHIO_DONT_INLINE \
+                          PINOCCHIO_NOEXCEPT=noexcept
 
 # The following macros would be better treated with EXPAND_AS_DEFINED.
 # However, it was not working properly

diff --git a/doc/customdoxygen.css b/doc/customdoxygen.css