Build Python bindings of manifpy on Windows and switch manif version to 0.0.5

[traversaro]

Remove workaround added in #838 (comment) .

[traversaro]

Hopefully this will work out of the box, if not we can also try to update manif to 0.0.5, this was already tested in ami-iit/bipedal-locomotion-framework#874 .

[giotherobot]

Building on windows results in:

Sorry for image...

[traversaro]

Ok, we see the same error in CI:

2024-09-04T10:31:21.0311241Z C:\PROGRA~2\MICROS~2\2019\ENTERP~1\VC\Tools\MSVC\1429~1.301\bin\Hostx64\x64\cl.exe  /nologo /TP -DEIGEN_DEFAULT_TO_ROW_MAJOR -Dmanifpy_EXPORTS -ID:\a\robotology-superbuild\robotology-superbuild\src\manif\include -ID:\a\robotology-superbuild\robotology-superbuild\src\manif\external\tl -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Include -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include\eigen3 -external:W0 /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /O2 /Ob2 /DNDEBUG -std:c++17 /GL /bigobj /MP /showIncludes /Fopython\CMakeFiles\manifpy.dir\bindings_so2.cpp.obj /Fdpython\CMakeFiles\manifpy.dir\ /FS -c D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_so2.cpp
2024-09-04T10:31:21.0319107Z D:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include\pybind11/pybind11.h(1669): error C2661: 'pybind11::cpp_function::cpp_function': no overloaded function takes 8 arguments
2024-09-04T10:31:21.0323530Z D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_lie_group_base.h(5): note: see reference to function template instantiation 'pybind11::class_<manif::SO2d,manif::LieGroupBase<_Derived>> &pybind11::class_<manif::SO2d,manif::LieGroupBase<_Derived>>::def<manif::SO2<double>(__cdecl manif::SO2<double>::* )(const manif::LieGroupBase<_Derived> 

[traversaro]

Let's try to update to 0.0.5 at this point.

[traversaro]

Let's try to update to 0.0.5 at this point.

Done in 950214f . You can do it manually to test by switching the remote to https://github.com/artivis/manif and the tag to 0.0.5 .

[traversaro]

Also with 0.0.5 the build fails with:

[6/9] Building CXX object python\CMakeFiles\manifpy.dir\bindings_rn.cpp.obj
FAILED: python/CMakeFiles/manifpy.dir/bindings_rn.cpp.obj 
C:\PROGRA~2\MICROS~2\2019\ENTERP~1\VC\Tools\MSVC\1429~1.301\bin\Hostx64\x64\cl.exe  /nologo /TP -DEIGEN_DEFAULT_TO_ROW_MAJOR -Dmanifpy_EXPORTS -ID:\a\robotology-superbuild\robotology-superbuild\src\manif\include -ID:\a\robotology-superbuild\robotology-superbuild\src\manif\external\tl -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Include -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include\eigen3 -external:W0 /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /O2 /Ob2 /DNDEBUG -std:c++17 /GL /bigobj /MP /showIncludes /Fopython\CMakeFiles\manifpy.dir\bindings_rn.cpp.obj /Fdpython\CMakeFiles\manifpy.dir\ /FS -c D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_rn.cpp
D:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include\pybind11/pybind11.h(1669): error C2661: 'pybind11::cpp_function::cpp_function': no overloaded function takes 8 arguments
D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_lie_group_base.h(5): note: see reference to function template instantiation 'pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>> &pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>>::def<manif::Rn<double,1>(__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const,pybind11::arg,pybind11::arg_v,pybind11::arg_v,char[358]>(const char *,Func &&,const pybind11::arg &,const pybind11::arg_v &,const pybind11::arg_v &,const char (&)[358])' being compiled
        with
        [
            Func=manif::Rn<double,1> (__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const
        ]
D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_lie_group_base.h(104): note: see reference to function template instantiation 'pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>> &pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>>::def<manif::Rn<double,1>(__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const,pybind11::arg,pybind11::arg_v,pybind11::arg_v,char[358]>(const char *,Func &&,const pybind11::arg &,const pybind11::arg_v &,const pybind11::arg_v &,const char (&)[358])' being compiled
        with
        [
            Func=manif::Rn<double,1> (__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const
        ]
D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_rn.cpp(23): note: see reference to function template instantiation 'void wrap_lie_group_base<manif::R1d,manif::LieGroupBase<manif::R1d>>(pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>> &)' being compiled

ninja: build stopped: subcommand failed.

[traversaro]

The only reference to a similar error I can find is emlearn/emlearn#40 .

[traversaro]

Also with 0.0.5 the build fails with:

[6/9] Building CXX object python\CMakeFiles\manifpy.dir\bindings_rn.cpp.obj
FAILED: python/CMakeFiles/manifpy.dir/bindings_rn.cpp.obj 
C:\PROGRA~2\MICROS~2\2019\ENTERP~1\VC\Tools\MSVC\1429~1.301\bin\Hostx64\x64\cl.exe  /nologo /TP -DEIGEN_DEFAULT_TO_ROW_MAJOR -Dmanifpy_EXPORTS -ID:\a\robotology-superbuild\robotology-superbuild\src\manif\include -ID:\a\robotology-superbuild\robotology-superbuild\src\manif\external\tl -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Include -external:ID:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include\eigen3 -external:W0 /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /O2 /Ob2 /DNDEBUG -std:c++17 /GL /bigobj /MP /showIncludes /Fopython\CMakeFiles\manifpy.dir\bindings_rn.cpp.obj /Fdpython\CMakeFiles\manifpy.dir\ /FS -c D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_rn.cpp
D:\a\robotology-superbuild\robotology-superbuild\.pixi\envs\default\Library\include\pybind11/pybind11.h(1669): error C2661: 'pybind11::cpp_function::cpp_function': no overloaded function takes 8 arguments
D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_lie_group_base.h(5): note: see reference to function template instantiation 'pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>> &pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>>::def<manif::Rn<double,1>(__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const,pybind11::arg,pybind11::arg_v,pybind11::arg_v,char[358]>(const char *,Func &&,const pybind11::arg &,const pybind11::arg_v &,const pybind11::arg_v &,const char (&)[358])' being compiled
        with
        [
            Func=manif::Rn<double,1> (__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const
        ]
D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_lie_group_base.h(104): note: see reference to function template instantiation 'pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>> &pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>>::def<manif::Rn<double,1>(__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const,pybind11::arg,pybind11::arg_v,pybind11::arg_v,char[358]>(const char *,Func &&,const pybind11::arg &,const pybind11::arg_v &,const pybind11::arg_v &,const char (&)[358])' being compiled
        with
        [
            Func=manif::Rn<double,1> (__cdecl manif::Rn<double,1>::* )(const manif::LieGroupBase<manif::R1d> &,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>,tl::optional<Eigen::Ref<Eigen::Matrix<double,1,1,1,1,1>,0,Eigen::InnerStride<1>>>) const
        ]
D:\a\robotology-superbuild\robotology-superbuild\src\manif\python\bindings_rn.cpp(23): note: see reference to function template instantiation 'void wrap_lie_group_base<manif::R1d,manif::LieGroupBase<manif::R1d>>(pybind11::class_<manif::R1d,manif::LieGroupBase<manif::R1d>> &)' being compiled

ninja: build stopped: subcommand failed.

I reported the problem upstream in artivis/manif#311, and tried to add a workaround in f064809 that relies on robotology/ycm-cmake-modules#461 .

[traversaro]

Great, the solution worked great when using the Visual Studio generator and setting CMAKE_GENERATOR_TOOLSET to ClangCL, validating also robotology/ycm-cmake-modules#461 . The solution when ninja is usesd does not work as just passing the clang-cl.exe as C/C++ compiler CMake ends up picking the really old clang 5 that gets installed on Windows if you install the compilers meta package, via the old classic flang package. This is yet another thing that will be solved by conda-forge/conda-forge-pinning-feedstock#1359, but for now we can hardcode the path to the clang-cl shipped with visual studio (the same used by ClangCL's CMAKE_GENERATOR_TOOLSET) and hopefully everything should work.

[traversaro]

Image for docs:

[traversaro]

Great, the solution worked great when using the Visual Studio generator and setting CMAKE_GENERATOR_TOOLSET to ClangCL, validating also robotology/ycm-cmake-modules#461 . The solution when ninja is usesd does not work as just passing the clang-cl.exe as C/C++ compiler CMake ends up picking the really old clang 5 that gets installed on Windows if you install the compilers meta package, via the old classic flang package. This is yet another thing that will be solved by conda-forge/conda-forge-pinning-feedstock#1359, but for now we can hardcode the path to the clang-cl shipped with visual studio (the same used by ClangCL's CMAKE_GENERATOR_TOOLSET) and hopefully everything should work.

Ok, I did this and it seems to work.

[traversaro]

Ok, I also added some docs in 7625d46, the PR is ready for review.

[traversaro]

fyi @GiulioRomualdi this changes the version of manif to 0.0.5, that has been already tested in blf CI in ami-iit/bipedal-locomotion-framework#874 .