Fix Windows Compilation Issues in joint_trajectory_controller and pid_controller (master branch)

[SENAI-GilmarCorreia]

Description:

This pull request addresses compilation issues encountered in the joint_trajectory_controller and pid_controller when building on Windows. The changes ensure compatibility with the Windows environment and improve overall stability.

Changes Made:

• joint_trajectory_controller:

  • Modifies the lambda capture in is_erase_value from [ ] to [=], which captures all outer scope variables by value.

• pid_controller:

  • Added compile definitions for Windows to minimize namespace collisions and define math constants:

    if(WIN32)
      add_compile_definitions(
        # For math constants
        _USE_MATH_DEFINES
        # Minimize Windows namespace collision
        NOMINMAX
        WIN32_LEAN_AND_MEAN
      )
    endif()

Testing:

• Local tests have been run successfully, confirming that all modifications do not break existing functionality.

Please let me know if you have any questions or need further modifications. I appreciate your feedback!

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 80.57%. Comparing base (7c89c17) to head (f12076c).
Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1330   +/-   ##
=======================================
  Coverage   80.57%   80.57%           
=======================================
  Files         109      109           
  Lines        9553     9552    -1     
  Branches      832      831    -1     
=======================================
  Hits         7697     7697           
  Misses       1578     1578           
+ Partials      278      277    -1     

Flag	Coverage Δ
unittests	80.57% <ø> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...include/joint_trajectory_controller/tolerances.hpp	79.79% <ø> (ø)

... and 3 files with indirect coverage changes

[christophfroehlich]

I don't see the changes you listed in your description, are there commits missing?

[SENAI-GilmarCorreia]

It’s just the = sign and the CMakeLists changes in the commit: fixes for Windows compilation.

[saikishor]

LGTM and CI is also happy!

[christophfroehlich]

It’s just the = sign and the CMakeLists changes in the commit: fixes for Windows compilation.

I was just wondering, you write

Modified conditional compilation flags to ensure compatibility with Windows builds.

but only the lambda capture was changed for JTC.

[SENAI-GilmarCorreia]

What about: "Modifies the lambda capture in is_erase_value from [ ] to [=], which captures all outer scope variables by value."?

[christophfroehlich]

I'm totally fine with the changes you did, just the description was not matching ;)