[core] Improve code quality.

* [core] Allow arbitrary larger controller update period.
* [core] Fix deprecation and unused variable warnings.
* [core] Improve error reporting by printing fully qualified function name without arguments.
* [core] Remove irrelevant virtual keywords.
* [core] Use randomPermutationPeriod=0 to disable random permutation of 'PGSSolver' iterative solver, instead of 'isfinite', which is ill-defined for integers.
* [core] Do NOT shuffle first iteration cycle of 'PGSolver', and initialize indices in reverse order to make convergence (hopefully) faster.
* [core] Enable implicit conversion warnings.
* [core] More consistent coding style.
* [core] Avoid static_cast if possible and use safer conversion if possible.
* [core] Remove all C-style cast and enable warning to disallow them.
* [core] Replace (u)int32_t by std::size_t/ptrdiff_t when appropriate for clarity and portability.
* [core] Fix visco-elastic coupling forces.
* [core] Remove all dependencies to jsoncpp in core headers.
* [core/python] Add fallback to completary unsigned/signed type for integers for 'convertFromPython'.
* [gym/common/envs] Refresh action space before observation space since action could be part of observation but not conversely.
* [gym/common/wrappers] Relax argument type of 'FilteredFrameStack' for convenience.
* [gym/common/wrappers] Rename 'FilterFrameStack' in 'FilteredFrameStack' for clarity.
* [gym/examples] Automatically monitor env step 'info' on Tensorboard's histograms when using RLlib backend.
* [gym/examples] Only log data in Tensorboard format when RLlib is used, to dramatically reduce log folder size.
* [misc] Minor update of easy install dependencies.
* [misc] RLlib 'evaluate' helper method now returns agregated info over episode.
* [misc] Relax Ubuntu version check for easy install script since it should work on any release in practice.
* [misc] Do NOT install robotpkg-urdfdom binaries since 'liburdom-dev' is already installed by other easy-install dependencies.
* [misc] More robust Python library finding in provided CMake configuration file.
* [misc] Check compatibility with required jiminy version if any in provided CMake configuration file.
* [misc] Detect Numpy headers in provided CMake configuration file.
* [misc] Add missing boost definitions in CMake configuration file.

.github/workflows/ubuntu.yml

@@ -100,8 +100,8 @@ jobs:
     #####################################################################################
 
     - name: Python linter and static type checker
-      # Ubuntu18 is distributed with Python3.6, which is not supported by Numpy>=1.20.
-      # The new type check support of Numpy is raising pylint and mypy errors, so Ubuntu18
+      # Ubuntu 18 is distributed with Python3.6, which is not supported by Numpy>=1.20.
+      # The new type check support of Numpy is raising pylint and mypy errors, so Ubuntu 18
       # is used to do type checking for now.
       if: matrix.os == 'ubuntu-18.04'
       run: |

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Set the build version
-set(BUILD_VERSION 1.6.11)
+set(BUILD_VERSION 1.6.12)
 
 # Extract major, minor and patch version
 string(REPLACE "." ";" _VERSION "${BUILD_VERSION}")
@@ -31,8 +31,7 @@ include(${CMAKE_SOURCE_DIR}/build_tools/cmake/buildPythonWheel.cmake)
 # Set the compilation flags
 if(NOT WIN32)
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O0 -g -ftemplate-backtrace-limit=0 ${WARN_FULL}")
-    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -DNDEBUG -O3 -Wfatal-errors -Werror ${WARN_FULL} \
-                                -Wno-non-virtual-dtor -Wno-deprecated-declarations -Wno-unused-parameter")
+    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -DNDEBUG -O3 -Wfatal-errors -Werror ${WARN_FULL}")
 else()
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} /EHsc /bigobj -g /Wall")
     # It would be great to have the same quality standard for Windows but

INSTALL.md

@@ -1,6 +1,6 @@
 # Linux-based OS
 
-## Easy-install procedure on Ubuntu 14/16/18/19, and Debian 8/9
+## Easy-install procedure on Ubuntu 18/19/20, and Debian 8/9
 
 ### Jiminy
 
@@ -70,12 +70,12 @@ Installing the Python packages `ray==1.0.0` are required to run some of the prov
 python -m pip install gym-jiminy
 ```
 
-## Build Jiminy from source on Ubuntu 18/20 (excluding dependencies)
+## Build Jiminy from source on Ubuntu 18+ (excluding dependencies)
 
-First, one must install the pre-compiled libraries of the dependencies. Most of them are available on `robotpkg` APT repository. Just run the bash script to install them automatically for Ubuntu 18/20. It should be straightforward to adapt it to any other distribution for which `robotpkg` is available.
+First, one must install the pre-compiled libraries of the dependencies. Most of them are available on `robotpkg` APT repository. Just run the bash script to install them automatically for Ubuntu 18 and upward. It should be straightforward to adapt it to any other distribution for which `robotpkg` is available.
 
 ```bash
-sudo ./build_tools/easy_install_deps_ubuntu18.sh
+sudo ./build_tools/easy_install_deps_ubuntu.sh
 ```
 
 You are now ready to build and install Jiminy itself.

build_tools/build_install_deps_linux.sh

@@ -133,10 +133,10 @@ git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/pinoc
 
 # How to properly detect custom install of Boost library:
 # - if Boost_NO_BOOST_CMAKE is TRUE:
+#   * Set the cmake cache variable BOOST_ROOT and Boost_INCLUDE_DIR
+# - if Boost_NO_BOOST_CMAKE is FALSE:
 #   * Set the cmake cache variable CMAKE_PREFIX_PATH
 #   * Set the environment variable Boost_DIR
-# - if Boost_NO_BOOST_CMAKE is FALSE:
-#   * Set the cmake cache variable BOOST_ROOT and Boost_INCLUDE_DIR
 
 ### Build and install the build tool b2 (build-ception !)
 cd "$RootDir/boost"

build_tools/build_install_deps_windows.ps1

@@ -136,10 +136,10 @@ git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/pin
 
 # How to properly detect custom install of Boost library:
 # - if Boost_NO_BOOST_CMAKE is TRUE:
+#   * Set the cmake cache variable BOOST_ROOT and Boost_INCLUDE_DIR
+# - if Boost_NO_BOOST_CMAKE is FALSE:
 #   * Set the cmake cache variable CMAKE_PREFIX_PATH
 #   * Set the environment variable Boost_DIR
-# - if Boost_NO_BOOST_CMAKE is FALSE:
-#   * Set the cmake cache variable BOOST_ROOT and Boost_INCLUDE_DIR
 
 ### Build and install the build tool b2 (build-ception !)
 Set-Location -Path "$RootDir/boost"

build_tools/cmake/base.cmake

@@ -24,14 +24,17 @@ set(WARN_FULL "-Wall -Wextra -Weffc++ -pedantic -pedantic-errors \
                -Wcast-align -Wcast-qual -Wfloat-equal -Wformat=2 \
                -Wformat-nonliteral -Wformat-security -Wformat-y2k \
                -Wimport -Winit-self -Winvalid-pch -Wlong-long \
-               -Wmissing-field-initializers -Wmissing-format-attribute \
-               -Wmissing-noreturn -Wpacked -Wpointer-arith \
-               -Wredundant-decls -Wshadow -Wstack-protector \
+               -Wmissing-field-initializers -Wmissing-noreturn \
+               -Wmissing-format-attribute -Wctor-dtor-privacy \
+               -Wpointer-arith -Wold-style-cast -Wpacked \
+               -Woverloaded-virtual -Wredundant-decls \
+               -Wstrict-null-sentinel -Wshadow -Wstack-protector \
                -Wstrict-aliasing=2 -Wswitch-default -Wswitch-enum \
                -Wunreachable-code -Wunused -Wundef -Wlogical-op \
                -Wdisabled-optimization -Wmissing-braces -Wtrigraphs \
                -Wparentheses -Wwrite-strings -Werror=return-type \
-               -Wsequence-point -Wdeprecated")  # -Wconversion
+               -Wsequence-point -Wdeprecated -Wconversion \
+               -Wdelete-non-virtual-dtor -Wno-non-virtual-dtor")
 
 # Shared libraries need PIC
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)

build_tools/cmake/exportCmakeConfigFiles.cmake

@@ -24,7 +24,7 @@ function(exportCmakeConfigFiles)
 
     if(CMAKE_VERSION VERSION_GREATER "3.11.0")
         set(COMPATIBILITY_VERSION SameMinorVersion)
-    else(CMAKE_VERSION VERSION_GREATER "3.11.0")
+    else()
         set(COMPATIBILITY_VERSION AnyNewerVersion)
     endif()
 

build_tools/cmake/jiminyConfig.cmake

@@ -1,6 +1,11 @@
 # Enable link rpath to find shared library dependencies at runtime
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
+# Set Python find strategy to location by default
+if(CMAKE_VERSION VERSION_GREATER "3.15")
+    cmake_policy(SET CMP0094 NEW)
+endif()
+
 # Get Python executable
 if(DEFINED PYTHON_EXECUTABLE)
     get_filename_component(_PYTHON_PATH "${PYTHON_EXECUTABLE}" DIRECTORY)
@@ -10,17 +15,27 @@ else()
     if(CMAKE_VERSION VERSION_LESS "3.12.4")
         find_program(Python_EXECUTABLE "python${PYTHON_REQUIRED_VERSION}")
     else()
+        if(CMAKE_VERSION VERSION_LESS "3.14")
+            set(Python_COMPONENTS_FIND Interpreter)
+        else()
+            set(Python_COMPONENTS_FIND Interpreter NumPy)
+        endif()
+        unset(Python_EXECUTABLE)
+        unset(Python_EXECUTABLE CACHE)
+        unset(_Python_EXECUTABLE)
+        unset(_Python_EXECUTABLE CACHE)
         if(PYTHON_REQUIRED_VERSION)
-            find_package(Python ${PYTHON_REQUIRED_VERSION} EXACT COMPONENTS Interpreter)
+            find_package(Python ${PYTHON_REQUIRED_VERSION} EXACT COMPONENTS ${Python_COMPONENTS_FIND})
         else()
-            find_package(Python COMPONENTS Interpreter)
+            find_package(Python COMPONENTS ${Python_COMPONENTS_FIND})
         endif()
     endif()
 endif()
 if(NOT Python_EXECUTABLE)
     if (jiminy_FIND_REQUIRED)
         message(FATAL_ERROR "Python executable not found, CMake will exit.")
     else()
+        set(jiminy_FOUND FALSE)
         return()
     endif()
 endif()
@@ -29,23 +44,46 @@ endif()
 execute_process(COMMAND "${Python_EXECUTABLE}" -c
                 "import importlib; print(int(importlib.util.find_spec('jiminy_py') is not None), end='')"
                 OUTPUT_VARIABLE jiminy_FOUND)
-if (NOT jiminy_FOUND)
+if(NOT jiminy_FOUND)
     if (jiminy_FIND_REQUIRED)
         message(FATAL_ERROR "`jiminy_py` Python module not found, CMake will exit.")
     else()
         return()
     endif()
 endif()
 
+# Define Python_NumPy_INCLUDE_DIRS if necessary
+if (NOT Python_NumPy_INCLUDE_DIRS)
+    execute_process(
+        COMMAND "${Python_EXECUTABLE}" -c
+        "import numpy; print(numpy.get_include(), end='')\n"
+        OUTPUT_VARIABLE __numpy_path)
+    find_path(Python_NumPy_INCLUDE_DIRS numpy/arrayobject.h
+        HINTS "${__numpy_path}" "${Python_INCLUDE_DIRS}" NO_DEFAULT_PATH)
+endif()
+
+# Get jiminy version, and check if compatible with requested version, if any.
+# For now, compatibility is assumed as long as only patch version differs.
+execute_process(COMMAND "${Python_EXECUTABLE}" -c
+                "import jiminy_py; print(jiminy_py.__version__, end='')"
+                OUTPUT_VARIABLE jiminy_VERSION)
+string(REPLACE "." ";" _VERSION "${jiminy_VERSION}")
+list(GET _VERSION 0 jiminy_VERSION_MAJOR)
+list(GET _VERSION 1 jiminy_VERSION_MINOR)
+list(GET _VERSION 2 jiminy_VERSION_PATCH)
+if (PACKAGE_FIND_VERSION_MAJOR)
+    if (PACKAGE_FIND_VERSION_MAJOR EQUAL jiminy_VERSION_MAJOR)
+        message(FATAL_ERROR "Available `jiminy_py` version (${jiminy_VERSION}) not "
+                            "compatible with requested one (${PACKAGE_FIND_VERSION}).")
+    endif()
+endif()
+
 # Find jiminy library and headers.
 # Note that jiminy is compiled under C++17 using either old or new CXX11 ABI.
 # Make sure very project dependencies are compiled for the same CXX11 ABI
 # otherwise segfaults may occur. It should be fine for the standard library,
 # but not for precompiled boost libraries such as boost::filesystem.
 # https://gcc.gnu.org/onlinedocs/libstdc++/manual/abi.html
-execute_process(COMMAND "${Python_EXECUTABLE}" -c
-                "import jiminy_py; print(jiminy_py.__version__, end='')"
-                OUTPUT_VARIABLE jiminy_VERSION)
 execute_process(COMMAND "${Python_EXECUTABLE}" -c
                 "import jiminy_py; print(jiminy_py.get_include(), end='')"
                 OUTPUT_VARIABLE jiminy_INCLUDE_DIRS)
@@ -54,7 +92,10 @@ execute_process(COMMAND "${Python_EXECUTABLE}" -c
                 OUTPUT_VARIABLE jiminy_LIBRARIES)
 
 # Define compilation options and definitions
-set(jiminy_DEFINITIONS EIGENPY_STATIC URDFDOM_STATIC HPP_FCL_STATIC PINOCCHIO_STATIC)
+set(jiminy_DEFINITIONS
+    EIGENPY_STATIC URDFDOM_STATIC HPP_FCL_STATIC PINOCCHIO_STATIC
+    BOOST_MPL_CFG_NO_PREPROCESSED_HEADERS=ON BOOST_MPL_LIMIT_VECTOR_SIZE=30 BOOST_MPL_LIMIT_LIST_SIZE=30
+)
 if(WIN32)
     set(jiminy_DEFINITIONS ${jiminy_DEFINITIONS} _USE_MATH_DEFINES=1 NOMINMAX)
     set(jiminy_OPTIONS /EHsc /bigobj /Zc:__cplusplus /permissive- /wd4996 /wd4554)

build_tools/cmake/setupPython.cmake

@@ -11,10 +11,15 @@ else()
     if(CMAKE_VERSION VERSION_LESS "3.12.4")
         find_program(Python_EXECUTABLE "python${PYTHON_REQUIRED_VERSION}")
     else()
+        if(CMAKE_VERSION VERSION_LESS "3.14")
+            set(Python_COMPONENTS_FIND Interpreter)
+        else()
+            set(Python_COMPONENTS_FIND Interpreter NumPy)
+        endif()
         if(PYTHON_REQUIRED_VERSION)
-            find_package(Python ${PYTHON_REQUIRED_VERSION} EXACT COMPONENTS Interpreter)
+            find_package(Python ${PYTHON_REQUIRED_VERSION} EXACT COMPONENTS ${Python_COMPONENTS_FIND})
         else()
-            find_package(Python COMPONENTS Interpreter)
+            find_package(Python COMPONENTS ${Python_COMPONENTS_FIND})
         endif()
     endif()
 endif()
@@ -78,7 +83,7 @@ if("${PYTHON_EXT_SUFFIX}" STREQUAL "")
     else()
         set(PYTHON_EXT_SUFFIX ".so")
     endif()
-ENDIF()
+endif()
 
 # Include Python headers
 execute_process(COMMAND "${Python_EXECUTABLE}" -c
@@ -93,8 +98,15 @@ if(WIN32)
     message(STATUS "Found PythonLibraryDirs: ${PYTHON_ROOT}/libs/")
 endif()
 
-# Define NumPy_INCLUDE_DIRS
-find_package(NumPy REQUIRED)
+# Define Python_NumPy_INCLUDE_DIRS if necessary
+if (NOT Python_NumPy_INCLUDE_DIRS)
+    execute_process(
+        COMMAND "${Python_EXECUTABLE}" -c
+        "import numpy; print(numpy.get_include(), end='')\n"
+        OUTPUT_VARIABLE __numpy_path)
+    find_path(Python_NumPy_INCLUDE_DIRS numpy/arrayobject.h
+        HINTS "${__numpy_path}" "${Python_INCLUDE_DIRS}" NO_DEFAULT_PATH)
+endif()
 
 # Define BOOST_PYTHON_LIB
 find_package(Boost QUIET REQUIRED)

build_tools/easy_install_deps_ubuntu.sh

@@ -7,12 +7,12 @@ export DEBIAN_FRONTEND=noninteractive
 # Determine if the script is being executed on Ubuntu
 if [ -f /etc/lsb-release ]; then
     source /etc/lsb-release
-    if [ "$DISTRIB_ID" != "Ubuntu" ] || ( [ "$DISTRIB_RELEASE" != "18.04" ] && [ "$DISTRIB_RELEASE" != "20.04" ] ) ; then
-        echo "Not running on Ubuntu 18 or 20. Aborting..."
+    if [ "$DISTRIB_ID" != "Ubuntu" ] ; then
+        echo "Not running on Ubuntu. Aborting..."
         exit 0
     fi
 else
-    echo "Not running on Ubuntu 18 or 20. Aborting..."
+    echo "Not running on Ubuntu. Aborting..."
     exit 0
 fi
 
@@ -57,8 +57,8 @@ if ! [ -d "/opt/openrobots/lib/${PYTHON_BIN}/site-packages/" ] ; then
 
     # apt-get must be used instead of apt to support wildcard in package name on Ubuntu 20
     apt-get install -y --allow-downgrades --allow-unauthenticated \
-        robotpkg-urdfdom=1.0.3 robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=1.7.1 robotpkg-pinocchio=2.5.6 \
-        robotpkg-py3*-qt5-gepetto-viewer=4.10.1r1 robotpkg-py3*-qt5-gepetto-viewer-corba=5.5.1 robotpkg-py3*-omniorbpy=4.2.4 \
+        robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=1.7.1 robotpkg-pinocchio=2.5.6 \
+        robotpkg-py3*-qt5-gepetto-viewer=4.10.1r2 robotpkg-py3*-qt5-gepetto-viewer-corba=5.5.1 robotpkg-py3*-omniorbpy=4.2.4 \
         robotpkg-py3*-eigenpy=2.6.2 robotpkg-py3*-hpp-fcl=1.7.1 robotpkg-py3*-pinocchio=2.5.6
 
     sudo -H -u $(id -nu "$SUDO_UID") bash -c " \

core/CMakeLists.txt

@@ -6,7 +6,7 @@ project(${LIBRARY_NAME}_core VERSION ${BUILD_VERSION})
 
 # Find dependencies
 find_package(Boost REQUIRED COMPONENTS system filesystem serialization date_time thread)
-find_package(urdfdom REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH) # It is impossible to specify the version because it is not exported in cmake config files...
+find_package(urdfdom REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # It is impossible to specify the version because it is not exported in cmake config files...
 find_package(PkgConfig QUIET)  # Using pkgconfig is the only way to get the library version...
 if (PkgConfig_FOUND)
     pkg_check_modules(_URDFDOM QUIET "urdfdom")

core/include/jiminy/core/Macros.h

@@ -264,10 +264,23 @@ namespace jiminy
     {
         std::ostringstream sstr;
         using List = int[];
-        (void)List{0, ( (void)(sstr << args), 0 ) ... };
+        (void) List{0, (static_cast<void>(sstr << args), 0 ) ... };
         return sstr.str();
     }
 
+    template<size_t FL, size_t PFL>
+    const char * extractMethodName(char const (&function)[FL],
+                                   char const (&prettyFunction)[PFL])
+    {
+        using reverse_ptr = std::reverse_iterator<const char*>;
+        thread_local static char result[PFL];
+        char const * locFuncName = std::search(prettyFunction,prettyFunction+PFL-1,function,function+FL-1);
+        char const * locClassName = std::find(reverse_ptr(locFuncName), reverse_ptr(prettyFunction), ' ').base();
+        char const * endFuncName = std::find(locFuncName,prettyFunction+PFL-1,'(');
+        std::copy(locClassName, endFuncName, result);
+        return result;
+    }
+
     #define STRINGIFY_DETAIL(x) #x
     #define STRINGIFY(x) STRINGIFY_DETAIL(x)
 
@@ -278,13 +291,15 @@ namespace jiminy
        https://solarianprogrammer.com/2019/04/08/c-programming-ansi-escape-codes-windows-macos-linux-terminals/ */
 
     #define PRINT_ERROR(...) \
-    std::cerr << "In " FILE_LINE ": In " << BOOST_CURRENT_FUNCTION << ":\n\x1b[1;31merror:\x1b[0m " << to_string(__VA_ARGS__) << std::endl
+    std::cerr << "In " FILE_LINE ": In " << extractMethodName(__func__, BOOST_CURRENT_FUNCTION) \
+              << ":\n\x1b[1;31merror:\x1b[0m " << to_string(__VA_ARGS__) << std::endl
 
     #ifdef NDEBUG
         #define PRINT_WARNING(...)
     #else
         #define PRINT_WARNING(...) \
-        std::cerr << "In " FILE_LINE ": In " << BOOST_CURRENT_FUNCTION << ":\n\x1b[1;93mwarning:\x1b[0m " << to_string(__VA_ARGS__) << std::endl
+        std::cerr << "In " FILE_LINE ": In " << extractMethodName(__func__, BOOST_CURRENT_FUNCTION) \
+                  << ":\n\x1b[1;93mwarning:\x1b[0m " << to_string(__VA_ARGS__) << std::endl
     #endif
 }