namespace macros

core/include/jiminy/core/constraints/abstract_constraint.h

@@ -19,7 +19,7 @@ namespace jiminy
         friend Model;
 
     public:
-        DISABLE_COPY(AbstractConstraintBase)
+        JIMINY_DISABLE_COPY(AbstractConstraintBase)
 
     public:
         explicit AbstractConstraintBase() = default;

core/include/jiminy/core/constraints/distance_constraint.h

@@ -22,7 +22,7 @@ namespace jiminy
     class JIMINY_DLLAPI DistanceConstraint : public AbstractConstraintTpl<DistanceConstraint>
     {
     public:
-        DISABLE_COPY(DistanceConstraint)
+        JIMINY_DISABLE_COPY(DistanceConstraint)
 
         auto shared_from_this() { return shared_from(this); }
 

core/include/jiminy/core/constraints/frame_constraint.h

@@ -23,7 +23,7 @@ namespace jiminy
     class JIMINY_DLLAPI FrameConstraint : public AbstractConstraintTpl<FrameConstraint>
     {
     public:
-        DISABLE_COPY(FrameConstraint)
+        JIMINY_DISABLE_COPY(FrameConstraint)
 
         auto shared_from_this() { return shared_from(this); }
 

core/include/jiminy/core/constraints/joint_constraint.h

@@ -22,7 +22,7 @@ namespace jiminy
     class JIMINY_DLLAPI JointConstraint : public AbstractConstraintTpl<JointConstraint>
     {
     public:
-        DISABLE_COPY(JointConstraint)
+        JIMINY_DISABLE_COPY(JointConstraint)
 
         auto shared_from_this() { return shared_from(this); }
 

core/include/jiminy/core/constraints/sphere_constraint.h

@@ -26,7 +26,7 @@ namespace jiminy
     class JIMINY_DLLAPI SphereConstraint : public AbstractConstraintTpl<SphereConstraint>
     {
     public:
-        DISABLE_COPY(SphereConstraint)
+        JIMINY_DISABLE_COPY(SphereConstraint)
 
         auto shared_from_this() { return shared_from(this); }
 

core/include/jiminy/core/constraints/wheel_constraint.h

@@ -26,7 +26,7 @@ namespace jiminy
     class JIMINY_DLLAPI WheelConstraint : public AbstractConstraintTpl<WheelConstraint>
     {
     public:
-        DISABLE_COPY(WheelConstraint)
+        JIMINY_DISABLE_COPY(WheelConstraint)
 
         auto shared_from_this() { return shared_from(this); }
 

core/include/jiminy/core/control/abstract_controller.h

@@ -46,7 +46,7 @@ namespace jiminy
         };
 
     public:
-        DISABLE_COPY(AbstractController)
+        JIMINY_DISABLE_COPY(AbstractController)
 
     public:
         explicit AbstractController() noexcept;

core/include/jiminy/core/control/abstract_controller.hxx

@@ -12,8 +12,8 @@ namespace jiminy
     {
         if (isTelemetryConfigured_)
         {
-            THROW_ERROR(bad_control_flow,
-                        "Telemetry already initialized. Impossible to register new variables.");
+            JIMINY_THROW(bad_control_flow,
+                         "Telemetry already initialized. Impossible to register new variables.");
         }
 
         // Check in local cache before.
@@ -23,7 +23,7 @@ namespace jiminy
                                        { return element.first == name; });
         if (variableIt != variableRegistry_.end())
         {
-            THROW_ERROR(bad_control_flow, "Variable '", name, "' already registered.");
+            JIMINY_THROW(bad_control_flow, "Variable '", name, "' already registered.");
         }
         variableRegistry_.emplace_back(name, &value);
     }

core/include/jiminy/core/control/controller_functor.h

@@ -27,7 +27,7 @@ namespace jiminy
     class FunctionalController : public AbstractController
     {
     public:
-        DISABLE_COPY(FunctionalController)
+        JIMINY_DISABLE_COPY(FunctionalController)
 
     public:
         /// \remark A valid 'callable' is a function pointer, functor or lambda with signature:

core/include/jiminy/core/control/controller_functor.hxx

@@ -31,7 +31,7 @@ namespace jiminy
     {
         if (!getIsInitialized())
         {
-            THROW_ERROR(bad_control_flow, "Controller not initialized.");
+            JIMINY_THROW(bad_control_flow, "Controller not initialized.");
         }
 
         commandFun_(t, q, v, sensorMeasurements_, command);
@@ -43,10 +43,10 @@ namespace jiminy
     {
         if (!getIsInitialized())
         {
-            THROW_ERROR(bad_control_flow, "Controller not initialized.");
+            JIMINY_THROW(bad_control_flow, "Controller not initialized.");
         }
 
         // Sensor data are already up-to-date
         internalDynamicsFun_(t, q, v, sensorMeasurements_, uCustom);
     }
-}
+}

core/include/jiminy/core/engine/engine.h

@@ -159,7 +159,7 @@ namespace jiminy
     struct JIMINY_DLLAPI RobotData
     {
     public:
-        DISABLE_COPY(RobotData)
+        JIMINY_DISABLE_COPY(RobotData)
 
         /* Must move all definitions in source files to avoid compilation failure due to incomplete
            destructor for objects managed by `unique_ptr` member variable with MSVC compiler.
@@ -497,7 +497,7 @@ namespace jiminy
         };
 
     public:
-        DISABLE_COPY(Engine)
+        JIMINY_DISABLE_COPY(Engine)
 
     public:
         explicit Engine() noexcept;

core/include/jiminy/core/hardware/abstract_motor.h

@@ -74,7 +74,7 @@ namespace jiminy
         };
 
     public:
-        DISABLE_COPY(AbstractMotorBase)
+        JIMINY_DISABLE_COPY(AbstractMotorBase)
 
     public:
         /// \param[in] name Name of the motor.

core/include/jiminy/core/hardware/abstract_sensor.h

@@ -103,7 +103,7 @@ namespace jiminy
         };
 
     public:
-        DISABLE_COPY(AbstractSensorBase)
+        JIMINY_DISABLE_COPY(AbstractSensorBase)
 
     public:
         /// \param[in] name Name of the sensor
@@ -317,7 +317,7 @@ namespace jiminy
     class JIMINY_TEMPLATE_DLLAPI AbstractSensorTpl : public AbstractSensorBase
     {
     public:
-        DISABLE_COPY(AbstractSensorTpl)
+        JIMINY_DISABLE_COPY(AbstractSensorTpl)
 
     public:
         using AbstractSensorBase::AbstractSensorBase;

core/include/jiminy/core/hardware/abstract_sensor.hxx

@@ -16,15 +16,15 @@ namespace jiminy
     {
         if (!isAttached_)
         {
-            THROW_ERROR(bad_control_flow, "Sensor not attached to any robot.");
+            JIMINY_THROW(bad_control_flow, "Sensor not attached to any robot.");
         }
 
         auto robot = robot_.lock();
         if (!robot || robot->getIsLocked())
         {
-            THROW_ERROR(bad_control_flow,
-                        "Robot is locked, probably because a simulation is running. "
-                        "Please stop it before setting sensor value manually.");
+            JIMINY_THROW(bad_control_flow,
+                         "Robot is locked, probably because a simulation is running. "
+                         "Please stop it before setting sensor value manually.");
         }
 
         get() = value;
@@ -49,15 +49,15 @@ namespace jiminy
         // Make sure the sensor is not already attached
         if (isAttached_)
         {
-            THROW_ERROR(
+            JIMINY_THROW(
                 bad_control_flow,
                 "Sensor already attached to a robot. Please 'detach' method before attaching it.");
         }
 
         // Make sure the robot still exists
         if (robot.expired())
         {
-            THROW_ERROR(bad_control_flow, "Robot pointer expired or unset.");
+            JIMINY_THROW(bad_control_flow, "Robot pointer expired or unset.");
         }
 
         // Copy references to the robot and shared data
@@ -98,7 +98,7 @@ namespace jiminy
 
         if (!isAttached_)
         {
-            THROW_ERROR(bad_control_flow, "Sensor not attached to any robot.");
+            JIMINY_THROW(bad_control_flow, "Sensor not attached to any robot.");
         }
 
         // Remove associated col in the shared data buffers
@@ -153,28 +153,28 @@ namespace jiminy
         {
             if (!sensor->isAttached_)
             {
-                THROW_ERROR(bad_control_flow,
-                            "Sensor '",
-                            sensor->name_,
-                            "' of type '",
-                            type_,
-                            "' not attached to any robot.");
+                JIMINY_THROW(bad_control_flow,
+                             "Sensor '",
+                             sensor->name_,
+                             "' of type '",
+                             type_,
+                             "' not attached to any robot.");
             }
         }
 
         // Make sure the robot still exists
         if (robot_.expired())
         {
-            THROW_ERROR(bad_control_flow, "Robot has been deleted. Impossible to reset sensors.");
+            JIMINY_THROW(bad_control_flow, "Robot has been deleted. Impossible to reset sensors.");
         }
 
         // Make sure that no simulation is already running
         auto robot = robot_.lock();
         if (robot && robot->getIsLocked())
         {
-            THROW_ERROR(bad_control_flow,
-                        "Robot already locked, probably because a simulation is running. "
-                        "Please stop it before resetting sensors.");
+            JIMINY_THROW(bad_control_flow,
+                         "Robot already locked, probably because a simulation is running. "
+                         "Please stop it before resetting sensors.");
         }
 
         // Clear the shared data buffers
@@ -223,7 +223,7 @@ namespace jiminy
     {
         if (!isAttached_)
         {
-            THROW_ERROR(bad_control_flow, "Sensor not attached to any robot.");
+            JIMINY_THROW(bad_control_flow, "Sensor not attached to any robot.");
         }
 
         for (AbstractSensorBase * sensor : sharedStorage_->sensors_)
@@ -371,7 +371,7 @@ namespace jiminy
         {
             if (idxLeft < 0)
             {
-                THROW_ERROR(std::runtime_error, "No data old enough is available.");
+                JIMINY_THROW(std::runtime_error, "No data old enough is available.");
             }
             else if (baseSensorOptions_->delayInterpolationOrder == 0)
             {
@@ -389,8 +389,8 @@ namespace jiminy
             }
             else
             {
-                THROW_ERROR(not_implemented_error,
-                            "`delayInterpolationOrder` must be either 0 or 1.");
+                JIMINY_THROW(not_implemented_error,
+                             "`delayInterpolationOrder` must be either 0 or 1.");
             }
         }
         else
@@ -443,7 +443,7 @@ namespace jiminy
     {
         if (!isAttached_)
         {
-            THROW_ERROR(bad_control_flow, "Sensor not attached to any robot.");
+            JIMINY_THROW(bad_control_flow, "Sensor not attached to any robot.");
         }
 
         /* Make sure at least the requested delay plus the maximum time step is available to handle

core/include/jiminy/core/macros.h

@@ -12,7 +12,7 @@
 
 // ************************************* Generic utilities ************************************* //
 
-#define DISABLE_COPY(className)                  \
+#define JIMINY_DISABLE_COPY(className)           \
     className(const className & other) = delete; \
     className & operator=(const className & other) = delete;
 
@@ -81,7 +81,7 @@ namespace jiminy::internal
 /* ANSI escape codes is used here as a cross-platform way to color text. For reference, see:
    https://solarianprogrammer.com/2019/04/08/c-programming-ansi-escape-codes-windows-macos-linux-terminals/
 */
-#define THROW_ERROR(exception, ...)                                                       \
+#define JIMINY_THROW(exception, ...)                                                      \
     throw exception(                                                                      \
         toString(jiminy::internal::extractFunctionName(__func__, BOOST_CURRENT_FUNCTION), \
                  "(" FILE_LINE "):\n",                                                    \

core/include/jiminy/core/robot/model.h

@@ -250,7 +250,7 @@ namespace jiminy
         };
 
     public:
-        DISABLE_COPY(Model)
+        JIMINY_DISABLE_COPY(Model)
 
     public:
         explicit Model() noexcept;

core/include/jiminy/core/robot/pinocchio_overload_algorithms.h

@@ -509,7 +509,7 @@ namespace jiminy::pinocchio_overload
            It is always the case in theory but not sure in practice because of rounding errors. */
         if ((data.Dinv.array() < 0.0).any())
         {
-            THROW_ERROR(std::runtime_error, "Inertia matrix not positive definite.");
+            JIMINY_THROW(std::runtime_error, "Inertia matrix not positive definite.");
         }
 
         /* Compute sDUiJt := sqrt(D)^-1 * U^-1 * J.T

core/include/jiminy/core/robot/robot.h

@@ -26,7 +26,7 @@ namespace jiminy
         using SensorTree = std::unordered_map<std::string, SensorVector>;
 
     public:
-        DISABLE_COPY(Robot)
+        JIMINY_DISABLE_COPY(Robot)
 
     public:
         /// \param[in] name Name of the Robot.

core/include/jiminy/core/solver/constraint_solvers.h

@@ -48,7 +48,7 @@ namespace jiminy
     class JIMINY_DLLAPI PGSSolver : public AbstractConstraintSolver
     {
     public:
-        DISABLE_COPY(PGSSolver)
+        JIMINY_DISABLE_COPY(PGSSolver)
 
     public:
         explicit PGSSolver(const pinocchio::Model * model,

core/include/jiminy/core/telemetry/telemetry_data.h

@@ -10,7 +10,7 @@ namespace jiminy
     class JIMINY_DLLAPI TelemetryData
     {
     public:
-        DISABLE_COPY(TelemetryData)
+        JIMINY_DISABLE_COPY(TelemetryData)
 
     public:
         explicit TelemetryData() = default;

core/include/jiminy/core/telemetry/telemetry_data.hxx

@@ -25,10 +25,10 @@ namespace jiminy
         // Check if registration is possible
         if (!isRegisteringAvailable_)
         {
-            THROW_ERROR(std::invalid_argument,
-                        "Entry '",
-                        name,
-                        "' not found and registration is not available.");
+            JIMINY_THROW(std::invalid_argument,
+                         "Entry '",
+                         name,
+                         "' not found and registration is not available.");
         }
 
         // Create new variable in registry

core/include/jiminy/core/telemetry/telemetry_recorder.h

@@ -14,7 +14,7 @@ namespace jiminy
     class JIMINY_DLLAPI TelemetryRecorder
     {
     public:
-        DISABLE_COPY(TelemetryRecorder)
+        JIMINY_DISABLE_COPY(TelemetryRecorder)
 
     public:
         explicit TelemetryRecorder() = default;

core/include/jiminy/core/telemetry/telemetry_sender.h

@@ -17,7 +17,7 @@ namespace jiminy
     class JIMINY_DLLAPI TelemetrySender
     {
     public:
-        DISABLE_COPY(TelemetrySender)
+        JIMINY_DISABLE_COPY(TelemetrySender)
 
     public:
         template<typename T>