Jiminy release 1.8.8

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.12.4)
 
 # Set the build version (specify a tweak version to indicated post-release if needed)
-set(BUILD_VERSION 1.8.7)
+set(BUILD_VERSION 1.8.8)
 
 # MSVC runtime library flags are defined by 'CMAKE_MSVC_RUNTIME_LIBRARY'
 if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.15.7)

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

@@ -292,10 +292,13 @@ namespace jiminy
             config["groundProfile"] = HeightmapFunction(
                 [](const Eigen::Vector2d & /* xy */,
                    double & height,
-                   Eigen::Vector3d & normal) -> void
+                   std::optional<Eigen::Ref<Eigen::Vector3d>> normal) -> void
                 {
                     height = 0.0;
-                    normal = Eigen::Vector3d::UnitZ();
+                    if (normal.has_value())
+                    {
+                        normal.value() = Eigen::Vector3d::UnitZ();
+                    }
                 });
 
             return config;

core/include/jiminy/core/fwd.h

@@ -1,20 +1,20 @@
 #ifndef JIMINY_FORWARD_H
 #define JIMINY_FORWARD_H
 
-#include <string_view>    // `std::string_view`
 #include <cstdint>        // `int32_t`, `int64_t`, `uint32_t`, `uint64_t`, ...
-#include <functional>     // `std::function`, `std::invoke`
-#include <limits>         // `std::numeric_limits`
 #include <map>            // `std::map`
+#include <unordered_map>  // `std::unordered_map`
 #include <deque>          // `std::deque`
+#include <vector>         // `std::vector`
+#include <utility>        // `std::pair`
+#include <optional>       // `std::optional`
 #include <string>         // `std::string`
 #include <sstream>        // `std::ostringstream`
-#include <unordered_map>  // `std::unordered_map`
-#include <utility>        // `std::pair`
-#include <vector>         // `std::vector`
+#include <functional>     // `std::function`, `std::invoke`
+#include <limits>         // `std::numeric_limits`
 #include <memory>         // `std::addressof`
 #include <utility>        // `std::forward`
-#include <stdexcept>      // `std::runtime_error`, `std::logic_error`
+#include <stdexcept>      // `std::logic_error`
 #include <type_traits>  // `std::enable_if_t`, `std::decay_t`, `std::add_pointer_t`, `std::is_same_v`, ...
 
 #include "pinocchio/fwd.hpp"            // To avoid having to include it everywhere
@@ -189,9 +189,17 @@ namespace jiminy
         using std::logic_error::logic_error::what;
     };
 
-    // Ground profile functors
-    using HeightmapFunction = std::function<void(
-        const Eigen::Vector2d & /* xy */, double & /* height */, Eigen::Vector3d & /* normal */)>;
+    template<typename ResultType,
+             ResultType min_ = std::numeric_limits<ResultType>::min(),
+             ResultType max_ = std::numeric_limits<ResultType>::max()>
+    class uniform_random_bit_generator_ref;
+
+    // Ground profile functors.
+    // FIXME: use `std::move_only_function` instead of `std::function` when moving to C++23
+    using HeightmapFunction =
+        std::function<void(const Eigen::Vector2d & /* xy */,
+                           double & /* height */,
+                           std::optional<Eigen::Ref<Eigen::Vector3d>> /* normal */)>;
 
     // Flexible joints
     struct FlexibilityJointConfig

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

@@ -1,14 +1,15 @@
 #ifndef JIMINY_MODEL_H
 #define JIMINY_MODEL_H
 
+#include <optional>
+
 #include "pinocchio/spatial/fwd.hpp"         // `pinocchio::SE3`
 #include "pinocchio/multibody/model.hpp"     // `pinocchio::Model`
 #include "pinocchio/multibody/data.hpp"      // `pinocchio::Data`
 #include "pinocchio/multibody/geometry.hpp"  // `pinocchio::GeometryModel`, `pinocchio::GeometryData`
 #include "pinocchio/multibody/frame.hpp"  // `pinocchio::FrameType` (C-style enum cannot be forward declared)
 
 #include "jiminy/core/fwd.h"
-#include "jiminy/core/utilities/random.h"  // `uniform_random_bit_generator_ref`
 
 
 namespace jiminy

core/include/jiminy/core/stepper/lie_group.h

@@ -1238,7 +1238,7 @@ namespace Eigen
 
 #define StateDerivative_SHARED_ADDON                                                          \
     template<typename Derived,                                                                \
-             typename = typename std::enable_if_t<                                            \
+             typename = std::enable_if_t<                                                     \
                  is_base_of_template_v<StateDerivativeBase,                                   \
                                        typename internal::traits<Derived>::ValueType>::value, \
                  void>>                                                                       \
@@ -1268,7 +1268,7 @@ namespace Eigen
     template<                                                                                     \
         typename Derived,                                                                         \
         typename OtherDerived,                                                                    \
-        typename = typename std::enable_if_t<                                                     \
+        typename = std::enable_if_t<                                                              \
             is_base_of_template_v<StateDerivativeBase,                                            \
                                   typename internal::traits<Derived>::ValueType>::value &&        \
                 is_base_of_template_v<StateBase,                                                  \
@@ -1290,7 +1290,7 @@ namespace Eigen
     }                                                                                             \
                                                                                                   \
     template<typename Derived,                                                                    \
-             typename = typename std::enable_if_t<                                                \
+             typename = std::enable_if_t<                                                         \
                  is_base_of_template_v<StateDerivativeBase,                                       \
                                        typename internal::traits<Derived>::ValueType>::value,     \
                  void>>                                                                           \
@@ -1301,7 +1301,7 @@ namespace Eigen
     }                                                                                             \
                                                                                                   \
     template<typename Derived,                                                                    \
-             typename = typename std::enable_if_t<                                                \
+             typename = std::enable_if_t<                                                         \
                  is_base_of_template_v<StateDerivativeBase,                                       \
                                        typename internal::traits<Derived>::ValueType>::value,     \
                  void>>                                                                           \
@@ -1320,7 +1320,7 @@ namespace Eigen
     template<                                                                                     \
         typename Derived,                                                                         \
         typename OtherDerived,                                                                    \
-        typename = typename std::enable_if_t<                                                     \
+        typename = std::enable_if_t<                                                              \
             is_base_of_template_v<StateBase,                                                      \
                                   typename internal::traits<Derived>::ValueType>::value &&        \
                 is_base_of_template_v<StateDerivativeBase,                                        \

core/include/jiminy/core/utilities/geometry.h

@@ -46,8 +46,23 @@ namespace jiminy
     /// \param[in] stepHeight  Heigh of the steps.
     /// \param[in] stepNumber  Number of steps in the ascending or descending direction.
     /// \param[in] orientation Orientation of the staircases in the XY plane.
-    HeightmapFunction JIMINY_DLLAPI stairs(
+    HeightmapFunction JIMINY_DLLAPI periodicStairs(
         double stepWidth, double stepHeight, uint32_t stepNumber, double orientation);
+
+    HeightmapFunction JIMINY_DLLAPI unidirectionalRandomPerlinGround(
+        double wavelength, std::size_t numOctaves, double orientation, uint32_t seed);
+
+    HeightmapFunction JIMINY_DLLAPI unidirectionalPeriodicPerlinGround(double wavelength,
+                                                                       double period,
+                                                                       std::size_t numOctaves,
+                                                                       double orientation,
+                                                                       uint32_t seed);
+
+    HeightmapFunction JIMINY_DLLAPI randomPerlinGround(
+        double wavelength, std::size_t numOctaves, uint32_t seed);
+
+    HeightmapFunction JIMINY_DLLAPI periodicPerlinGround(
+        double wavelength, double period, std::size_t numOctaves, uint32_t seed);
 }
 
 #endif  // JIMINY_GEOMETRY_H