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Fix Windows Compilation Issues in joint_trajectory_controller and pid_controller (master branch) (backport #1330) #1332

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merged 1 commit into from
Oct 31, 2024
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Fix Windows Compilation Issues in joint_trajectory_controller and pid_controller (master branch) (backport #1330) #1332

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2 changes: 1 addition & 1 deletion joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ double resolve_tolerance_source(const double default_value, const double goal_va
// * -1 - The tolerance is "erased".
// If there was a default, the joint will be allowed to move without restriction.
constexpr double ERASE_VALUE = -1.0;
auto is_erase_value = [](double value)
auto is_erase_value = [=](double value)
{ return fabs(value - ERASE_VALUE) < std::numeric_limits<float>::epsilon(); };

if (goal_value > 0.0)
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10 changes: 10 additions & 0 deletions pid_controller/CMakeLists.txt
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Expand Up @@ -5,6 +5,16 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
add_compile_options(-Wall -Wextra)
endif()

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

set(THIS_PACKAGE_INCLUDE_DEPENDS
angles
control_msgs
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