Gridmap on Win (#80)

* grid_map on win
RoboStack · Mar 16, 2021 · 1ff8586 · 1ff8586
1 parent 7596a94
commit 1ff8586
Show file tree

Hide file tree

Showing 4 changed files with 575 additions and 8 deletions.
diff --git a/conda_build_config.yaml b/conda_build_config.yaml
@@ -31,7 +31,13 @@ pcl:
   - 1.11.1
 # tbb pinned on Windows due to https://stackoverflow.com/questions/64510477/error-c2061-syntax-error-identifier-concurrent-vectortemplate-type-paramet
 # tbb pinned on Unix due to https://github.com/conda-forge/gazebo-feedstock/issues/57
-tbb-devel :
+tbb:
+  - 2019.9  # [win]
+  - 2020.2  # [not win]
+tbb-devel:
+  - 2019.9  # [win]
+  - 2020.2  # [not win]
+tbb_devel:
   - 2019.9  # [win]
   - 2020.2  # [not win]
 

diff --git a/patch/ros-noetic-grid-map-core.win.patch b/patch/ros-noetic-grid-map-core.win.patch
@@ -0,0 +1,43 @@
+diff --git a/include/grid_map_core/eigen_plugins/FunctorsPlugin.hpp b/include/grid_map_core/eigen_plugins/FunctorsPlugin.hpp
+index 79dcdd66..3d467a5c 100644
+--- a/include/grid_map_core/eigen_plugins/FunctorsPlugin.hpp
++++ b/include/grid_map_core/eigen_plugins/FunctorsPlugin.hpp
+@@ -4,9 +4,9 @@ template<typename Scalar> struct scalar_sum_of_finites_op {
+   EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_of_finites_op)
+   EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const {
+     using std::isfinite;
+-    if (isfinite(a) && isfinite(b)) return a + b;
+-    if (isfinite(a)) return a;
+-    if (isfinite(b)) return b;
++    if (isfinite(static_cast<double>(a)) && isfinite(static_cast<double>(b))) return a + b;
++    if (isfinite(static_cast<double>(a))) return a;
++    if (isfinite(static_cast<double>(b))) return b;
+     return a + b;
+   }
+ };
+@@ -24,9 +24,9 @@ struct scalar_min_of_finites_op {
+   EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const {
+     using std::min;
+     using std::isfinite;
+-    if (isfinite(a) && isfinite(b)) return (min)(a, b);
+-    if (isfinite(a)) return a;
+-    if (isfinite(b)) return b;
++    if (isfinite(static_cast<double>(a)) && isfinite(static_cast<double>(b))) return (min)(a, b);
++    if (isfinite(static_cast<double>(a))) return a;
++    if (isfinite(static_cast<double>(b))) return b;
+     return (min)(a, b);
+   }
+ };
+@@ -44,9 +44,9 @@ struct scalar_max_of_finites_op {
+   EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const {
+     using std::max;
+     using std::isfinite;
+-    if (isfinite(a) && isfinite(b)) return (max)(a, b);
+-    if (isfinite(a)) return a;
+-    if (isfinite(b)) return b;
++    if (isfinite(static_cast<double>(a)) && isfinite(static_cast<double>(b))) return (max)(a, b);
++    if (isfinite(static_cast<double>(a))) return a;
++    if (isfinite(static_cast<double>(b))) return b;
+     return (max)(a, b);
+   }
+ };