From 8b7bef883b565bd72170d18031a070d3a40f3ae1 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Sun, 11 Feb 2024 21:17:41 +0100
Subject: [PATCH] Fix usage of M_PI on Windows (#1036)

(cherry picked from commit 9ab848a5a0f07a68b1cbf53c407fc162d0896a27)
---
 joint_trajectory_controller/CMakeLists.txt  | 2 ++
 steering_controllers_library/CMakeLists.txt | 2 +-
 tricycle_controller/CMakeLists.txt          | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index 88bb7891a3..0ce262aa58 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -58,6 +58,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_trajectory test/test_trajectory.cpp)
   target_link_libraries(test_trajectory joint_trajectory_controller)
+  target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES)
 
   ament_add_gmock(test_trajectory_controller
     test/test_trajectory_controller.cpp)
@@ -65,6 +66,7 @@ if(BUILD_TESTING)
   target_link_libraries(test_trajectory_controller
     joint_trajectory_controller
   )
+  target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES)
 
   ament_add_gmock(test_load_joint_trajectory_controller
     test/test_load_joint_trajectory_controller.cpp
diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
index 63de42cf69..741577ef5e 100644
--- a/steering_controllers_library/CMakeLists.txt
+++ b/steering_controllers_library/CMakeLists.txt
@@ -50,7 +50,7 @@ ament_target_dependencies(steering_controllers_library PUBLIC ${THIS_PACKAGE_INC
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(steering_controllers_library PRIVATE "STEERING_CONTROLLERS_BUILDING_DLL")
+target_compile_definitions(steering_controllers_library PRIVATE "STEERING_CONTROLLERS_BUILDING_DLL" "_USE_MATH_DEFINES")
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt
index 291f08ad9f..fb16a75699 100644
--- a/tricycle_controller/CMakeLists.txt
+++ b/tricycle_controller/CMakeLists.txt
@@ -40,6 +40,7 @@ target_include_directories(tricycle_controller PUBLIC
   $<INSTALL_INTERFACE:include/tricycle_controller>
 )
 ament_target_dependencies(tricycle_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_compile_definitions(tricycle_controller PRIVATE _USE_MATH_DEFINES)
 
 pluginlib_export_plugin_description_file(controller_interface tricycle_controller.xml)