Fix windows issue in kinematics_limits.h with using eigen array max a…

…nd min
tesseract-robotics · Jun 8, 2024 · bd58a0f · bd58a0f
1 parent 64206b4
commit bd58a0f
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/tesseract_common/cmake/tesseract_common-config.cmake.in b/tesseract_common/cmake/tesseract_common-config.cmake.in
@@ -10,7 +10,7 @@ include(CMakeFindDependencyMacro)
 find_dependency(Eigen3)
 find_dependency(TinyXML2)
 find_dependency(yaml-cpp)
-find_dependency(Boost COMPONENTS system filesystem serialization)
+find_dependency(Boost COMPONENTS system filesystem serialization @TESSERACT_BACKTRACE_COMPONENT@)
 find_dependency(console_bridge)
 
 if(NOT TARGET console_bridge::console_bridge)

diff --git a/tesseract_common/include/tesseract_common/kinematic_limits.h b/tesseract_common/include/tesseract_common/kinematic_limits.h
@@ -104,12 +104,12 @@ bool satisfiesLimits(const Eigen::Ref<const Eigen::Matrix<FloatType, Eigen::Dyna
 
   auto lower_diff_abs = (p - l0).abs();
   auto lower_diff = (lower_diff_abs <= md);
-  auto lower_relative_diff = (lower_diff_abs <= mrd * p.abs().max(l0.abs()));
+  auto lower_relative_diff = (lower_diff_abs <= mrd * (p.abs().max)(l0.abs()));
   auto lower_check = p > l0 || lower_diff || lower_relative_diff;
 
   auto upper_diff_abs = (p - l1).abs();
   auto upper_diff = (upper_diff_abs <= md);
-  auto upper_relative_diff = (upper_diff_abs <= mrd * p.abs().max(l1.abs()));
+  auto upper_relative_diff = (upper_diff_abs <= mrd * (p.abs().max)(l1.abs()));
   auto upper_check = p < l1 || upper_diff || upper_relative_diff;
 
   return (lower_check.all() && upper_check.all());
@@ -146,7 +146,7 @@ template <typename FloatType>
 void enforceLimits(Eigen::Ref<Eigen::Matrix<FloatType, Eigen::Dynamic, 1>> values,
                    const Eigen::Ref<const Eigen::Matrix<FloatType, Eigen::Dynamic, 2>>& limits)
 {
-  values = values.array().min(limits.col(1).array()).max(limits.col(0).array());
+  values = ((values.array().min)(limits.col(1).array()).max)(limits.col(0).array());
 }
 }  // namespace tesseract_common