From bd58a0f20cb99609c5a3f38c1c74f9b2639d0e6a Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Fri, 7 Jun 2024 14:35:09 -0500
Subject: [PATCH] Fix windows issue in kinematics_limits.h with using eigen
 array max and min

---
 tesseract_common/cmake/tesseract_common-config.cmake.in     | 2 +-
 .../include/tesseract_common/kinematic_limits.h             | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/tesseract_common/cmake/tesseract_common-config.cmake.in b/tesseract_common/cmake/tesseract_common-config.cmake.in
index 47d95d8ef71..204ac9b116a 100644
--- 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
index 4eca0951137..0b816c8d392 100644
--- 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