From 5a262f6888e332e0e303ae19e8a7d496d9649649 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 28 Jul 2022 14:51:28 +0200
Subject: [PATCH] include pinocchio before boost

---
 src/diff_drive_controller.cpp | 3 +++
 src/odometry.h                | 5 +++--
 src/sot-tiago-controller.cpp  | 6 ++++--
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/diff_drive_controller.cpp b/src/diff_drive_controller.cpp
index 7254274..6c4a2e4 100644
--- a/src/diff_drive_controller.cpp
+++ b/src/diff_drive_controller.cpp
@@ -36,6 +36,9 @@
  * Author: Bence Magyar, Enrique Fernández
  */
 
+#include <pinocchio/fwd.hpp>
+// include pinocchio before boost
+
 #include <diff_drive_controller.h>
 #include <dynamic-graph/command-bind.h>
 #include <dynamic-graph/command-direct-getter.h>
diff --git a/src/odometry.h b/src/odometry.h
index e7e688e..b528a3e 100644
--- a/src/odometry.h
+++ b/src/odometry.h
@@ -42,6 +42,9 @@
 #ifndef ODOMETRY_H_
 #define ODOMETRY_H_
 
+#include "pinocchio/fwd.hpp"
+// include pinocchio before boost
+
 #include <dynamic-graph/entity.h>
 #include <dynamic-graph/signal-ptr.h>
 #include <dynamic-graph/signal-time-dependent.h>
@@ -52,8 +55,6 @@
 #include <boost/function.hpp>
 #include <sot/core/matrix-geometry.hh>
 
-#include "pinocchio/fwd.hpp"
-
 namespace dynamicgraph {
 namespace details {
 namespace bacc = boost::accumulators;
diff --git a/src/sot-tiago-controller.cpp b/src/sot-tiago-controller.cpp
index 938d9eb..bd651aa 100644
--- a/src/sot-tiago-controller.cpp
+++ b/src/sot-tiago-controller.cpp
@@ -11,15 +11,17 @@
  *
  */
 
-#include "sot-tiago-controller.hh"
+#include <pinocchio/fwd.hpp>
+// include pinocchio before boost
 
 #include <boost/thread/condition.hpp>
 #include <boost/thread/thread.hpp>
 #include <dynamic_graph_bridge/ros_init.hh>
 #include <dynamic_graph_bridge/ros_interpreter.hh>
-#include <pinocchio/fwd.hpp>
 #include <sot/core/debug.hh>
 #include <sot/core/exception-abstract.hh>
+
+#include "sot-tiago-controller.hh"
 const std::string SoTTiagoController::LOG_PYTHON =
     "/tmp/TiagoController_python.out";