Define _USE_MATH_DEFINES in joint_soft_limiter.cpp to ensure that M_PI is defined

[traversaro]

joint_soft_limiter.cpp uses M_PI, that on Windows is defined by cmath only if the _USE_MATH_DEFINES macro is defined prior to the first inclusion of cmath.

fyi @GilmarCorreia

To send us a pull request, please:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[christophfroehlich]

Thanks for the fix. Why not just add that as compile_definitions in the CMakeLists?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.28%. Comparing base (00c7088) to head (b317408).
Report is 3 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2001      +/-   ##
==========================================
- Coverage   89.29%   89.28%   -0.02%     
==========================================
  Files         130      130              
  Lines       14523    14526       +3     
  Branches     1258     1258              
==========================================
  Hits        12969    12969              
- Misses       1085     1089       +4     
+ Partials      469      468       -1     

Flag	Coverage Δ
unittests	89.28% <ø> (-0.02%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
joint_limits/src/joint_soft_limiter.cpp	87.59% <ø> (ø)

... and 4 files with indirect coverage changes

[traversaro]

Thanks for the fix. Why not just add that as compile_definitions in the CMakeLists?

That's also an option. If the use of M_PI is really local I typically prefer to define _USE_MATH_DEFINES in the code so it works regardless of the build system used to compile the code, but in this specific case I really think that it would be strange if someone builds this specific code on Windows/MSVC without using CMake, so it really the same. If you prefer I can change it to a CMake compile definition.

[bmagyar]

I also prefer it in the file, so we know where it is needed.