Make MPPI Controller and Critics Apple Clang Friendly

[idesign0]

• Added Apple Clang-specific handling in CMakeLists.txt to avoid -fconcepts flag, which is unsupported.
• Enabled C++20 for Apple Clang to support Concepts natively.

[codecov]

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✅ All modified and coverable lines are covered by tests.
see 4 files with indirect coverage changes

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[idesign0]

@SteveMacenski

with recent changes, Only mppi_critics target will require C++20. CMake will automatically add -std=c++20 (or the equivalent) just for this target, leaving all other targets at their current C++ standard. This is safer and avoids impacting the rest of the build. had to update cmake_minimum_required() version(3.8) for this to work. additionally, added Apple condition so changes only target macOS.

[SteveMacenski]

Is there no way around this other than changing the cpp version? That's a kind of extreme move IMO

[SteveMacenski]

Can you search + replace in the CMakeLists to update them all to 3.8? Consistency is nice :-)

[idesign0]

Can you search + replace in the CMakeLists to update them all to 3.8? Consistency is nice :-)

Sure 👍
i will add them in To-do. I’ll do the change when I switch to working with Rolling on macOS if its fine, since my current work and build checks are happening on Humble right now. (will begin soon).

[idesign0]

Is there no way around this other than changing the cpp version? That's a kind of extreme move IMO

right now i couldnt find any. let me try for some more time if i can find a another way arround.

[SteveMacenski]

Can you update the 3.5 to 3.8 here? CI will pick up on rolling if there are any issues. I don't like to leave things in inconsistent states, though I appreciate your desire to test on Humble first :-)

[idesign0]

Can you update the 3.5 to 3.8 here? CI will pick up on rolling if there are any issues. I don't like to leave things in inconsistent states, though I appreciate your desire to test on Humble first :-)

sure i will be on it.