From 3cfc1739ee5a7019e9e5b4f4ae85ecf927e789a2 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 2 Aug 2014 12:39:00 +0200
Subject: [PATCH] Use jrl cmake submodule for configuration.
---
.gitmodules | 3 +
CMakeLists.txt | 303 +++++++++++------------
cmake | 1 +
doc/Doxyfile.extra.in | 0
include/fcl/config.h.in | 52 ----
src/CMakeLists.txt | 115 ++++++++-
test/CMakeLists.txt | 33 +--
test/fcl_resources/config.h.in | 2 +-
test/test_fcl_box_box_distance.cpp | 4 +-
test/test_fcl_broadphase.cpp | 2 +-
test/test_fcl_capsule_box_1.cpp | 2 +-
test/test_fcl_capsule_box_2.cpp | 2 +-
test/test_fcl_capsule_capsule.cpp | 2 +-
test/test_fcl_collision.cpp | 2 +-
test/test_fcl_distance.cpp | 2 +-
test/test_fcl_frontlist.cpp | 2 +-
test/test_fcl_geometric_shapes.cpp | 2 +-
test/test_fcl_math.cpp | 2 +-
test/test_fcl_octomap.cpp | 2 +-
test/test_fcl_shape_mesh_consistency.cpp | 2 +-
test/test_fcl_simple.cpp | 2 +-
test/test_fcl_sphere_capsule.cpp | 2 +-
22 files changed, 285 insertions(+), 254 deletions(-)
create mode 100644 .gitmodules
create mode 160000 cmake
create mode 100644 doc/Doxyfile.extra.in
delete mode 100644 include/fcl/config.h.in
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..8b3eac81
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "cmake"]
+ path = cmake
+ url = git@github.com:jrl-umi3218/jrl-cmakemodules
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ec5eda94..4b94eabb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,157 +1,156 @@
-cmake_minimum_required(VERSION 2.8)
-project(fcl CXX C)
-
-# set the default build type
-if (NOT CMAKE_BUILD_TYPE)
- set(CMAKE_BUILD_TYPE Release)
-endif()
-
-# Set build type variable
-set(FCL_BUILD_TYPE_RELEASE FALSE)
-set(FCL_BUILD_TYPE_DEBUG FALSE)
-
-string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
-if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
- set(FCL_BUILD_TYPE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
- set(FCL_BUILD_TYPE_DEBUG TRUE)
-else()
- message(STATUS "CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug Release")
-endif()
-
-# This shouldn't be necessary, but there has been trouble
-# with MSVC being set off, but MSVCXX ON.
-if(MSVC OR MSVC90 OR MSVC10)
- set(MSVC ON)
-endif (MSVC OR MSVC90 OR MSVC10)
-
-set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
-include(CompilerSettings)
-include(FCLVersion)
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014 CNRS-LAAS
+# Author: Florent Lamiraux
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of CNRS-LAAS. nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
-if(MSVC OR IS_ICPC)
- option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" ON)
-else()
- option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" OFF)
-endif()
-
-# Whether to enable SSE
-option(FCL_USE_SSE "Whether FCL should SSE instructions" OFF)
-set(FCL_HAVE_SSE 0)
-if(FCL_USE_SSE)
- if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
- set(FCL_HAVE_SSE 0) #always disable, for now
- add_definitions(-march=native)
- endif()
- # TODO: do something similar for other compilers
-endif()
-
-# Find Octomap (optional)
-find_package(PkgConfig QUIET)
-set(FCL_HAVE_OCTOMAP 0)
-if(PKG_CONFIG_FOUND)
- pkg_check_modules(OCTOMAP QUIET octomap)
-endif()
-if(NOT OCTOMAP_FOUND)
- # if pkfconfig is not installed, then fall back on more fragile detection
- # of octomap
- find_path(OCTOMAP_INCLUDE_DIRS octomap.h
- PATH_SUFFIXES octomap)
- find_path(OCTOMAP_LIBRARY_DIRS
- ${CMAKE_SHARED_LIBRARY_PREFIX}octomap${CMAKE_SHARED_LIBRARY_SUFFIX})
- if(OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
- set(OCTOMAP_LIBRARIES "octomap;octomath")
- endif()
-endif()
-if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
- include_directories(${OCTOMAP_INCLUDE_DIRS})
- link_directories(${OCTOMAP_LIBRARY_DIRS})
- set(FCL_HAVE_OCTOMAP 1)
- message(STATUS "FCL uses Octomap")
-else()
- message(STATUS "FCL does not use Octomap")
-endif()
-
-# Find FLANN (optional)
-find_package(flann QUIET)
-if (FLANN_FOUND)
- set(FCL_HAVE_FLANN 1)
- include_directories(${FLANN_INCLUDE_DIRS})
- message(STATUS "FCL uses Flann")
-else()
- message(STATUS "FCL does not use Flann")
-endif()
-
-
-# find_package(tinyxml QUIET)
-# if (TINYXML_FOUND)
-# set(FCL_HAVE_TINYXML 1)
-# include_directories(${TINYXML_INCLUDE_DIRS})
-# link_directories(${TINYXML_LIBRARY_DIRS})
-# message(STATUS "FCL uses tinyxml")
-# else()
-# message(STATUS "FCL does not use tinyxml")
+cmake_minimum_required(VERSION 2.8)
+set(CXX_DISABLE_WERROR TRUE)
+include(cmake/base.cmake)
+include(cmake/boost.cmake)
+
+set(PROJECT_NAME fcl)
+set(PROJECT_DESCRIPTION
+ "FCL -- The Flexible Collision Library"
+ )
+set(PROJECT_URL "http://github.com/humanoid-path-planner/fcl")
+
+setup_project()
+
+# Required dependencies
+add_required_dependency("ccd >= 1.4")
+set(BOOST_COMPONENTS
+ thread date_time filesystem system unit_test_framework REQUIRED
+ )
+search_for_boost()
+# Optional dependencies
+add_optional_dependency("octomap >= 1.6")
+# flann package ill defined: comment.
+# add_optional_dependency("flann >= 1.7")
+# if (${FLANN_FOUND})
+# add_definitions(-DFCL_HAVE_FLANN=1)
# endif()
-
-find_package(Boost COMPONENTS thread date_time filesystem system unit_test_framework REQUIRED)
-include_directories(${Boost_INCLUDE_DIR})
-
-if(MSVC)
- add_definitions(-DBOOST_ALL_NO_LIB)
-endif()
-add_definitions(-DBOOST_TEST_DYN_LINK)
-
-# FCL's own include dir should be at the front of the include path
-include_directories(BEFORE "include")
-include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
-
-if(PKG_CONFIG_FOUND)
- pkg_check_modules(CCD ccd)
- # check to see if the pkg is installed under the libccd name
- if(NOT CCD_FOUND)
- pkg_check_modules(CCD libccd)
- endif()
-endif()
-
-if(NOT CCD_FOUND)
- # if pkfconfig is not installed, then fall back on more fragile detection
- # of ccd
- find_path(CCD_INCLUDE_DIRS ccd.h
- PATH_SUFFIXES ccd)
- find_path(CCD_LIBRARY_DIRS
- ${CMAKE_SHARED_LIBRARY_PREFIX}ccd${CMAKE_SHARED_LIBRARY_SUFFIX})
- if(CCD_INCLUDE_DIRS AND CCD_LIBRARY_DIRS)
- set(CCD_LIBRARIES "ccd")
- else()
- message(FATAL_ERROR "Libccd is required by FCL")
- endif()
-endif()
-include_directories(${CCD_INCLUDE_DIRS})
-link_directories(${CCD_LIBRARY_DIRS})
-
-add_subdirectory(include/fcl)
+SET(${PROJECT_NAME}_HEADERS
+ include/fcl/collision_data.h
+ include/fcl/profile.h
+ include/fcl/exception.h
+ include/fcl/ccd/taylor_vector.h
+ include/fcl/ccd/interval_vector.h
+ include/fcl/ccd/simplex.h
+ include/fcl/ccd/support.h
+ include/fcl/ccd/interval_matrix.h
+ include/fcl/ccd/interval.h
+ include/fcl/ccd/interpolation/interpolation_factory.h
+ include/fcl/ccd/interpolation/interpolation_linear.h
+ include/fcl/ccd/interpolation/interpolation.h
+ include/fcl/ccd/conservative_advancement.h
+ include/fcl/ccd/taylor_model.h
+ include/fcl/ccd/taylor_matrix.h
+ include/fcl/ccd/motion_base.h
+ include/fcl/ccd/motion.h
+ include/fcl/deprecated.h
+ include/fcl/BV/kIOS.h
+ include/fcl/BV/BV.h
+ include/fcl/BV/RSS.h
+ include/fcl/BV/OBBRSS.h
+ include/fcl/BV/BV_node.h
+ include/fcl/BV/AABB.h
+ include/fcl/BV/OBB.h
+ include/fcl/BV/kDOP.h
+ include/fcl/narrowphase/narrowphase.h
+ include/fcl/narrowphase/gjk.h
+ include/fcl/narrowphase/gjk_libccd.h
+ include/fcl/broadphase/interval_tree.h
+ include/fcl/broadphase/broadphase_spatialhash.h
+ include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
+ include/fcl/broadphase/broadphase_SSaP.h
+ include/fcl/broadphase/broadphase_interval_tree.h
+ include/fcl/broadphase/broadphase.h
+ include/fcl/broadphase/hierarchy_tree.h
+ include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
+ include/fcl/broadphase/broadphase_SaP.h
+ include/fcl/broadphase/broadphase_bruteforce.h
+ include/fcl/broadphase/morton.h
+ include/fcl/broadphase/hash.h
+ include/fcl/learning/classifier.h
+ include/fcl/shape/geometric_shapes_utility.h
+ include/fcl/shape/geometric_shape_to_BVH_model.h
+ include/fcl/shape/geometric_shapes.h
+ include/fcl/simd/simd_intersect.h
+ include/fcl/simd/math_simd_details.h
+ include/fcl/distance_func_matrix.h
+ include/fcl/collision.h
+ include/fcl/collision_node.h
+ include/fcl/collision_func_matrix.h
+ include/fcl/distance.h
+ include/fcl/knn/greedy_kcenters.h
+ include/fcl/knn/nearest_neighbors_GNAT.h
+ include/fcl/knn/nearest_neighbors_flann.h
+ include/fcl/knn/nearest_neighbors_sqrtapprox.h
+ include/fcl/knn/nearest_neighbors_linear.h
+ include/fcl/knn/nearest_neighbors.h
+ include/fcl/continuous_collision.h
+ include/fcl/math/vec_nf.h
+ include/fcl/math/matrix_3f.h
+ include/fcl/math/vec_3f.h
+ include/fcl/math/sampling.h
+ include/fcl/math/math_details.h
+ include/fcl/math/transform.h
+ include/fcl/traversal/traversal_node_shapes.h
+ include/fcl/traversal/traversal_node_setup.h
+ include/fcl/traversal/traversal_recurse.h
+ include/fcl/traversal/traversal_node_octree.h
+ include/fcl/traversal/traversal_node_bvhs.h
+ include/fcl/traversal/traversal_node_bvh_shape.h
+ include/fcl/traversal/traversal_node_base.h
+ include/fcl/data_types.h
+ include/fcl/articulated_model/model.h
+ include/fcl/articulated_model/joint_config.h
+ include/fcl/articulated_model/model_config.h
+ include/fcl/articulated_model/joint.h
+ include/fcl/articulated_model/link.h
+ include/fcl/BVH/BV_splitter.h
+ include/fcl/BVH/BVH_internal.h
+ include/fcl/BVH/BVH_model.h
+ include/fcl/BVH/BV_fitter.h
+ include/fcl/BVH/BVH_front.h
+ include/fcl/BVH/BVH_utility.h
+ include/fcl/intersect.h
+ include/fcl/collision_object.h
+ include/fcl/octree.h
+ )
+
+pkg_config_append_libs("fcl")
add_subdirectory(src)
-
-set(pkg_conf_file_in "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc.in")
-set(pkg_conf_file_out "${CMAKE_CURRENT_BINARY_DIR}/fcl.pc")
-configure_file("${pkg_conf_file_in}" "${pkg_conf_file_out}" @ONLY)
-
-install(DIRECTORY include/ DESTINATION include
- FILES_MATCHING PATTERN "*.h" PATTERN "*.hxx"
- PATTERN ".DS_Store" EXCLUDE
-)
-
-install(FILES "${pkg_conf_file_out}" DESTINATION lib/pkgconfig/ COMPONENT pkgconfig)
-
-# Add uninstall target
-configure_file(
- "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/cmake_uninstall.cmake.in"
- "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake"
- IMMEDIATE @ONLY)
-add_custom_target(uninstall
- "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake")
-
-enable_testing()
add_subdirectory(test)
+
+setup_project_finalize()
diff --git a/cmake b/cmake
new file mode 160000
index 00000000..bfaeb03c
--- /dev/null
+++ b/cmake
@@ -0,0 +1 @@
+Subproject commit bfaeb03c13f01b4e10c36ea13b238b283d18a7bd
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
new file mode 100644
index 00000000..e69de29b
diff --git a/include/fcl/config.h.in b/include/fcl/config.h.in
deleted file mode 100644
index fc26c232..00000000
--- a/include/fcl/config.h.in
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2012-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef FCL_CONFIG_
-#define FCL_CONFIG_
-
-#define FCL_VERSION "@FCL_VERSION@"
-#define FCL_MAJOR_VERSION @FCL_MAJOR_VERSION@
-#define FCL_MINOR_VERSION @FCL_MINOR_VERSION@
-#define FCL_PATCH_VERSION @FCL_PATCH_VERSION@
-
-#cmakedefine01 FCL_HAVE_SSE
-#cmakedefine01 FCL_HAVE_OCTOMAP
-#cmakedefine01 FCL_HAVE_FLANN
-#cmakedefine01 FCL_HAVE_TINYXML
-
-#cmakedefine01 FCL_BUILD_TYPE_DEBUG
-#cmakedefine01 FCL_BUILD_TYPE_RELEASE
-
-#endif
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 05a00201..b4b1eb57 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,10 +1,109 @@
-file(GLOB_RECURSE FCL_SOURCE_CODE ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
-if(FCL_STATIC_LIBRARY)
- add_library(${PROJECT_NAME} STATIC ${FCL_HEADERS} ${FCL_SOURCE_CODE})
-else()
- add_library(${PROJECT_NAME} SHARED ${FCL_HEADERS} ${FCL_SOURCE_CODE})
-endif()
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014 CNRS-LAAS
+# Author: Florent Lamiraux
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of CNRS-LAAS. nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
-target_link_libraries(${PROJECT_NAME} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES} ${Boost_LIBRARIES})
+set(LIBRARY_NAME ${PROJECT_NAME})
+set(${LIBRARY_NAME}_SOURCES
+ collision.cpp
+ distance_func_matrix.cpp
+ ccd/taylor_matrix.cpp
+ ccd/taylor_model.cpp
+ ccd/interval.cpp
+ ccd/interval_vector.cpp
+ ccd/conservative_advancement.cpp
+ ccd/taylor_vector.cpp
+ ccd/interval_matrix.cpp
+ ccd/interpolation/interpolation_linear.cpp
+ ccd/interpolation/interpolation_factory.cpp
+ ccd/interpolation/interpolation.cpp
+ ccd/motion.cpp
+ collision_data.cpp
+ collision_node.cpp
+ BV/RSS.cpp
+ BV/AABB.cpp
+ BV/kIOS.cpp
+ BV/kDOP.cpp
+ BV/OBBRSS.cpp
+ BV/OBB.cpp
+ narrowphase/gjk_libccd.cpp
+ narrowphase/narrowphase.cpp
+ narrowphase/gjk.cpp
+ broadphase/broadphase_bruteforce.cpp
+ broadphase/interval_tree.cpp
+ broadphase/broadphase_SaP.cpp
+ broadphase/broadphase_dynamic_AABB_tree.cpp
+ broadphase/broadphase_SSaP.cpp
+ broadphase/broadphase_dynamic_AABB_tree_array.cpp
+ broadphase/broadphase_interval_tree.cpp
+ broadphase/broadphase_spatialhash.cpp
+ broadphase/hierarchy_tree.cpp
+ shape/geometric_shapes.cpp
+ shape/geometric_shapes_utility.cpp
+ distance_capsule_capsule.cpp
+ intersect.cpp
+ math/transform.cpp
+ math/sampling.cpp
+ traversal/traversal_node_setup.cpp
+ traversal/traversal_node_bvhs.cpp
+ traversal/traversal_recurse.cpp
+ traversal/traversal_node_base.cpp
+ profile.cpp
+ continuous_collision.cpp
+ articulated_model/link.cpp
+ articulated_model/model.cpp
+ articulated_model/model_config.cpp
+ articulated_model/joint.cpp
+ articulated_model/joint_config.cpp
+ distance.cpp
+ BVH/BVH_utility.cpp
+ BVH/BV_fitter.cpp
+ BVH/BVH_model.cpp
+ BVH/BV_splitter.cpp
+ collision_func_matrix.cpp
+ )
-install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION lib/ LIBRARY DESTINATION lib/)
+# Declare boost include directories
+include_directories(${Boost_INCLUDE_DIRS})
+link_directories(${Boost_LIBRARY_DIRS})
+
+add_library(${LIBRARY_NAME}
+ SHARED
+ ${${LIBRARY_NAME}_SOURCES}
+ )
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} ccd)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} octomap)
+#PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} flann)
+
+
+install(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index f12ba283..9efad9f8 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,26 +1,18 @@
+config_files(fcl_resources/config.h)
+
macro(add_fcl_test test_name)
+ MESSAGE("add_executable ${ARGV}")
add_executable(${ARGV})
target_link_libraries(${test_name}
fcl
- ${Boost_SYSTEM_LIBRARY}
- ${Boost_THREAD_LIBRARY}
- ${Boost_DATE_TIME_LIBRARY}
- ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+ ${Boost_LIBRARIES}
+ )
add_test(${test_name} ${EXECUTABLE_OUTPUT_PATH}/${test_name})
endmacro(add_fcl_test)
-# configure location of resources
-file(TO_NATIVE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/fcl_resources" TEST_RESOURCES_SRC_DIR)
-file(TO_NATIVE_PATH "${CMAKE_CURRENT_BINARY_DIR}/fcl_resources" TEST_RESOURCES_BIN_DIR)
-if(WIN32)
- # Correct directory separator for Windows
- string(REPLACE "\\" "\\\\" TEST_RESOURCES_SRC_DIR ${TEST_RESOURCES_SRC_DIR})
- string(REPLACE "\\" "\\\\" TEST_RESOURCES_BIN_DIR ${TEST_RESOURCES_BIN_DIR})
-endif(WIN32)
-configure_file("${TEST_RESOURCES_SRC_DIR}/config.h.in" "${TEST_RESOURCES_BIN_DIR}/config.h")
+include_directories(${CMAKE_CURRENT_BINARY_DIR})
+include_directories(${Boost_INCLUDE_DIRS})
-include_directories(.)
-include_directories("${CMAKE_CURRENT_BINARY_DIR}")
add_fcl_test(test_fcl_collision test_fcl_collision.cpp test_fcl_utility.cpp)
add_fcl_test(test_fcl_distance test_fcl_distance.cpp test_fcl_utility.cpp)
@@ -43,14 +35,3 @@ if (FCL_HAVE_OCTOMAP)
add_fcl_test(test_fcl_octomap test_fcl_octomap.cpp test_fcl_utility.cpp)
endif()
-#if (FCL_HAVE_TINYXML)
-# add_executable(test_fcl_xmldata test_fcl_xmldata.cpp test_fcl_utility.cpp libsvm/svm.cpp)
-# target_link_libraries(test_fcl_xmldata
-# fcl
-# ${TINYXML_LIBRARY_DIRS}
-# ${Boost_SYSTEM_LIBRARY}
-# ${Boost_THREAD_LIBRARY}
-# ${Boost_DATE_TIME_LIBRARY}
-# ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
-# add_test(test_fcl_xmldata ${EXECUTABLE_OUTPUT_PATH}/test_fcl_xmldata)
-#endif()
diff --git a/test/fcl_resources/config.h.in b/test/fcl_resources/config.h.in
index 848ab014..0f876877 100644
--- a/test/fcl_resources/config.h.in
+++ b/test/fcl_resources/config.h.in
@@ -37,5 +37,5 @@
#ifndef FCL_TEST_RESOURCES_CONFIG_
#define FCL_TEST_RESOURCES_CONFIG_
-#define TEST_RESOURCES_DIR "@TEST_RESOURCES_SRC_DIR@"
+#define TEST_RESOURCES_DIR "@PROJECT_SOURCE_DIR@/test/fcl_resources"
#endif
diff --git a/test/test_fcl_box_box_distance.cpp b/test/test_fcl_box_box_distance.cpp
index 9a05b58b..67bf84dc 100644
--- a/test/test_fcl_box_box_distance.cpp
+++ b/test/test_fcl_box_box_distance.cpp
@@ -34,10 +34,10 @@
/** \author Florent Lamiraux <florent@laas.fr> */
-#define BOOST_TEST_MODULE "FCL_BOX_BOX"
+#define BOOST_TEST_MODULE FCL_BOX_BOX
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
diff --git a/test/test_fcl_broadphase.cpp b/test/test_fcl_broadphase.cpp
index 91d24bb4..d94fbbf9 100644
--- a/test/test_fcl_broadphase.cpp
+++ b/test/test_fcl_broadphase.cpp
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_BROADPHASE"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/config.h"
#include "fcl/broadphase/broadphase.h"
diff --git a/test/test_fcl_capsule_box_1.cpp b/test/test_fcl_capsule_box_1.cpp
index fa469a6b..154409f4 100644
--- a/test/test_fcl_capsule_box_1.cpp
+++ b/test/test_fcl_capsule_box_1.cpp
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
diff --git a/test/test_fcl_capsule_box_2.cpp b/test/test_fcl_capsule_box_2.cpp
index 64f00995..87959192 100644
--- a/test/test_fcl_capsule_box_2.cpp
+++ b/test/test_fcl_capsule_box_2.cpp
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
diff --git a/test/test_fcl_capsule_capsule.cpp b/test/test_fcl_capsule_capsule.cpp
index 4e77a438..8de1f641 100644
--- a/test/test_fcl_capsule_capsule.cpp
+++ b/test/test_fcl_capsule_capsule.cpp
@@ -38,7 +38,7 @@
#define BOOST_TEST_MODULE "FCL_CAPSULE_CAPSULE"
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
diff --git a/test/test_fcl_collision.cpp b/test/test_fcl_collision.cpp
index a3c5d6fa..74fdd850 100644
--- a/test/test_fcl_collision.cpp
+++ b/test/test_fcl_collision.cpp
@@ -36,7 +36,7 @@
/** \author Jia Pan */
#define BOOST_TEST_MODULE "FCL_COLLISION"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/traversal/traversal_node_setup.h"
diff --git a/test/test_fcl_distance.cpp b/test/test_fcl_distance.cpp
index 4bfa0156..23aecc6c 100644
--- a/test/test_fcl_distance.cpp
+++ b/test/test_fcl_distance.cpp
@@ -36,7 +36,7 @@
/** \author Jia Pan */
#define BOOST_TEST_MODULE "FCL_DISTANCE"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/traversal/traversal_node_setup.h"
diff --git a/test/test_fcl_frontlist.cpp b/test/test_fcl_frontlist.cpp
index 041cf632..fc4d61db 100644
--- a/test/test_fcl_frontlist.cpp
+++ b/test/test_fcl_frontlist.cpp
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_FRONT_LIST"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/traversal/traversal_node_setup.h"
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index f3f0d689..92c30dc8 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/narrowphase/narrowphase.h"
#include "fcl/collision.h"
diff --git a/test/test_fcl_math.cpp b/test/test_fcl_math.cpp
index 9270213e..f26cfb84 100644
--- a/test/test_fcl_math.cpp
+++ b/test/test_fcl_math.cpp
@@ -35,7 +35,7 @@
#define BOOST_TEST_MODULE "FCL_MATH"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#if FCL_HAVE_SSE
#include "fcl/simd/math_simd_details.h"
diff --git a/test/test_fcl_octomap.cpp b/test/test_fcl_octomap.cpp
index 0d4b49cc..fe826b2e 100644
--- a/test/test_fcl_octomap.cpp
+++ b/test/test_fcl_octomap.cpp
@@ -36,7 +36,7 @@
/** \author Jia Pan */
#define BOOST_TEST_MODULE "FCL_OCTOMAP"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/config.h"
#include "fcl/octree.h"
diff --git a/test/test_fcl_shape_mesh_consistency.cpp b/test/test_fcl_shape_mesh_consistency.cpp
index 552f3fe1..1cf09511 100644
--- a/test/test_fcl_shape_mesh_consistency.cpp
+++ b/test/test_fcl_shape_mesh_consistency.cpp
@@ -36,7 +36,7 @@
/** \author Jia Pan */
#define BOOST_TEST_MODULE "FCL_SHAPE_MESH_CONSISTENCY"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/narrowphase/narrowphase.h"
#include "fcl/shape/geometric_shape_to_BVH_model.h"
diff --git a/test/test_fcl_simple.cpp b/test/test_fcl_simple.cpp
index 37688dd5..45dc3493 100644
--- a/test/test_fcl_simple.cpp
+++ b/test/test_fcl_simple.cpp
@@ -1,5 +1,5 @@
#define BOOST_TEST_MODULE "FCL_SIMPLE"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/intersect.h"
#include "fcl/collision.h"
diff --git a/test/test_fcl_sphere_capsule.cpp b/test/test_fcl_sphere_capsule.cpp
index e9612b39..4c040c5d 100644
--- a/test/test_fcl_sphere_capsule.cpp
+++ b/test/test_fcl_sphere_capsule.cpp
@@ -36,7 +36,7 @@
/** \author Martin Felis <martin.felis@iwr.uni-heidelberg.de> */
#define BOOST_TEST_MODULE "FCL_SPHERE_CAPSULE"
-#include <boost/test/unit_test.hpp>
+#include <boost/test/included/unit_test.hpp>
#include "fcl/collision.h"
#include "fcl/shape/geometric_shapes.h"
--
GitLab