From 48dfb81bf63c58735d8631f4c652e7c1fc07098c Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 1 Apr 2016 18:21:22 +0200
Subject: [PATCH] Remove FCL_USE_NATIVE_EIGEN (keep only one option when Eigen
is detected.
---
CMakeLists.txt | 3 +--
include/hpp/fcl/ccd/taylor_vector.h | 2 +-
include/hpp/fcl/config-fcl.hh.in | 1 -
include/hpp/fcl/math/matrix_3f.h | 10 +++-------
include/hpp/fcl/math/vec_3f.h | 8 +-------
5 files changed, 6 insertions(+), 18 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7ff31926..35823d20 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,10 +47,9 @@ set(PROJECT_URL "http://github.com/humanoid-path-planner/hpp-fcl")
setup_project()
set(FCL_HAVE_SSE FALSE CACHE BOOL "Enable SSE vectorization")
-set(FCL_USE_NATIVE_EIGEN FALSE CACHE BOOL "Use native eigen matrix type when possible")
add_optional_dependency("eigen3 >= 3.0.0")
-set(FCL_HAVE_EIGEN ${EIGEN3_FOUND} CACHE BOOL "Use eigen wrappers")
+set(FCL_HAVE_EIGEN ${EIGEN3_FOUND} CACHE BOOL "Use eigen matrix type when possible")
if (EIGEN3_FOUND)
if (FCL_HAVE_EIGEN)
include_directories(${EIGEN3_INCLUDE_DIRS})
diff --git a/include/hpp/fcl/ccd/taylor_vector.h b/include/hpp/fcl/ccd/taylor_vector.h
index e3ca9466..be570a38 100644
--- a/include/hpp/fcl/ccd/taylor_vector.h
+++ b/include/hpp/fcl/ccd/taylor_vector.h
@@ -41,7 +41,7 @@
#include <hpp/fcl/ccd/interval_vector.h>
#include <hpp/fcl/ccd/taylor_model.h>
-#if FCL_USE_NATIVE_EIGEN
+#if FCL_HAVE_EIGEN
#include <hpp/fcl/eigen/taylor_operator.h>
#endif
diff --git a/include/hpp/fcl/config-fcl.hh.in b/include/hpp/fcl/config-fcl.hh.in
index 0b1506c7..e8a2448f 100644
--- a/include/hpp/fcl/config-fcl.hh.in
+++ b/include/hpp/fcl/config-fcl.hh.in
@@ -38,7 +38,6 @@
# include "config.h"
#cmakedefine01 FCL_HAVE_EIGEN
-#cmakedefine01 FCL_USE_NATIVE_EIGEN
#cmakedefine01 FCL_HAVE_SSE
#cmakedefine01 FCL_HAVE_OCTOMAP
diff --git a/include/hpp/fcl/math/matrix_3f.h b/include/hpp/fcl/math/matrix_3f.h
index a44118f6..b04d816b 100644
--- a/include/hpp/fcl/math/matrix_3f.h
+++ b/include/hpp/fcl/math/matrix_3f.h
@@ -40,7 +40,7 @@
#include <hpp/fcl/math/vec_3f.h>
-#if ! FCL_USE_NATIVE_EIGEN
+#if ! FCL_HAVE_EIGEN
# include <hpp/fcl/math/matrix_3fx.h>
#endif
@@ -48,15 +48,11 @@ namespace fcl
{
#if FCL_HAVE_EIGEN
-# if FCL_USE_NATIVE_EIGEN
typedef Eigen::FclMatrix<FCL_REAL, 3> Matrix3f;
-# else
- typedef Matrix3fX<details::eigen_wrapper_m3<FCL_REAL> > Matrix3f;
-# endif
#elif FCL_HAVE_SSE
-typedef Matrix3fX<details::sse_meta_f12> Matrix3f;
+ typedef Matrix3fX<details::sse_meta_f12> Matrix3f;
#else
-typedef Matrix3fX<details::Matrix3Data<FCL_REAL> > Matrix3f;
+ typedef Matrix3fX<details::Matrix3Data<FCL_REAL> > Matrix3f;
#endif
static inline std::ostream& operator << (std::ostream& o, const Matrix3f& m)
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index 0cf42198..f81e6da1 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -42,16 +42,14 @@
#include <hpp/fcl/data_types.h>
#if FCL_HAVE_EIGEN
-# if ! FCL_USE_NATIVE_EIGEN
# include <hpp/fcl/eigen/math_details.h>
-# endif
#elif FCL_HAVE_SSE
# include <hpp/fcl/simd/math_simd_details.h>
#else
# include <hpp/fcl/math/math_details.h>
#endif
-#if FCL_USE_NATIVE_EIGEN
+#if FCL_HAVE_EIGEN
# include <hpp/fcl/eigen/vec_3fx.h>
#else
# include <hpp/fcl/math/vec_3fx.h>
@@ -66,11 +64,7 @@ namespace fcl
{
#if FCL_HAVE_EIGEN
-# if FCL_USE_NATIVE_EIGEN
typedef Eigen::FclMatrix<FCL_REAL, 1> Vec3f;
-# else
- typedef Vec3fX<details::eigen_wrapper_v3<FCL_REAL> > Vec3f;
-# endif
#elif FCL_HAVE_SSE
typedef Vec3fX<details::sse_meta_f4> Vec3f;
#else
--
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