readme: update examples with new "coal" library name

README.md

@@ -94,10 +94,10 @@ Here is an example of using HPP-FCL in C++:
 // GJK or EPA can be called with this object.
 // Consequently, after creating the BVH structure from the point cloud, this function
 // also computes its convex hull.
-std::shared_ptr<hpp::fcl::ConvexBase> loadConvexMesh(const std::string& file_name) {
-  hpp::fcl::NODE_TYPE bv_type = hpp::fcl::BV_AABB;
-  hpp::fcl::MeshLoader loader(bv_type);
-  hpp::fcl::BVHModelPtr_t bvh = loader.load(file_name);
+std::shared_ptr<coal::ConvexBase> loadConvexMesh(const std::string& file_name) {
+  coal::NODE_TYPE bv_type = coal::BV_AABB;
+  coal::MeshLoader loader(bv_type);
+  coal::BVHModelPtr_t bvh = loader.load(file_name);
   bvh->buildConvexHull(true, "Qt");
   return bvh->convex;
 }
@@ -107,16 +107,16 @@ int main() {
   // Hppfcl supports many primitive shapes: boxes, spheres, capsules, cylinders, ellipsoids, cones, planes,
   // halfspace and convex meshes (i.e. convex hulls of clouds of points).
   // It also supports BVHs (bounding volumes hierarchies), height-fields and octrees.
-  std::shared_ptr<hpp::fcl::Ellipsoid> shape1 = std::make_shared<hpp::fcl::Ellipsoid>(0.7, 1.0, 0.8);
-  std::shared_ptr<hpp::fcl::ConvexBase> shape2 = loadConvexMesh("../path/to/mesh/file.obj");
+  std::shared_ptr<coal::Ellipsoid> shape1 = std::make_shared<coal::Ellipsoid>(0.7, 1.0, 0.8);
+  std::shared_ptr<coal::ConvexBase> shape2 = loadConvexMesh("../path/to/mesh/file.obj");
 
   // Define the shapes' placement in 3D space
-  hpp::fcl::Transform3s T1;
-  T1.setQuatRotation(hpp::fcl::Quaternion3f::UnitRandom());
-  T1.setTranslation(hpp::fcl::Vec3s::Random());
-  hpp::fcl::Transform3s T2 = hpp::fcl::Transform3s::Identity();
-  T2.setQuatRotation(hpp::fcl::Quaternion3f::UnitRandom());
-  T2.setTranslation(hpp::fcl::Vec3s::Random());
+  coal::Transform3s T1;
+  T1.setQuatRotation(coal::Quaternion3f::UnitRandom());
+  T1.setTranslation(coal::Vec3s::Random());
+  coal::Transform3s T2 = coal::Transform3s::Identity();
+  T2.setQuatRotation(coal::Quaternion3f::UnitRandom());
+  T2.setTranslation(coal::Vec3s::Random());
 
   // Define collision requests and results.
   //
@@ -127,19 +127,19 @@ int main() {
   // Setting a positive security margin can be usefull in motion planning,
   // i.e to prevent shapes from getting too close to one another.
   // In physics simulation, allowing a negative security margin may be usefull to stabilize the simulation.
-  hpp::fcl::CollisionRequest col_req;
+  coal::CollisionRequest col_req;
   col_req.security_margin = 1e-1;
   // A collision result stores the result of the collision test (signed distance between the shapes,
   // witness points location, normal etc.)
-  hpp::fcl::CollisionResult col_res;
+  coal::CollisionResult col_res;
 
   // Collision call
-  hpp::fcl::collide(shape1.get(), T1, shape2.get(), T2, col_req, col_res);
+  coal::collide(shape1.get(), T1, shape2.get(), T2, col_req, col_res);
 
   // We can access the collision result once it has been populated
   std::cout << "Collision? " << col_res.isCollision() << "\n";
   if (col_res.isCollision()) {
-    hpp::fcl::Contact contact = col_res.getContact(0);
+    coal::Contact contact = col_res.getContact(0);
     // The penetration depth does **not** take into account the security margin.
     // Consequently, the penetration depth is the true signed distance which separates the shapes.
     // To have the distance which takes into account the security margin, we can simply add the two together.