Merge pull request #114 from jcarpent/devel

Improve packaging + add ROS package

CMakeLists.txt

 #
 # Software License Agreement (BSD License)
 #
-#  Copyright (c) 2014 CNRS-LAAS
+#  Copyright (c) 2014-2019 CNRS-LAAS, INRIA
 #  Author: Florent Lamiraux, Joseph Mirabel
 #  All rights reserved.
 #
@@ -45,6 +45,11 @@ SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 CMAKE_POLICY(SET CMP0022 NEW)
 SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
 
+# Check if the submodule cmake have been initialized
+IF(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
+  MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
+ENDIF()
+
 include(cmake/eigen.cmake)
 include(cmake/boost.cmake)
 include(cmake/python.cmake)

README.md

-## FCL -- The Flexible Collision Library
+HPP-FCL — An extension of the Flexible Collision Library
+=======
 
 [![Building Status](https://travis-ci.org/humanoid-path-planner/hpp-fcl.svg?branch=master)](https://travis-ci.org/humanoid-path-planner/hpp-fcl)
 [![Pipeline status](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/commits/master)
 [![Coverage report](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/humanoid-path-planner/hpp-fcl/master/coverage/)
 
-This project is a fork from https://github.com/flexible-collision-library/fcl.
-
-The main differences are.
+This project is initially a fork from https://github.com/flexible-collision-library/fcl and has evolved since then.
+The main new features are:
 - the use of a safety margin when detecting collision,
 - the computation of a lower bound of the distance between two objects when collision checking is performed and no collision is found.
+- the implementation of Python bindings for easy code prototyping.
+- the fix of various bugs.
+
+This project is now used in many robotics frameworks such as [Pinocchio](https://github.com/stack-of-tasks/pinocchio), an open-source software which implements efficient and versatile rigid body dynamics algorithms and the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc), an open-source software for Motion and Manipulation Planning.
+
+## Acknowledgments
+
+The development of **HPP-FCL** is actively supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr)

cmake @ 308d3c94

-Subproject commit 8e87406799ea10cfeb90a56f84f3e1ef9c049753
+Subproject commit 308d3c947a3e276b06c5fa79894119346635de4d

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>hpp-fcl</name>
+  <version>1.2.0</version>
+  <description>An extension of the Flexible Collision Library.</description>
+  <!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm. 
+  Please check the repository URL for full list of authors and maintainers. -->
+  <maintainer email="jmirabel@laas.fr">Joseph Mirabel</maintainer>
+  <maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
+  <maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
+  <license>BSD</license>
+
+  <url type="website">https://github.com/humanoid-path-planner/hpp-fcl</url>
+
+  <build_depend>git</build_depend>
+  <build_depend>doxygen</build_depend>
+  <doc_depend>doxygen</doc_depend>
+  <depend>python</depend>
+  <depend>python-numpy</depend>
+  <depend>eigen</depend>
+  <depend>boost</depend>
+  <depend>assimp</depend>
+  <depend>octomap</depend>
+  <depend>eigenpy</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

python/CMakeLists.txt

@@ -47,9 +47,8 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
   distance.cc
   fcl.cc)
 
-TARGET_LINK_BOOST_PYTHON(${LIBRARY_NAME})
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${PROJECT_NAME})
+TARGET_LINK_BOOST_PYTHON(${LIBRARY_NAME} PUBLIC)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC ${PROJECT_NAME} ${BOOST_system_LIBRARY})
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} eigenpy)
 
 SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES

src/CMakeLists.txt

@@ -82,19 +82,28 @@ set(${LIBRARY_NAME}_SOURCES
   mesh_loader/loader.cpp
   )
 
-link_directories(${Boost_LIBRARY_DIRS})
-
 add_library(${LIBRARY_NAME}
   SHARED
   ${${LIBRARY_NAME}_SOURCES}
   )
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
 
-target_include_directories(${LIBRARY_NAME} SYSTEM PUBLIC
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} 
+  PUBLIC 
+  Boost::thread
+  Boost::date_time
+  Boost::system
+  )
+
+target_include_directories(${LIBRARY_NAME} 
+  SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIRS}
   )
 
+target_include_directories(${LIBRARY_NAME} 
+  PUBLIC
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
+
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} assimp)
 if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
   target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
@@ -111,8 +120,6 @@ IF(OCTOMAP_FOUND)
     -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
 ENDIF(OCTOMAP_FOUND)
 
-target_include_directories(${LIBRARY_NAME} PUBLIC
-  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 install(TARGETS ${LIBRARY_NAME}
   EXPORT ${TARGETS_EXPORT_NAME}
   DESTINATION ${CMAKE_INSTALL_LIBDIR})

test/CMakeLists.txt

 config_files(fcl_resources/config.h)
 
-macro(add_fcl_template_test test_name)
-  add_executable(${ARGV})
-  target_link_libraries(${test_name}
-    ${Boost_LIBRARIES}
-    )
-  add_test(${test_name} ${EXECUTABLE_OUTPUT_PATH}/${test_name})
-endmacro(add_fcl_template_test)
-
 macro(add_fcl_test test_name)
   add_executable(${ARGV})
   target_link_libraries(${test_name}
-    hpp-fcl
+    PUBLIC
+    ${PROJECT_NAME}
     ${Boost_LIBRARIES}
+    Boost::unit_test_framework
     utility
     )
   PKG_CONFIG_USE_DEPENDENCY(${test_name} assimp)
@@ -26,7 +20,7 @@ IF(RUN_TESTS)
 ELSE()
   add_library(utility STATIC EXCLUDE_FROM_ALL utility.cpp)
 ENDIF()
-target_link_libraries(utility hpp-fcl)
+target_link_libraries(utility PUBLIC ${PROJECT_NAME})
 
 add_fcl_test(math math.cpp)
 
@@ -60,7 +54,13 @@ endif(HPP_FCL_HAVE_OCTOMAP)
 
 ## Benchmark
 add_executable(test-benchmark benchmark.cpp)
-target_link_libraries(test-benchmark hpp-fcl ${Boost_LIBRARIES} utility)
+target_link_libraries(test-benchmark 
+  PUBLIC 
+  utility
+  Boost::chrono
+  Boost::filesystem
+  ${PROJECT_NAME} 
+  )
 
 ## Python tests
 IF(BUILD_PYTHON_INTERFACE)