Commit 48dfb81b authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Remove FCL_USE_NATIVE_EIGEN (keep only one option when Eigen is detected.

parent 481f935d
...@@ -47,10 +47,9 @@ set(PROJECT_URL "http://github.com/humanoid-path-planner/hpp-fcl") ...@@ -47,10 +47,9 @@ set(PROJECT_URL "http://github.com/humanoid-path-planner/hpp-fcl")
setup_project() setup_project()
set(FCL_HAVE_SSE FALSE CACHE BOOL "Enable SSE vectorization") 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") add_optional_dependency("eigen3 >= 3.0.0")
set(FCL_HAVE_EIGEN ${EIGEN3_FOUND} CACHE BOOL "Use eigen wrappers") set(FCL_HAVE_EIGEN ${EIGEN3_FOUND} CACHE BOOL "Use eigen matrix type when possible")
if (EIGEN3_FOUND) if (EIGEN3_FOUND)
if (FCL_HAVE_EIGEN) if (FCL_HAVE_EIGEN)
include_directories(${EIGEN3_INCLUDE_DIRS}) include_directories(${EIGEN3_INCLUDE_DIRS})
......
...@@ -41,7 +41,7 @@ ...@@ -41,7 +41,7 @@
#include <hpp/fcl/ccd/interval_vector.h> #include <hpp/fcl/ccd/interval_vector.h>
#include <hpp/fcl/ccd/taylor_model.h> #include <hpp/fcl/ccd/taylor_model.h>
#if FCL_USE_NATIVE_EIGEN #if FCL_HAVE_EIGEN
#include <hpp/fcl/eigen/taylor_operator.h> #include <hpp/fcl/eigen/taylor_operator.h>
#endif #endif
......
...@@ -38,7 +38,6 @@ ...@@ -38,7 +38,6 @@
# include "config.h" # include "config.h"
#cmakedefine01 FCL_HAVE_EIGEN #cmakedefine01 FCL_HAVE_EIGEN
#cmakedefine01 FCL_USE_NATIVE_EIGEN
#cmakedefine01 FCL_HAVE_SSE #cmakedefine01 FCL_HAVE_SSE
#cmakedefine01 FCL_HAVE_OCTOMAP #cmakedefine01 FCL_HAVE_OCTOMAP
......
...@@ -40,7 +40,7 @@ ...@@ -40,7 +40,7 @@
#include <hpp/fcl/math/vec_3f.h> #include <hpp/fcl/math/vec_3f.h>
#if ! FCL_USE_NATIVE_EIGEN #if ! FCL_HAVE_EIGEN
# include <hpp/fcl/math/matrix_3fx.h> # include <hpp/fcl/math/matrix_3fx.h>
#endif #endif
...@@ -48,15 +48,11 @@ namespace fcl ...@@ -48,15 +48,11 @@ namespace fcl
{ {
#if FCL_HAVE_EIGEN #if FCL_HAVE_EIGEN
# if FCL_USE_NATIVE_EIGEN
typedef Eigen::FclMatrix<FCL_REAL, 3> Matrix3f; typedef Eigen::FclMatrix<FCL_REAL, 3> Matrix3f;
# else
typedef Matrix3fX<details::eigen_wrapper_m3<FCL_REAL> > Matrix3f;
# endif
#elif FCL_HAVE_SSE #elif FCL_HAVE_SSE
typedef Matrix3fX<details::sse_meta_f12> Matrix3f; typedef Matrix3fX<details::sse_meta_f12> Matrix3f;
#else #else
typedef Matrix3fX<details::Matrix3Data<FCL_REAL> > Matrix3f; typedef Matrix3fX<details::Matrix3Data<FCL_REAL> > Matrix3f;
#endif #endif
static inline std::ostream& operator << (std::ostream& o, const Matrix3f& m) static inline std::ostream& operator << (std::ostream& o, const Matrix3f& m)
......
...@@ -42,16 +42,14 @@ ...@@ -42,16 +42,14 @@
#include <hpp/fcl/data_types.h> #include <hpp/fcl/data_types.h>
#if FCL_HAVE_EIGEN #if FCL_HAVE_EIGEN
# if ! FCL_USE_NATIVE_EIGEN
# include <hpp/fcl/eigen/math_details.h> # include <hpp/fcl/eigen/math_details.h>
# endif
#elif FCL_HAVE_SSE #elif FCL_HAVE_SSE
# include <hpp/fcl/simd/math_simd_details.h> # include <hpp/fcl/simd/math_simd_details.h>
#else #else
# include <hpp/fcl/math/math_details.h> # include <hpp/fcl/math/math_details.h>
#endif #endif
#if FCL_USE_NATIVE_EIGEN #if FCL_HAVE_EIGEN
# include <hpp/fcl/eigen/vec_3fx.h> # include <hpp/fcl/eigen/vec_3fx.h>
#else #else
# include <hpp/fcl/math/vec_3fx.h> # include <hpp/fcl/math/vec_3fx.h>
...@@ -66,11 +64,7 @@ namespace fcl ...@@ -66,11 +64,7 @@ namespace fcl
{ {
#if FCL_HAVE_EIGEN #if FCL_HAVE_EIGEN
# if FCL_USE_NATIVE_EIGEN
typedef Eigen::FclMatrix<FCL_REAL, 1> Vec3f; typedef Eigen::FclMatrix<FCL_REAL, 1> Vec3f;
# else
typedef Vec3fX<details::eigen_wrapper_v3<FCL_REAL> > Vec3f;
# endif
#elif FCL_HAVE_SSE #elif FCL_HAVE_SSE
typedef Vec3fX<details::sse_meta_f4> Vec3f; typedef Vec3fX<details::sse_meta_f4> Vec3f;
#else #else
......
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