From 89661e0518be78b7ca6c998e2c4bee41caef927e Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Mon, 4 Mar 2019 10:18:32 +0100
Subject: [PATCH] all: add missing #ifdef HPP_FCL_HAVE_OCTOMAP
---
test/CMakeLists.txt | 4 +++-
test/test_fcl_utility.cpp | 4 +++-
test/test_fcl_utility.h | 9 ++++++++-
3 files changed, 14 insertions(+), 3 deletions(-)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 807e69e7..046d21ae 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -47,7 +47,9 @@ add_fcl_test(test_fcl_profiling test_fcl_profiling.cpp test_fcl_utility.cpp)
PKG_CONFIG_USE_DEPENDENCY(test_fcl_profiling assimp)
add_fcl_test(test_fcl_gjk test_fcl_gjk.cpp)
-add_fcl_test(test_fcl_octree test_fcl_octree.cpp test_fcl_utility.cpp)
+if(HPP_FCL_HAVE_OCTOMAP)
+ add_fcl_test(test_fcl_octree test_fcl_octree.cpp test_fcl_utility.cpp)
+endif(HPP_FCL_HAVE_OCTOMAP)
## Benchmark
add_executable(test-benchmark benchmark.cpp test_fcl_utility.cpp)
diff --git a/test/test_fcl_utility.cpp b/test/test_fcl_utility.cpp
index 7c74bb0f..b60b015d 100644
--- a/test/test_fcl_utility.cpp
+++ b/test/test_fcl_utility.cpp
@@ -209,7 +209,8 @@ void saveOBJFile(const char* filename, std::vector<Vec3f>& points, std::vector<T
os.close();
}
- OcTree loadOctreeFile (const char* filename, const FCL_REAL& resolution)
+#ifdef HPP_FCL_HAVE_OCTOMAP
+OcTree loadOctreeFile (const char* filename, const FCL_REAL& resolution)
{
std::ifstream file;
file.open(filename);
@@ -234,6 +235,7 @@ void saveOBJFile(const char* filename, std::vector<Vec3f>& points, std::vector<T
octree->updateInnerOccupancy ();
return hpp::fcl::OcTree (octree);
}
+#endif
void eulerToMatrix(FCL_REAL a, FCL_REAL b, FCL_REAL c, Matrix3f& R)
{
diff --git a/test/test_fcl_utility.h b/test/test_fcl_utility.h
index 08d577a3..80bab48e 100644
--- a/test/test_fcl_utility.h
+++ b/test/test_fcl_utility.h
@@ -41,7 +41,10 @@
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/collision_object.h>
+
+#ifdef HPP_FCL_HAVE_OCTOMAP
#include <hpp/fcl/octree.h>
+#endif
#ifdef _WIN32
#define NOMINMAX // required to avoid compilation errors with Visual Studio 2010
@@ -51,9 +54,11 @@
#endif
+#ifdef HPP_FCL_HAVE_OCTOMAP
namespace octomap {
typedef boost::shared_ptr<OcTree> OcTreePtr_t;
}
+#endif
namespace hpp
{
@@ -93,7 +98,9 @@ void loadOBJFile(const char* filename, std::vector<Vec3f>& points, std::vector<T
void saveOBJFile(const char* filename, std::vector<Vec3f>& points, std::vector<Triangle>& triangles);
- fcl::OcTree loadOctreeFile (const char* filename, const FCL_REAL& resolution);
+#ifdef HPP_FCL_HAVE_OCTOMAP
+fcl::OcTree loadOctreeFile (const char* filename, const FCL_REAL& resolution);
+#endif
/// @brief Generate one random transform whose translation is constrained by extents and rotation without constraints.
/// The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5]
--
GitLab