From c7e55d79985086afabc52721128702e8529ad622 Mon Sep 17 00:00:00 2001
From: "Javier V. Gomez" <jvgomez@rapyuta-robotics.com>
Date: Thu, 16 Jun 2016 17:19:38 +0200
Subject: [PATCH] Octomap <1.8.0 compatible but not working
---
CMakeLists.txt | 5 +++++
include/hpp/fcl/math/vec_3f.h | 16 ++++++++++++++++
include/hpp/fcl/octree.h | 16 ++++++++++++++++
3 files changed, 37 insertions(+)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c98f6819..db7ab249 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,6 +80,11 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_directories(${OCTOMAP_LIBRARY_DIRS})
set(FCL_HAVE_OCTOMAP 1)
+ string(REPLACE "." ";" VERSION_LIST ${OCTOMAP_VERSION})
+ list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
+ list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
+ list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
+
message(STATUS "FCL uses Octomap")
else()
message(STATUS "FCL does not use Octomap")
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index 4322ecdb..cdd6d770 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -56,4 +56,20 @@ namespace fcl
}
+#if FCL_HAVE_OCTOMAP
+ #define OCTOMAP_MAJOR_VERSION @OCTOMAP_MAJOR_VERSION@
+ #define OCTOMAP_MINOR_VERSION @OCTOMAP_MINOR_VERSION@
+ #define OCTOMAP_PATCH_VERSION @OCTOMAP_PATCH_VERSION@
+
+ #define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
+ (OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
+ (OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
+ OCTOMAP_PATCH_VERSION >= z))))
+
+ #define OCTOMAP_VERSION_AT_MOST(x,y,z) \
+ (OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
+ (OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
+ OCTOMAP_PATCH_VERSION <= z))))
+#endif // FCL_HAVE_OCTOMAP
+
#endif
diff --git a/include/hpp/fcl/octree.h b/include/hpp/fcl/octree.h
index 56b123ba..86d3755a 100644
--- a/include/hpp/fcl/octree.h
+++ b/include/hpp/fcl/octree.h
@@ -190,25 +190,41 @@ public:
/// @return ptr to child number childIdx of node
OcTreeNode* getNodeChild(OcTreeNode* node, unsigned int childIdx)
{
+#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return tree->getNodeChild(node, childIdx);
+#else
+ return node->getChild(childIdx);
+#endif
}
/// @return const ptr to child number childIdx of node
const OcTreeNode* getNodeChild(const OcTreeNode* node, unsigned int childIdx) const
{
+#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return tree->getNodeChild(node, childIdx);
+#else
+ return node->getChild(childIdx);
+#endif
}
/// @brief return true if the child at childIdx exists
bool nodeChildExists(const OcTreeNode* node, unsigned int childIdx) const
{
+#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return tree->nodeChildExists(node, childIdx);
+#else
+ return node->childExists(childIdx);
+#endif
}
/// @brief return true if node has at least one child
bool nodeHasChildren(const OcTreeNode* node) const
{
+#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return tree->nodeHasChildren(node);
+#else
+ return node->hasChildren();
+#endif
}
/// @brief return object type, it is an octree
--
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