Merge pull request #181 from jmirabel/devel

Fix usage of Boost.

CMakeLists.txt

@@ -76,14 +76,14 @@ if(BUILD_PYTHON_INTERFACE)
 endif()
 
 # Required dependencies
-set(BOOST_COMPONENTS thread date_time system)
-set(BOOST_COMPONENTS ${BOOST_COMPONENTS} filesystem unit_test_framework chrono)
+ADD_PROJECT_DEPENDENCY(Boost REQUIRED)
+find_package(Boost REQUIRED COMPONENTS filesystem unit_test_framework chrono timer)
 if (BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
-  set(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  set(BOOST_COMPONENTS system python)
+  search_for_boost()
 endif ()
 
-search_for_boost()
 # Optional dependencies
 ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
 if(octomap_FOUND)
@@ -123,7 +123,6 @@ FIND_PACKAGE(assimp REQUIRED)
 
 SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/collision_data.h
-  include/hpp/fcl/profile.h
   include/hpp/fcl/BV/kIOS.h
   include/hpp/fcl/BV/BV.h
   include/hpp/fcl/BV/RSS.h
@@ -180,7 +179,6 @@ endif ()
 add_subdirectory(test)
 
 pkg_config_append_libs("hpp-fcl")
-PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time system)
 IF(HPP_FCL_HAVE_OCTOMAP)
   # FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
   PKG_CONFIG_APPEND_CFLAGS(

include/hpp/fcl/collision_data.h

@@ -252,7 +252,7 @@ public:
 
 public:
   CollisionResult()
-    : distance_lower_bound (std::numeric_limits<FCL_REAL>::max())
+    : distance_lower_bound ((std::numeric_limits<FCL_REAL>::max)())
   {
   }
 
@@ -393,7 +393,7 @@ public:
   static const int NONE = -1;
   
   DistanceResult(FCL_REAL min_distance_ =
-                 std::numeric_limits<FCL_REAL>::max()):
+                 (std::numeric_limits<FCL_REAL>::max)()):
   min_distance(min_distance_), o1(NULL), o2(NULL), b1(NONE), b2(NONE)
   {
     Vec3f nan (Vec3f::Constant(std::numeric_limits<FCL_REAL>::quiet_NaN()));
@@ -451,7 +451,7 @@ public:
   /// @brief clear the result
   void clear()
   {
-    min_distance = std::numeric_limits<FCL_REAL>::max();
+    min_distance = (std::numeric_limits<FCL_REAL>::max)();
     o1 = NULL;
     o2 = NULL;
     b1 = NONE;

include/hpp/fcl/data_types.h

@@ -38,9 +38,6 @@
 #ifndef HPP_FCL_DATA_TYPES_H
 #define HPP_FCL_DATA_TYPES_H
 
-#include <cstddef>
-#include <boost/cstdint.hpp>
-
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
@@ -67,10 +64,6 @@ namespace hpp
 namespace fcl
 {
 typedef double FCL_REAL;
-typedef boost::uint64_t FCL_INT64;
-typedef boost::int64_t FCL_UINT64;
-typedef boost::uint32_t FCL_UINT32;
-typedef boost::int32_t FCL_INT32;
 typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
 typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
 typedef Eigen::Vector2i support_func_guess_t;

include/hpp/fcl/internal/intersect.h

@@ -41,7 +41,6 @@
 /// @cond INTERNAL
 
 #include <hpp/fcl/math/transform.h>
-#include <boost/math/special_functions/erf.hpp>
 
 namespace hpp
 {

include/hpp/fcl/internal/traversal_node_base.h

@@ -156,7 +156,7 @@ public:
   /// @note except for OBB, this method returns the distance.
   virtual FCL_REAL BVDistanceLowerBound(int /*b1*/, int /*b2*/) const
   {
-    return std::numeric_limits<FCL_REAL>::max();
+    return (std::numeric_limits<FCL_REAL>::max)();
   }
 
   /// @brief Leaf test between node b1 and b2, if they are both leafs

include/hpp/fcl/internal/traversal_node_bvhs.h

@@ -50,8 +50,6 @@
 #include <hpp/fcl/narrowphase/narrowphase.h>
 #include <hpp/fcl/internal/traversal.h>
 
-#include <boost/shared_array.hpp>
-#include <boost/shared_ptr.hpp>
 #include <limits>
 #include <vector>
 #include <cassert>

include/hpp/fcl/narrowphase/narrowphase.h

@@ -100,7 +100,7 @@ namespace fcl
               if(contact_points) *contact_points = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
               return true;
             }
-            distance_lower_bound = -std::numeric_limits<FCL_REAL>::max();
+            distance_lower_bound = -(std::numeric_limits<FCL_REAL>::max)();
             // EPA failed but we know there is a collision so we should
             return true;
           }
@@ -172,7 +172,7 @@ namespace fcl
               p1 = p2 = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
               assert (distance <= 1e-6);
             } else {
-              distance = -std::numeric_limits<FCL_REAL>::max();
+              distance = -(std::numeric_limits<FCL_REAL>::max)();
               gjk.getClosestPoints (shape, w0, w1);
               p1 = p2 = tf1.transform (w0);
             }
@@ -274,14 +274,14 @@ namespace fcl
               Vec3f w0, w1;
               epa.getClosestPoints (shape, w0, w1);
               assert (epa.depth >= -eps);
-              distance = std::min (0., -epa.depth);
+              distance = (std::min) (0., -epa.depth);
               // TODO should be
               // normal = tf1.getRotation() * epa.normal;
               normal = tf2.getRotation() * epa.normal;
               p1 = p2 = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
               return false;
             }
-            distance = -std::numeric_limits<FCL_REAL>::max();
+            distance = -(std::numeric_limits<FCL_REAL>::max)();
             gjk.getClosestPoints (shape, p1, p2);
             p1 = p2 = tf1.transform (p1);
           }

include/hpp/fcl/shape/details/convex.hxx

@@ -219,7 +219,7 @@ void Convex<PolygonT>::fillNeighbors()
   unsigned int* p_nneighbors = nneighbors_;
   for (int i = 0; i < num_points; ++i) {
     Neighbors& n = neighbors[i];
-    if (nneighbors[i].size() >= std::numeric_limits<unsigned char>::max())
+    if (nneighbors[i].size() >= (std::numeric_limits<unsigned char>::max)())
       throw std::logic_error ("Too many neighbors.");
     n.count_ = (unsigned char)nneighbors[i].size();
     n.n_     = p_nneighbors;

python/CMakeLists.txt

@@ -98,7 +98,7 @@ SET(${LIBRARY_NAME}_SOURCES
   )
 
 ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES} ${${LIBRARY_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} SYSTEM PRIVATE "${Boost_INCLUDE_DIRS}" ${PYTHON_INCLUDE_DIRS})
+TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
 TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PRIVATE "${CMAKE_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}")
 IF(WIN32)
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC ${PYTHON_LIBRARY})
@@ -113,8 +113,10 @@ IF(ENABLE_DOXYGEN_AUTODOC)
 ENDIF()
 
 TARGET_LINK_BOOST_PYTHON(${LIBRARY_NAME} PUBLIC)
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC ${PROJECT_NAME} ${BOOST_system_LIBRARY})
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC eigenpy::eigenpy)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} PUBLIC
+  ${PROJECT_NAME}
+  eigenpy::eigenpy
+  Boost::system)
 
 SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES
   PREFIX ""

src/CMakeLists.txt

@@ -68,7 +68,6 @@ set(${LIBRARY_NAME}_SOURCES
   intersect.cpp
   math/transform.cpp
   traversal/traversal_recurse.cpp
-  profile.cpp
   distance.cpp
   BVH/BVH_utility.cpp
   BVH/BV_fitter.cpp
@@ -158,13 +157,7 @@ ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
   PUBLIC
-  ${Boost_THREAD_LIBRARY}
-  ${Boost_DATE_TIME_LIBRARY}
-  ${Boost_SYSTEM_LIBRARY}
-  ${Boost_CHRONO_LIBRARY} # Required on Windows. Don't know why.
-#  Boost::thread
-#  Boost::date_time
-#  Boost::system
+  Boost::boost
   )
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
@@ -183,7 +176,6 @@ endif()
 target_include_directories(${LIBRARY_NAME}
   SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIR}
-  ${Boost_INCLUDE_DIRS}
   )
 target_include_directories(${LIBRARY_NAME}
   SYSTEM PRIVATE

src/intersect.cpp

@@ -39,7 +39,7 @@
 #include <iostream>
 #include <limits>
 #include <vector>
-#include <boost/math/special_functions/fpclassify.hpp>
+#include <boost/math/special_functions/fpclassify.hpp> // isnan.
 #include <hpp/fcl/internal/tools.h>
 
 namespace hpp

src/narrowphase/narrowphase.cpp

@@ -38,7 +38,6 @@
 #include <hpp/fcl/narrowphase/narrowphase.h>
 
 #include <vector>
-#include <boost/math/constants/constants.hpp>
 
 #include <hpp/fcl/shape/geometric_shapes_utility.h>
 #include <hpp/fcl/internal/intersect.h>

test/CMakeLists.txt

@@ -5,8 +5,10 @@ macro(add_fcl_test test_name source)
   target_link_libraries(${test_name}
     PUBLIC
     hpp-fcl
-    ${Boost_LIBRARIES}
     Boost::unit_test_framework
+    Boost::chrono
+    Boost::filesystem
+    Boost::timer
     utility
     )
   target_compile_options(${test_name} PRIVATE "-Wno-c99-extensions")
@@ -63,8 +65,8 @@ ENDIF()
 target_link_libraries(test-benchmark 
   PUBLIC 
   utility
-  ${Boost_CHRONO_LIBRARY}
-  ${Boost_FILESYSTEM_LIBRARY}
+  Boost::chrono
+  Boost::filesystem
   ${PROJECT_NAME} 
   )
 

test/box_box_distance.cpp

@@ -38,9 +38,7 @@
 #include <cmath>
 
 #define BOOST_TEST_MODULE FCL_BOX_BOX
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
+#include <boost/test/included/unit_test.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/broadphase.cpp

@@ -37,9 +37,7 @@
 
 
 #define BOOST_TEST_MODULE FCL_BROADPHASE
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
+#include <boost/test/included/unit_test.hpp>
 
 #include <hpp/fcl/config.h>
 #include <hpp/fcl/broadphase/broadphase.h>

test/bvh_models.cpp

@@ -36,9 +36,7 @@
 
 
 #define BOOST_TEST_MODULE FCL_BVH_MODELS
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
+#include <boost/test/included/unit_test.hpp>
 #include <boost/filesystem.hpp>
 
 #include "fcl_resources/config.h"

test/capsule_box_1.cpp

@@ -36,9 +36,7 @@
 
 
 #define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
+#include <boost/test/included/unit_test.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/capsule_box_2.cpp

@@ -36,9 +36,7 @@
 
 
 #define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
+#include <boost/test/included/unit_test.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/capsule_capsule.cpp

@@ -36,9 +36,7 @@
 /** \author Karsten Knese <Karsten.Knese@googlemail.com> */
 
 #define BOOST_TEST_MODULE FCL_CAPSULE_CAPSULE
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
+#include <boost/test/included/unit_test.hpp>
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 

test/collision.cpp

@@ -40,12 +40,9 @@
 #include <boost/chrono/chrono_io.hpp>
 
 #define BOOST_TEST_MODULE FCL_COLLISION
-#define BOOST_TEST_DYN_LINK
-#include <boost/test/unit_test.hpp>
-#include <boost/utility/binary.hpp>
+#include <boost/test/included/unit_test.hpp>
 
 #include <fstream>
-#include <boost/filesystem.hpp>
 #include <boost/assign/list_of.hpp>
 
 #include <hpp/fcl/collision.h>