[CMake] hpp-fcl >= 1.3.0 + check that hpp-fcl bindings are available.

CMakeLists.txt

@@ -100,12 +100,6 @@ IF(BUILD_WITH_URDF_SUPPORT)
   LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
 ENDIF(BUILD_WITH_URDF_SUPPORT)
 
-IF(BUILD_WITH_HPP_FCL_SUPPORT)
-  ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
-  LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
-  ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 1.0.0")
-ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
-
 IF(BUILD_WITH_AUTODIFF_SUPPORT)
   ADD_REQUIRED_DEPENDENCY("cppad >= 20180000.0")
 ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
@@ -165,6 +159,27 @@ IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
 ENDIF(BUILD_PYTHON_INTERFACE)
 
+IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
+  LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
+  ADD_REQUIRED_DEPENDENCY("hpp-fcl >= 1.3.0")
+  # Check whether hpp-fcl python bindings are available.
+  SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
+  IF(BUILD_PYTHON_INTERFACE)
+    EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import hppfcl"
+      RESULT_VARIABLE _hpp_fcl_python_bindings_not_found
+      OUTPUT_QUIET
+      ERROR_QUIET)
+    IF(_hpp_fcl_python_bindings_not_found EQUAL 0)
+      SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS TRUE)
+      MESSAGE(STATUS "Found hpp-fcl python bindings.")
+    ELSE()
+      MESSAGE(STATUS "Did not find hpp-fcl python bindings.")
+    ENDIF()
+    UNSET(_hpp_fcl_python_bindings_not_found)
+  ENDIF(BUILD_PYTHON_INTERFACE)
+ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
+
 SET(BOOST_COMPONENTS ${BOOST_REQUIRED_COMPONENTS} ${BOOST_OPTIONAL_COMPONENTS} ${BOOST_BUILD_COMPONENTS})
 SEARCH_FOR_BOOST()
 # Enforce the preprocessed version of boost::list and boost::vector

bindings/python/CMakeLists.txt

@@ -77,7 +77,7 @@ REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_HEADERS}" "${CMAKE_CURRENT_SOURC
 REMOVE_PATH_FROM_LIST("${${PROJECT_NAME}_PYTHON_SOURCES}" "${CMAKE_CURRENT_SOURCE_DIR}/" ${PROJECT_NAME}_PYTHON_SOURCES)
 
 # Python exposition of FCL
-IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
+IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
     multibody/fcl/transform.hpp
     )
@@ -85,7 +85,7 @@ IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
     multibody/fcl/expose-fcl.cpp
     )
-ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
+ENDIF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 
 LIST(APPEND HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
 
@@ -94,9 +94,9 @@ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python"
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/spatial")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/joint")
-IF(BUILD_WITH_HPP_FCL_SUPPORT)
+IF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
   MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/multibody/fcl")
-ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
+ENDIF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/parsers")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/serialization")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio/bindings/python/algorithm")
@@ -129,6 +129,9 @@ IF(BUILD_PYTHON_INTERFACE)
   IF(HPP_FCL_FOUND)
     PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} hpp-fcl)
   ENDIF(HPP_FCL_FOUND)
+  IF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
+    TARGET_COMPILE_DEFINITIONS(${PYWRAP} PRIVATE -DPINOCCHIO_WITH_HPP_FCL_PYTHON_BINDINGS)
+  ENDIF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 
   IF(CPPAD_FOUND)
     PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} "cppad")

bindings/python/fwd.hpp

@@ -38,9 +38,9 @@ namespace pinocchio
     // Expose algorithms
     void exposeAlgorithms();
     
-#ifdef PINOCCHIO_WITH_HPP_FCL
+#ifdef PINOCCHIO_WITH_HPP_FCL_PYTHON_BINDINGS
     void exposeFCL();
-#endif // PINOCCHIO_WITH_HPP_FCL
+#endif // PINOCCHIO_WITH_HPP_FCL_PYTHON_BINDINGS
 
   } // namespace python
 } // namespace pinocchio

bindings/python/module.cpp

@@ -77,9 +77,9 @@ BOOST_PYTHON_MODULE(libpinocchio_pywrap)
   exposeAlgorithms();
   exposeParsers();
   
-#ifdef PINOCCHIO_WITH_HPP_FCL
+#ifdef PINOCCHIO_WITH_HPP_FCL_PYTHON_BINDINGS
   exposeFCL();
-#endif // PINOCCHIO_WITH_HPP_FCL
+#endif // PINOCCHIO_WITH_HPP_FCL_PYTHON_BINDINGS
   
   exposeVersion();
   exposeDependencies();

unittest/python/CMakeLists.txt

@@ -29,8 +29,13 @@ IF(HPP_FCL_FOUND)
   SET(${PROJECT_NAME}_PYTHON_TESTS
     ${${PROJECT_NAME}_PYTHON_TESTS}
     bindings_geometry_object
-    bindings_fcl_transform
     )
+  IF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
+    SET(${PROJECT_NAME}_PYTHON_TESTS
+      ${${PROJECT_NAME}_PYTHON_TESTS}
+      bindings_fcl_transform
+      )
+  ENDIF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
 ENDIF(HPP_FCL_FOUND)
 
 IF(URDFDOM_FOUND)