From 30647ad04fd3dfabf03463f9587e726510ab75ee Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Mon, 1 Aug 2016 14:32:00 +0200
Subject: [PATCH] [C++][CMake] Merged fake-fcl with fcl.hpp (splitted in .hpp
and .hxx file). Propagated flag -DWITH_HPP_FCL to all binaries
---
CMakeLists.txt | 4 +-
benchmark/CMakeLists.txt | 5 ++
src/CMakeLists.txt | 2 -
src/multibody/fake-fcl.hpp | 43 -----------------
src/multibody/fcl.hpp | 67 +++++++++++++--------------
src/multibody/fcl.hxx | 87 +++++++++++++++++++++++++++++++++++
src/parsers/urdf/geometry.cpp | 2 +
src/python/python.cpp | 4 --
unittest/CMakeLists.txt | 10 +++-
utils/CMakeLists.txt | 3 +-
10 files changed, 136 insertions(+), 91 deletions(-)
delete mode 100644 src/multibody/fake-fcl.hpp
create mode 100644 src/multibody/fcl.hxx
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f71a7a523..3ab5ef5ee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -249,6 +249,7 @@ ENDIF(URDFDOM_FOUND)
LIST(APPEND ${PROJECT_NAME}_MULTIBODY_HEADERS
multibody/fcl.hpp
+ multibody/fcl.hxx
multibody/geometry.hpp
multibody/geometry.hxx
)
@@ -260,9 +261,6 @@ IF(HPP_FCL_FOUND)
LIST(APPEND ${PROJECT_NAME}_SPATIAL_HEADERS
spatial/fcl-pinocchio-conversions.hpp
)
-ELSE(HPP_FCL_FOUND)
- LIST(APPEND ${PROJECT_NAME}_MULTIBODY_HEADERS
- multibody/fake-fcl.hpp)
ENDIF(HPP_FCL_FOUND)
IF(LUA5_1_FOUND)
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index bf1b0d56b..1d254b4ec 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -37,6 +37,10 @@ ENDIF(BUILD_PYTHON_INTERFACE)
IF(${URDFDOM_FOUND})
PKG_CONFIG_USE_DEPENDENCY(timings urdfdom)
ENDIF(${URDFDOM_FOUND})
+IF(HPP_FCL_FOUND)
+ PKG_CONFIG_USE_DEPENDENCY(timings hpp-fcl)
+ ADD_TEST_CFLAGS(timings "-DWITH_HPP_FCL")
+ENDIF(HPP_FCL_FOUND)
SET_TARGET_PROPERTIES (timings PROPERTIES COMPILE_DEFINITIONS PINOCCHIO_SOURCE_DIR="${${PROJECT_NAME}_SOURCE_DIR}")
# timings-eigen
@@ -48,6 +52,7 @@ ELSE(BUILD_BENCHMARK)
ENDIF(BUILD_BENCHMARK)
PKG_CONFIG_USE_DEPENDENCY(timings-eigen eigen3)
+
# geomTimings
#
IF(URDFDOM_FOUND AND HPP_FCL_FOUND)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 28d4e58ad..9eee54a07 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -62,11 +62,9 @@ IF(URDFDOM_FOUND)
parsers/urdf/model.cpp
)
- IF(HPP_FCL_FOUND)
LIST(APPEND ${PROJECT_NAME}_PARSERS_SOURCES
parsers/urdf/geometry.cpp
)
- ENDIF(HPP_FCL_FOUND)
ENDIF(URDFDOM_FOUND)
IF(LUA5_1_FOUND)
diff --git a/src/multibody/fake-fcl.hpp b/src/multibody/fake-fcl.hpp
deleted file mode 100644
index 6290c77ca..000000000
--- a/src/multibody/fake-fcl.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-//
-// Copyright (c) 2016 CNRS
-//
-// This file is part of Pinocchio
-// Pinocchio is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// Pinocchio is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// Pinocchio If not, see
-// <http://www.gnu.org/licenses/>.
-
-#ifndef __se3_fake_fcl_hpp__
-#define __se3_fake_fcl_hpp__
-
-
-namespace se3
-{
- namespace fcl
- {
-
- struct FakeCollisionGeometry
- {
- FakeCollisionGeometry(){};
- };
-
- struct AABB
- {
- AABB(): min_(0), max_(1){};
-
- int min_;
- int max_;
- };
- typedef FakeCollisionGeometry CollisionGeometry;
-
- }
-}
-#endif // __se3_fake_fcl_hpp__
diff --git a/src/multibody/fcl.hpp b/src/multibody/fcl.hpp
index 9730358ca..0ba8b92ac 100644
--- a/src/multibody/fcl.hpp
+++ b/src/multibody/fcl.hpp
@@ -19,15 +19,13 @@
#define __se3_fcl_hpp__
#include "pinocchio/multibody/fwd.hpp"
-#include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
#ifdef WITH_HPP_FCL
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/distance.h>
#include <hpp/fcl/shape/geometric_shapes.h>
-#else
-#include "pinocchio/multibody/fake-fcl.hpp"
+#include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
#endif
#include <iostream>
@@ -37,6 +35,7 @@
#include <assert.h>
#include <boost/foreach.hpp>
+#include <boost/shared_ptr.hpp>
namespace se3
{
@@ -64,10 +63,8 @@ namespace se3
}
void disp(std::ostream & os) const { os << "collision pair (" << first << "," << second << ")\n"; }
- friend std::ostream & operator << (std::ostream & os, const CollisionPair & X)
- {
- X.disp(os); return os;
- }
+ friend std::ostream & operator << (std::ostream & os, const CollisionPair & X);
+
}; // struct CollisionPair
typedef std::vector<CollisionPair> CollisionPairsVector_t;
@@ -87,17 +84,17 @@ namespace se3
///
/// @brief Return the minimal distance between two geometry objects
///
- double distance () const { return fcl_distance_result.min_distance; }
+ double distance () const;
///
/// \brief Return the witness point on the inner object expressed in global frame.
///
- Eigen::Vector3d closestPointInner () const { return toVector3d(fcl_distance_result.nearest_points [0]); }
+ Eigen::Vector3d closestPointInner () const;
///
/// \brief Return the witness point on the outer object expressed in global frame.
///
- Eigen::Vector3d closestPointOuter () const { return toVector3d(fcl_distance_result.nearest_points [1]); }
+ Eigen::Vector3d closestPointOuter () const;
bool operator == (const DistanceResult & other) const
{
@@ -156,14 +153,29 @@ namespace se3
}; // struct CollisionResult
-/// \brief Return true if the intrinsic geometry of the two CollisionObject is the same
-inline bool operator == (const fcl::CollisionObject & lhs, const fcl::CollisionObject & rhs)
-{
- return lhs.collisionGeometry() == rhs.collisionGeometry()
- && lhs.getAABB().min_ == rhs.getAABB().min_
- && lhs.getAABB().max_ == rhs.getAABB().max_;
-}
+#else
+
+ namespace fcl
+ {
+
+ struct FakeCollisionGeometry
+ {
+ FakeCollisionGeometry(){};
+ };
+
+ struct AABB
+ {
+ AABB(): min_(0), max_(1){};
+
+ int min_;
+ int max_;
+ };
+ typedef FakeCollisionGeometry CollisionGeometry;
+
+ }
+
#endif // WITH_HPP_FCL
+
enum GeometryType
{
VISUAL,
@@ -209,28 +221,10 @@ struct GeometryObject
return *this;
}
+ friend std::ostream & operator<< (std::ostream & os, const GeometryObject & geom_object);
};
- inline bool operator==(const GeometryObject & lhs, const GeometryObject & rhs)
- {
- return ( lhs.name == rhs.name
- && lhs.parent == rhs.parent
- && lhs.collision_geometry == rhs.collision_geometry
- && lhs.placement == rhs.placement
- && lhs.mesh_path == rhs.mesh_path
- );
- }
- inline std::ostream & operator<< (std::ostream & os, const GeometryObject & geom_object)
- {
- os << "Name: \t \n" << geom_object.name << "\n"
- << "Parent ID: \t \n" << geom_object.parent << "\n"
- // << "collision object: \t \n" << geom_object.collision_geometry << "\n"
- << "Position in parent frame: \t \n" << geom_object.placement << "\n"
- << "Absolute path to mesh file: \t \n" << geom_object.mesh_path << "\n"
- << std::endl;
- return os;
- }
} // namespace se3
@@ -238,6 +232,7 @@ struct GeometryObject
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
+#include "pinocchio/multibody/fcl.hxx"
#endif // ifndef __se3_fcl_hpp__
diff --git a/src/multibody/fcl.hxx b/src/multibody/fcl.hxx
new file mode 100644
index 000000000..4a5a4070b
--- /dev/null
+++ b/src/multibody/fcl.hxx
@@ -0,0 +1,87 @@
+//
+// Copyright (c) 2015-2016 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#ifndef __se3_fcl_hxx__
+#define __se3_fcl_hxx__
+
+
+#include <iostream>
+
+
+namespace se3
+{
+
+ inline std::ostream & operator << (std::ostream & os, const CollisionPair & X)
+ {
+ X.disp(os); return os;
+ }
+
+
+#ifdef WITH_HPP_FCL
+
+
+ inline double DistanceResult::distance () const
+ {
+ return fcl_distance_result.min_distance;
+ }
+
+ inline Eigen::Vector3d DistanceResult::closestPointInner () const
+ {
+ return toVector3d(fcl_distance_result.nearest_points [0]);
+ }
+
+ inline Eigen::Vector3d DistanceResult::closestPointOuter () const
+ {
+ return toVector3d(fcl_distance_result.nearest_points [1]);
+ }
+
+ inline bool operator == (const fcl::CollisionObject & lhs, const fcl::CollisionObject & rhs)
+ {
+ return lhs.collisionGeometry() == rhs.collisionGeometry()
+ && lhs.getAABB().min_ == rhs.getAABB().min_
+ && lhs.getAABB().max_ == rhs.getAABB().max_;
+ }
+
+#endif // WITH_HPP_FCL
+
+
+ inline bool operator==(const GeometryObject & lhs, const GeometryObject & rhs)
+ {
+ return ( lhs.name == rhs.name
+ && lhs.parent == rhs.parent
+ && lhs.collision_geometry == rhs.collision_geometry
+ && lhs.placement == rhs.placement
+ && lhs.mesh_path == rhs.mesh_path
+ );
+ }
+
+ inline std::ostream & operator<< (std::ostream & os, const GeometryObject & geom_object)
+ {
+ os << "Name: \t \n" << geom_object.name << "\n"
+ << "Parent ID: \t \n" << geom_object.parent << "\n"
+ // << "collision object: \t \n" << geom_object.collision_geometry << "\n"
+ << "Position in parent frame: \t \n" << geom_object.placement << "\n"
+ << "Absolute path to mesh file: \t \n" << geom_object.mesh_path << "\n"
+ << std::endl;
+ return os;
+ }
+
+
+} // namespace se3
+
+
+#endif // ifndef __se3_fcl_hxx__
diff --git a/src/parsers/urdf/geometry.cpp b/src/parsers/urdf/geometry.cpp
index e5e2c15d7..be790cb0e 100644
--- a/src/parsers/urdf/geometry.cpp
+++ b/src/parsers/urdf/geometry.cpp
@@ -28,7 +28,9 @@
#include <iomanip>
#include <boost/foreach.hpp>
+#ifdef WITH_HPP_FCL
#include <hpp/fcl/mesh_loader/assimp.h>
+#endif // WITH_HPP_FCL
namespace se3
{
diff --git a/src/python/python.cpp b/src/python/python.cpp
index cad794b90..bb42329b8 100644
--- a/src/python/python.cpp
+++ b/src/python/python.cpp
@@ -32,11 +32,9 @@
#include "pinocchio/python/parsers.hpp"
#include "pinocchio/python/explog.hpp"
-#ifdef WITH_HPP_FCL
#include "pinocchio/python/geometry-object.hpp"
#include "pinocchio/python/geometry-model.hpp"
#include "pinocchio/python/geometry-data.hpp"
-#endif
namespace se3
{
@@ -74,12 +72,10 @@ namespace se3
FramePythonVisitor::expose();
ModelPythonVisitor::expose();
DataPythonVisitor::expose();
-#ifdef WITH_HPP_FCL
GeometryObjectPythonVisitor::expose();
CollisionPairPythonVisitor::expose();
GeometryModelPythonVisitor::expose();
GeometryDataPythonVisitor::expose();
-#endif
}
void exposeAlgorithms()
{
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index f3615c35b..a9798562b 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -28,8 +28,15 @@ MACRO(ADD_UNIT_TEST NAME PKGS)
PKG_CONFIG_USE_DEPENDENCY(${NAME} ${PKG})
ENDFOREACH(PKG)
+ IF(HPP_FCL_FOUND)
+ PKG_CONFIG_USE_DEPENDENCY(${NAME} hpp-fcl)
+ ADD_TEST_CFLAGS(${NAME} "-DWITH_HPP_FCL")
+ ENDIF(HPP_FCL_FOUND)
+
TARGET_LINK_LIBRARIES(${NAME} ${PROJECT_NAME})
+
IF(BUILD_PYTHON_INTERFACE)
+ TARGET_LINK_BOOST_PYTHON(${NAME})
TARGET_LINK_LIBRARIES(${NAME} ${PYTHON_LIBRARIES})
ENDIF(BUILD_PYTHON_INTERFACE)
@@ -68,9 +75,8 @@ IF(URDFDOM_FOUND)
ADD_UNIT_TEST(value "eigen3;urdfdom")
ADD_TEST_CFLAGS(value '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
IF(HPP_FCL_FOUND)
- ADD_UNIT_TEST(geom "eigen3;urdfdom;hpp-fcl")
+ ADD_UNIT_TEST(geom "eigen3;urdfdom")
ADD_TEST_CFLAGS(geom '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
- ADD_TEST_CFLAGS(geom "-DWITH_HPP_FCL")
IF(BUILD_TESTS_WITH_HPP)
ADD_OPTIONAL_DEPENDENCY("hpp-model-urdf")
IF(HPP_MODEL_URDF_FOUND)
diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
index 66faac413..66bbd3571 100644
--- a/utils/CMakeLists.txt
+++ b/utils/CMakeLists.txt
@@ -38,7 +38,8 @@ MACRO(ADD_UTIL NAME UTIL_SRC PKGS)
IF(BUILD_UTILS)
INSTALL(TARGETS ${NAME} DESTINATION bin)
- ENDIF(BUILD_UTILS)
+ ENDIF(BUILD_UTILS)
+
ENDMACRO(ADD_UTIL)
--
GitLab