Verified Commit 37e75bcc authored by Justin Carpentier's avatar Justin Carpentier
Browse files

geometry: fix guards

parent 87860db4
Pipeline #13712 passed with stage
in 159 minutes and 42 seconds
......@@ -316,6 +316,7 @@ namespace pinocchio
///
void deactivateAllCollisionPairs();
#ifdef PINOCCHIO_WITH_HPP_FCL
///
/// \brief Set the security margin of all the collision request in a row, according to the values stored in the associative map.
///
......@@ -326,6 +327,7 @@ namespace pinocchio
void setSecurityMargins(const GeometryModel & geom_model,
const MatrixXs & security_margin_map,
const bool upper = true);
#endif // ifdef PINOCCHIO_WITH_HPP_FCL
friend std::ostream & operator<<(std::ostream & os, const GeometryData & geomData);
......
......@@ -148,8 +148,8 @@ namespace pinocchio
}
#else
os << "WARNING** Without fcl library, no collision checking or distance computations are possible. Only geometry placements can be computed." << std::endl;
os << "Number of geometry objects = " << geomData.oMg.size() << std::endl;
#endif
os << "Number of geometry objects = " << geomData.oMg.size() << std::endl;
return os;
}
......@@ -276,6 +276,7 @@ namespace pinocchio
}
}
#ifdef PINOCCHIO_WITH_HPP_FCL
inline void GeometryData::setSecurityMargins(const GeometryModel & geom_model,
const MatrixXs & security_margin_map,
const bool upper)
......@@ -304,6 +305,7 @@ namespace pinocchio
collisionRequests[k].security_margin = security_margin_map(i,j);
}
}
#endif // ifdef PINOCCHIO_WITH_HPP_FCL
inline void GeometryData::deactivateCollisionPair(const PairIndex pair_id)
{
......
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