From 47369ea2a2f070873084f64d5d04db8555193bcd Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 31 Jan 2019 23:55:21 +0100
Subject: [PATCH] [FCL] Update to change of namespace
---
.../multibody/fcl/collision-geometry.hpp | 56 +++++++++----------
.../python/multibody/fcl/collision-result.hpp | 2 +-
bindings/python/multibody/fcl/contact.hpp | 4 +-
.../python/multibody/fcl/distance-result.hpp | 6 +-
bindings/python/multibody/fcl/mesh-loader.hpp | 4 +-
src/multibody/fcl.hpp | 4 ++
src/parsers/urdf.hpp | 21 ++++---
src/spatial/fcl-pinocchio-conversions.hpp | 6 +-
8 files changed, 55 insertions(+), 48 deletions(-)
diff --git a/bindings/python/multibody/fcl/collision-geometry.hpp b/bindings/python/multibody/fcl/collision-geometry.hpp
index 190ed89bc..343e021c2 100644
--- a/bindings/python/multibody/fcl/collision-geometry.hpp
+++ b/bindings/python/multibody/fcl/collision-geometry.hpp
@@ -23,7 +23,7 @@ namespace pinocchio
struct CollisionGeometryPythonVisitor : public bp::def_visitor<CollisionGeometryPythonVisitor>
{
- typedef ::fcl::CollisionGeometry CollisionGeometry;
+ typedef ::hpp::fcl::CollisionGeometry CollisionGeometry;
template<class PyClass>
void visit(PyClass& cl) const
@@ -49,35 +49,35 @@ namespace pinocchio
.def(CollisionGeometryPythonVisitor())
;
- bp::enum_< ::fcl::OBJECT_TYPE >("OBJECT_TYPE")
- .value("OT_UNKNOWN",::fcl::OT_UNKNOWN)
- .value("OT_BVH",::fcl::OT_BVH)
- .value("OT_GEOM",::fcl::OT_GEOM)
- .value("OT_OCTREE",::fcl::OT_OCTREE)
- .value("OT_COUNT",::fcl::OT_COUNT)
+ bp::enum_< ::hpp::fcl::OBJECT_TYPE >("OBJECT_TYPE")
+ .value("OT_UNKNOWN",::hpp::fcl::OT_UNKNOWN)
+ .value("OT_BVH",::hpp::fcl::OT_BVH)
+ .value("OT_GEOM",::hpp::fcl::OT_GEOM)
+ .value("OT_OCTREE",::hpp::fcl::OT_OCTREE)
+ .value("OT_COUNT",::hpp::fcl::OT_COUNT)
;
- bp::enum_< ::fcl::NODE_TYPE >("NODE_TYPE")
- .value("BV_UNKNOWN",::fcl::BV_UNKNOWN)
- .value("BV_AABB",::fcl::BV_AABB)
- .value("BV_OBB",::fcl::BV_OBB)
- .value("BV_RSS",::fcl::BV_RSS)
- .value("BV_kIOS",::fcl::BV_kIOS)
- .value("BV_OBBRSS",::fcl::BV_OBBRSS)
- .value("BV_KDOP16",::fcl::BV_KDOP16)
- .value("BV_KDOP18",::fcl::BV_KDOP18)
- .value("BV_KDOP24",::fcl::BV_KDOP24)
- .value("GEOM_BOX",::fcl::GEOM_BOX)
- .value("GEOM_SPHERE",::fcl::GEOM_SPHERE)
- .value("GEOM_CAPSULE",::fcl::GEOM_CAPSULE)
- .value("GEOM_CONE",::fcl::GEOM_CONE)
- .value("GEOM_CYLINDER",::fcl::GEOM_CYLINDER)
- .value("GEOM_CONVEX",::fcl::GEOM_CONVEX)
- .value("GEOM_PLANE",::fcl::GEOM_PLANE)
- .value("GEOM_HALFSPACE",::fcl::GEOM_HALFSPACE)
- .value("GEOM_TRIANGLE",::fcl::GEOM_TRIANGLE)
- .value("GEOM_OCTREE",::fcl::GEOM_OCTREE)
- .value("NODE_COUNT",::fcl::NODE_COUNT)
+ bp::enum_< ::hpp::fcl::NODE_TYPE >("NODE_TYPE")
+ .value("BV_UNKNOWN",::hpp::fcl::BV_UNKNOWN)
+ .value("BV_AABB",::hpp::fcl::BV_AABB)
+ .value("BV_OBB",::hpp::fcl::BV_OBB)
+ .value("BV_RSS",::hpp::fcl::BV_RSS)
+ .value("BV_kIOS",::hpp::fcl::BV_kIOS)
+ .value("BV_OBBRSS",::hpp::fcl::BV_OBBRSS)
+ .value("BV_KDOP16",::hpp::fcl::BV_KDOP16)
+ .value("BV_KDOP18",::hpp::fcl::BV_KDOP18)
+ .value("BV_KDOP24",::hpp::fcl::BV_KDOP24)
+ .value("GEOM_BOX",::hpp::fcl::GEOM_BOX)
+ .value("GEOM_SPHERE",::hpp::fcl::GEOM_SPHERE)
+ .value("GEOM_CAPSULE",::hpp::fcl::GEOM_CAPSULE)
+ .value("GEOM_CONE",::hpp::fcl::GEOM_CONE)
+ .value("GEOM_CYLINDER",::hpp::fcl::GEOM_CYLINDER)
+ .value("GEOM_CONVEX",::hpp::fcl::GEOM_CONVEX)
+ .value("GEOM_PLANE",::hpp::fcl::GEOM_PLANE)
+ .value("GEOM_HALFSPACE",::hpp::fcl::GEOM_HALFSPACE)
+ .value("GEOM_TRIANGLE",::hpp::fcl::GEOM_TRIANGLE)
+ .value("GEOM_OCTREE",::hpp::fcl::GEOM_OCTREE)
+ .value("NODE_COUNT",::hpp::fcl::NODE_COUNT)
;
}
diff --git a/bindings/python/multibody/fcl/collision-result.hpp b/bindings/python/multibody/fcl/collision-result.hpp
index 21bf625ea..8e756de7b 100644
--- a/bindings/python/multibody/fcl/collision-result.hpp
+++ b/bindings/python/multibody/fcl/collision-result.hpp
@@ -23,7 +23,7 @@ namespace pinocchio
struct CollisionResultPythonVisitor : public bp::def_visitor<CollisionResultPythonVisitor>
{
- typedef ::fcl::CollisionResult CollisionResult;
+ typedef ::hpp::fcl::CollisionResult CollisionResult;
template<class PyClass>
void visit(PyClass& cl) const
diff --git a/bindings/python/multibody/fcl/contact.hpp b/bindings/python/multibody/fcl/contact.hpp
index fff7eb022..12a0ae212 100644
--- a/bindings/python/multibody/fcl/contact.hpp
+++ b/bindings/python/multibody/fcl/contact.hpp
@@ -23,8 +23,8 @@ namespace pinocchio
struct ContactPythonVisitor : public bp::def_visitor<ContactPythonVisitor>
{
- typedef ::fcl::Contact Contact;
- typedef ::fcl::CollisionGeometry CollisionGeometry;
+ typedef ::hpp::fcl::Contact Contact;
+ typedef ::hpp::fcl::CollisionGeometry CollisionGeometry;
template<class PyClass>
void visit(PyClass& cl) const
diff --git a/bindings/python/multibody/fcl/distance-result.hpp b/bindings/python/multibody/fcl/distance-result.hpp
index 7b9c793a0..57399b789 100644
--- a/bindings/python/multibody/fcl/distance-result.hpp
+++ b/bindings/python/multibody/fcl/distance-result.hpp
@@ -23,7 +23,7 @@ namespace pinocchio
struct DistanceResultPythonVisitor : public bp::def_visitor<DistanceResultPythonVisitor>
{
- typedef ::fcl::DistanceResult DistanceResult;
+ typedef ::hpp::fcl::DistanceResult DistanceResult;
template<class PyClass>
void visit(PyClass& cl) const
@@ -54,8 +54,8 @@ namespace pinocchio
private:
- static ::fcl::Vec3f getNearestPoint1(const DistanceResult & res) { return res.nearest_points[0]; }
- static ::fcl::Vec3f getNearestPoint2(const DistanceResult & res) { return res.nearest_points[1]; }
+ static ::hpp::fcl::Vec3f getNearestPoint1(const DistanceResult & res) { return res.nearest_points[0]; }
+ static ::hpp::fcl::Vec3f getNearestPoint2(const DistanceResult & res) { return res.nearest_points[1]; }
};
diff --git a/bindings/python/multibody/fcl/mesh-loader.hpp b/bindings/python/multibody/fcl/mesh-loader.hpp
index ef73a13e0..6ca8e93d2 100644
--- a/bindings/python/multibody/fcl/mesh-loader.hpp
+++ b/bindings/python/multibody/fcl/mesh-loader.hpp
@@ -23,10 +23,10 @@ namespace pinocchio
struct MeshLoaderPythonVisitor : public bp::def_visitor<MeshLoaderPythonVisitor>
{
- typedef ::fcl::MeshLoader MeshLoader;
+ typedef ::hpp::fcl::MeshLoader MeshLoader;
typedef boost::shared_ptr<MeshLoader> MeshLoaderPtr_t;
- typedef ::fcl::CachedMeshLoader CachedMeshLoader;
+ typedef ::hpp::fcl::CachedMeshLoader CachedMeshLoader;
typedef boost::shared_ptr<CachedMeshLoader> CachedMeshLoaderPtr_t;
template <typename T>
diff --git a/src/multibody/fcl.hpp b/src/multibody/fcl.hpp
index 42036af43..c718ccfc1 100644
--- a/src/multibody/fcl.hpp
+++ b/src/multibody/fcl.hpp
@@ -61,6 +61,10 @@ namespace pinocchio
}
+#else
+
+ namespace fcl = hpp::fcl;
+
#endif // PINOCCHIO_WITH_HPP_FCL
enum GeometryType
diff --git a/src/parsers/urdf.hpp b/src/parsers/urdf.hpp
index 1a0758829..5433488a4 100644
--- a/src/parsers/urdf.hpp
+++ b/src/parsers/urdf.hpp
@@ -13,10 +13,13 @@
/// \cond
// Commented because this is needed in function prototypes.
//#ifdef PINOCCHIO_WITH_HPP_FCL
+namespace hpp
+{
namespace fcl
{
class MeshLoader;
- typedef boost::shared_ptr<fcl::MeshLoader> MeshLoaderPtr;
+ typedef boost::shared_ptr<MeshLoader> MeshLoaderPtr;
+}
}
//#endif // PINOCCHIO_WITH_HPP_FCL
/// \endcond
@@ -144,7 +147,7 @@ namespace pinocchio
* obtained from calling pinocchio::rosPaths()
*
* @param[in] type The type of objects that must be loaded (must be VISUAL or COLLISION)
- * @param[in] meshLoader object used to load meshes: fcl::MeshLoader [default] or fcl::CachedMeshLoader.
+ * @param[in] meshLoader object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
* @param[out] geomModel Reference where to put the parsed information.
*
* @return Returns the reference on geom model for convenience.
@@ -158,7 +161,7 @@ namespace pinocchio
const GeometryType type,
GeometryModel & geomModel,
const std::vector<std::string> & packageDirs = std::vector<std::string> (),
- fcl::MeshLoaderPtr meshLoader = fcl::MeshLoaderPtr())
+ ::hpp::fcl::MeshLoaderPtr meshLoader = ::hpp::fcl::MeshLoaderPtr())
throw (std::invalid_argument);
/**
@@ -173,7 +176,7 @@ namespace pinocchio
* typically obtained from calling pinocchio::rosPaths().
*
* @param[in] type The type of objects that must be loaded (must be VISUAL or COLLISION)
- * @param[in] meshLoader object used to load meshes: fcl::MeshLoader [default] or fcl::CachedMeshLoader.
+ * @param[in] meshLoader object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
* @param[out] geomModel Reference where to put the parsed information.
*
* @return Returns the reference on geom model for convenience.
@@ -187,7 +190,7 @@ namespace pinocchio
const GeometryType type,
GeometryModel & geomModel,
const std::string & packageDir,
- fcl::MeshLoaderPtr meshLoader = fcl::MeshLoaderPtr())
+ hpp::fcl::MeshLoaderPtr meshLoader = hpp::fcl::MeshLoaderPtr())
throw (std::invalid_argument)
{
const std::vector<std::string> dirs(1,packageDir);
@@ -207,7 +210,7 @@ namespace pinocchio
* obtained from calling pinocchio::rosPaths()
*
* @param[in] type The type of objects that must be loaded (must be VISUAL or COLLISION)
- * @param[in] meshLoader object used to load meshes: fcl::MeshLoader [default] or fcl::CachedMeshLoader.
+ * @param[in] meshLoader object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
* @param[out] geomModel Reference where to put the parsed information.
*
* @return Returns the reference on geom model for convenience.
@@ -221,7 +224,7 @@ namespace pinocchio
const GeometryType type,
GeometryModel & geomModel,
const std::vector<std::string> & packageDirs = std::vector<std::string> (),
- fcl::MeshLoaderPtr meshLoader = fcl::MeshLoaderPtr())
+ hpp::fcl::MeshLoaderPtr meshLoader = hpp::fcl::MeshLoaderPtr())
throw (std::invalid_argument);
/**
@@ -236,7 +239,7 @@ namespace pinocchio
* typically obtained from calling pinocchio::rosPaths().
*
* @param[in] type The type of objects that must be loaded (must be VISUAL or COLLISION)
- * @param[in] meshLoader object used to load meshes: fcl::MeshLoader [default] or fcl::CachedMeshLoader.
+ * @param[in] meshLoader object used to load meshes: hpp::fcl::MeshLoader [default] or hpp::fcl::CachedMeshLoader.
* @param[out] geomModel Reference where to put the parsed information.
*
* @return Returns the reference on geom model for convenience.
@@ -250,7 +253,7 @@ namespace pinocchio
const GeometryType type,
GeometryModel & geomModel,
const std::string & packageDir,
- fcl::MeshLoaderPtr meshLoader = fcl::MeshLoaderPtr())
+ hpp::fcl::MeshLoaderPtr meshLoader = hpp::fcl::MeshLoaderPtr())
throw (std::invalid_argument)
{
const std::vector<std::string> dirs(1,packageDir);
diff --git a/src/spatial/fcl-pinocchio-conversions.hpp b/src/spatial/fcl-pinocchio-conversions.hpp
index e85a2909b..9632429d2 100644
--- a/src/spatial/fcl-pinocchio-conversions.hpp
+++ b/src/spatial/fcl-pinocchio-conversions.hpp
@@ -10,12 +10,12 @@
namespace pinocchio
{
- inline fcl::Transform3f toFclTransform3f(const SE3 & m)
+ inline hpp::fcl::Transform3f toFclTransform3f(const SE3 & m)
{
- return fcl::Transform3f(m.rotation(), m.translation());
+ return hpp::fcl::Transform3f(m.rotation(), m.translation());
}
- inline SE3 toPinocchioSE3(const fcl::Transform3f & tf)
+ inline SE3 toPinocchioSE3(const hpp::fcl::Transform3f & tf)
{
return SE3(tf.getRotation(), tf.getTranslation());
}
--
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