Merge pull request #1458 from jcarpent/topic/fcl

Fix serialization

CMakeLists.txt

@@ -163,7 +163,7 @@ 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_PROJECT_DEPENDENCY(hpp-fcl 1.7.1 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 1.7.1")
+  ADD_PROJECT_DEPENDENCY(hpp-fcl 1.7.3 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 1.7.3")
   # Check whether hpp-fcl python bindings are available.
   SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
   IF(BUILD_PYTHON_INTERFACE)

bindings/python/multibody/fcl/expose-fcl.cpp

@@ -8,6 +8,7 @@
 
 #define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
   #include <hpp/fcl/serialization/BVH_model.h>
+  #include <hpp/fcl/serialization/geometric_shapes.h>
 #undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
 
 namespace pinocchio
@@ -26,6 +27,15 @@ namespace pinocchio
       bp::implicitly_convertible< Transform3f,SE3 >();
       
       // Expose serialization of basic geometries to binary buffers
+      serialize<TriangleP>();
+      serialize<Sphere>();
+      serialize<Capsule>();
+      serialize<Box>();
+      serialize<Cone>();
+      serialize<Cylinder>();
+      serialize<Plane>();
+      serialize<Halfspace>();
+      
       serialize< BVHModel<OBB> >();
       serialize< BVHModel<RSS> >();
       serialize< BVHModel<OBBRSS> >();

package.xml

 <?xml version="1.0"?>
 <package format="3">
   <name>pinocchio</name>
-  <version>2.6.0</version>
+  <version>2.6.1</version>
   <description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
   <!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm. 
   Please check the repository URL for full list of authors and maintainers. -->