Unverified Commit 7b69a24a authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #1458 from jcarpent/topic/fcl

Fix serialization
parents 2da34f31 bf0726b3
Pipeline #14855 passed with stage
in 161 minutes and 42 seconds
...@@ -163,7 +163,7 @@ ENDIF(BUILD_PYTHON_INTERFACE) ...@@ -163,7 +163,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
IF(BUILD_WITH_HPP_FCL_SUPPORT) IF(BUILD_WITH_HPP_FCL_SUPPORT)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL) ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
LIST(APPEND CFLAGS_DEPENDENCIES "-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. # Check whether hpp-fcl python bindings are available.
SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE) SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
IF(BUILD_PYTHON_INTERFACE) IF(BUILD_PYTHON_INTERFACE)
......
...@@ -8,6 +8,7 @@ ...@@ -8,6 +8,7 @@
#define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION #define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
#include <hpp/fcl/serialization/BVH_model.h> #include <hpp/fcl/serialization/BVH_model.h>
#include <hpp/fcl/serialization/geometric_shapes.h>
#undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION #undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
namespace pinocchio namespace pinocchio
...@@ -26,6 +27,15 @@ namespace pinocchio ...@@ -26,6 +27,15 @@ namespace pinocchio
bp::implicitly_convertible< Transform3f,SE3 >(); bp::implicitly_convertible< Transform3f,SE3 >();
// Expose serialization of basic geometries to binary buffers // 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<OBB> >();
serialize< BVHModel<RSS> >(); serialize< BVHModel<RSS> >();
serialize< BVHModel<OBBRSS> >(); serialize< BVHModel<OBBRSS> >();
......
<?xml version="1.0"?> <?xml version="1.0"?>
<package format="3"> <package format="3">
<name>pinocchio</name> <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> <description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
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......
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