cmake: add macro for hpp-fcl retro compatibility

CMakeLists.txt

@@ -50,8 +50,9 @@ SET(DOXYGEN_USE_TEMPLATE_CSS TRUE)
 # Need to be set before including base.cmake
 # ----------------------------------------------------
 option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
-option(COAL_TURN_ASSERT_INTO_EXCEPTION "Turn some critical COAL asserts to exception." FALSE)
+option(COAL_TURN_ASSERT_INTO_EXCEPTION "Turn some critical Coal asserts to exception." FALSE)
 option(COAL_ENABLE_LOGGING "Activate logging for warnings or error messages. Turned on by default in Debug." FALSE)
+option(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL "Make Coal retro-compatible with HPP-FCL." FALSE)
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")

include/coal/data_types.h

@@ -59,6 +59,7 @@
 #endif  // COAL_HAS_OCTOMAP
 
 namespace coal {
+#ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
 // We keep the FCL_REAL typedef and the Vec[..]f typedefs for backward
 // compatibility.
 typedef double FCL_REAL;
@@ -70,6 +71,7 @@ typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3, Eigen::RowMajor> Matrixx3f;
 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 2, Eigen::RowMajor> Matrixx2f;
 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;
+#endif
 
 typedef double CoalScalar;
 typedef Eigen::Matrix<CoalScalar, 3, 1> Vec3s;

include/coal/fwd.hh

@@ -146,11 +146,13 @@ typedef shared_ptr<OcTree> OcTreePtr_t;
 typedef shared_ptr<const OcTree> OcTreeConstPtr_t;
 }  // namespace coal
 
+#ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
 namespace hpp {
 namespace fcl {
 using namespace coal;
 using Transform3f = Transform3s;  // For backward compatibility
 }  // namespace fcl
 }  // namespace hpp
+#endif
 
 #endif  // COAL_FWD_HH

src/CMakeLists.txt

@@ -234,6 +234,10 @@ if (COAL_TURN_ASSERT_INTO_EXCEPTION)
   target_compile_definitions(${LIBRARY_NAME} PUBLIC -DCOAL_TURN_ASSERT_INTO_EXCEPTION)
 endif()
 
+if (COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
+  target_compile_definitions(${LIBRARY_NAME} PUBLIC -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
+endif()
+
 if(COAL_HAS_QHULL)
   target_compile_definitions(${LIBRARY_NAME} PRIVATE -DCOAL_HAS_QHULL)
   if (COAL_USE_SYSTEM_QHULL)