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Guilhem Saurel
hpp-fcl
Commits
3cfc1739
Commit
3cfc1739
authored
Aug 02, 2014
by
Florent Lamiraux
Browse files
Use jrl cmake submodule for configuration.
parent
af1e9c3d
Changes
22
Hide whitespace changes
Inline
Side-by-side
.gitmodules
0 → 100644
View file @
3cfc1739
[submodule "cmake"]
path = cmake
url = git@github.com:jrl-umi3218/jrl-cmakemodules
CMakeLists.txt
View file @
3cfc1739
cmake_minimum_required
(
VERSION 2.8
)
project
(
fcl CXX C
)
# set the default build type
if
(
NOT CMAKE_BUILD_TYPE
)
set
(
CMAKE_BUILD_TYPE Release
)
endif
()
# Set build type variable
set
(
FCL_BUILD_TYPE_RELEASE FALSE
)
set
(
FCL_BUILD_TYPE_DEBUG FALSE
)
string
(
TOUPPER
${
CMAKE_BUILD_TYPE
}
CMAKE_BUILD_TYPE_UPPERCASE
)
if
(
"
${
CMAKE_BUILD_TYPE_UPPERCASE
}
"
STREQUAL
"RELEASE"
)
set
(
FCL_BUILD_TYPE_RELEASE TRUE
)
elseif
(
"
${
CMAKE_BUILD_TYPE_UPPERCASE
}
"
STREQUAL
"DEBUG"
)
set
(
FCL_BUILD_TYPE_DEBUG TRUE
)
else
()
message
(
STATUS
"CMAKE_BUILD_TYPE
${
CMAKE_BUILD_TYPE
}
unknown. Valid options are: Debug Release"
)
endif
()
# This shouldn't be necessary, but there has been trouble
# with MSVC being set off, but MSVCXX ON.
if
(
MSVC OR MSVC90 OR MSVC10
)
set
(
MSVC ON
)
endif
(
MSVC OR MSVC90 OR MSVC10
)
set
(
LIBRARY_OUTPUT_PATH
${
PROJECT_BINARY_DIR
}
/lib
)
set
(
CMAKE_MODULE_PATH
"
${
CMAKE_CURRENT_SOURCE_DIR
}
/CMakeModules"
)
include
(
CompilerSettings
)
include
(
FCLVersion
)
#
# Software License Agreement (BSD License)
#
# Copyright (c) 2014 CNRS-LAAS
# Author: Florent Lamiraux
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of CNRS-LAAS. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
if
(
MSVC OR IS_ICPC
)
option
(
FCL_STATIC_LIBRARY
"Whether the FCL library should be static rather than shared"
ON
)
else
()
option
(
FCL_STATIC_LIBRARY
"Whether the FCL library should be static rather than shared"
OFF
)
endif
()
# Whether to enable SSE
option
(
FCL_USE_SSE
"Whether FCL should SSE instructions"
OFF
)
set
(
FCL_HAVE_SSE 0
)
if
(
FCL_USE_SSE
)
if
(
CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL
"Clang"
)
set
(
FCL_HAVE_SSE 0
)
#always disable, for now
add_definitions
(
-march=native
)
endif
()
# TODO: do something similar for other compilers
endif
()
# Find Octomap (optional)
find_package
(
PkgConfig QUIET
)
set
(
FCL_HAVE_OCTOMAP 0
)
if
(
PKG_CONFIG_FOUND
)
pkg_check_modules
(
OCTOMAP QUIET octomap
)
endif
()
if
(
NOT OCTOMAP_FOUND
)
# if pkfconfig is not installed, then fall back on more fragile detection
# of octomap
find_path
(
OCTOMAP_INCLUDE_DIRS octomap.h
PATH_SUFFIXES octomap
)
find_path
(
OCTOMAP_LIBRARY_DIRS
${
CMAKE_SHARED_LIBRARY_PREFIX
}
octomap
${
CMAKE_SHARED_LIBRARY_SUFFIX
}
)
if
(
OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS
)
set
(
OCTOMAP_LIBRARIES
"octomap;octomath"
)
endif
()
endif
()
if
(
OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS
)
include_directories
(
${
OCTOMAP_INCLUDE_DIRS
}
)
link_directories
(
${
OCTOMAP_LIBRARY_DIRS
}
)
set
(
FCL_HAVE_OCTOMAP 1
)
message
(
STATUS
"FCL uses Octomap"
)
else
()
message
(
STATUS
"FCL does not use Octomap"
)
endif
()
# Find FLANN (optional)
find_package
(
flann QUIET
)
if
(
FLANN_FOUND
)
set
(
FCL_HAVE_FLANN 1
)
include_directories
(
${
FLANN_INCLUDE_DIRS
}
)
message
(
STATUS
"FCL uses Flann"
)
else
()
message
(
STATUS
"FCL does not use Flann"
)
endif
()
# find_package(tinyxml QUIET)
# if (TINYXML_FOUND)
# set(FCL_HAVE_TINYXML 1)
# include_directories(${TINYXML_INCLUDE_DIRS})
# link_directories(${TINYXML_LIBRARY_DIRS})
# message(STATUS "FCL uses tinyxml")
# else()
# message(STATUS "FCL does not use tinyxml")
cmake_minimum_required
(
VERSION 2.8
)
set
(
CXX_DISABLE_WERROR TRUE
)
include
(
cmake/base.cmake
)
include
(
cmake/boost.cmake
)
set
(
PROJECT_NAME fcl
)
set
(
PROJECT_DESCRIPTION
"FCL -- The Flexible Collision Library"
)
set
(
PROJECT_URL
"http://github.com/humanoid-path-planner/fcl"
)
setup_project
()
# Required dependencies
add_required_dependency
(
"ccd >= 1.4"
)
set
(
BOOST_COMPONENTS
thread date_time filesystem system unit_test_framework REQUIRED
)
search_for_boost
()
# Optional dependencies
add_optional_dependency
(
"octomap >= 1.6"
)
# flann package ill defined: comment.
# add_optional_dependency("flann >= 1.7")
# if (${FLANN_FOUND})
# add_definitions(-DFCL_HAVE_FLANN=1)
# endif()
find_package
(
Boost COMPONENTS thread date_time filesystem system unit_test_framework REQUIRED
)
include_directories
(
${
Boost_INCLUDE_DIR
}
)
if
(
MSVC
)
add_definitions
(
-DBOOST_ALL_NO_LIB
)
endif
()
add_definitions
(
-DBOOST_TEST_DYN_LINK
)
# FCL's own include dir should be at the front of the include path
include_directories
(
BEFORE
"include"
)
include_directories
(
"
${
CMAKE_CURRENT_BINARY_DIR
}
/include"
)
if
(
PKG_CONFIG_FOUND
)
pkg_check_modules
(
CCD ccd
)
# check to see if the pkg is installed under the libccd name
if
(
NOT CCD_FOUND
)
pkg_check_modules
(
CCD libccd
)
endif
()
endif
()
if
(
NOT CCD_FOUND
)
# if pkfconfig is not installed, then fall back on more fragile detection
# of ccd
find_path
(
CCD_INCLUDE_DIRS ccd.h
PATH_SUFFIXES ccd
)
find_path
(
CCD_LIBRARY_DIRS
${
CMAKE_SHARED_LIBRARY_PREFIX
}
ccd
${
CMAKE_SHARED_LIBRARY_SUFFIX
}
)
if
(
CCD_INCLUDE_DIRS AND CCD_LIBRARY_DIRS
)
set
(
CCD_LIBRARIES
"ccd"
)
else
()
message
(
FATAL_ERROR
"Libccd is required by FCL"
)
endif
()
endif
()
include_directories
(
${
CCD_INCLUDE_DIRS
}
)
link_directories
(
${
CCD_LIBRARY_DIRS
}
)
add_subdirectory
(
include/fcl
)
SET
(
${
PROJECT_NAME
}
_HEADERS
include/fcl/collision_data.h
include/fcl/profile.h
include/fcl/exception.h
include/fcl/ccd/taylor_vector.h
include/fcl/ccd/interval_vector.h
include/fcl/ccd/simplex.h
include/fcl/ccd/support.h
include/fcl/ccd/interval_matrix.h
include/fcl/ccd/interval.h
include/fcl/ccd/interpolation/interpolation_factory.h
include/fcl/ccd/interpolation/interpolation_linear.h
include/fcl/ccd/interpolation/interpolation.h
include/fcl/ccd/conservative_advancement.h
include/fcl/ccd/taylor_model.h
include/fcl/ccd/taylor_matrix.h
include/fcl/ccd/motion_base.h
include/fcl/ccd/motion.h
include/fcl/deprecated.h
include/fcl/BV/kIOS.h
include/fcl/BV/BV.h
include/fcl/BV/RSS.h
include/fcl/BV/OBBRSS.h
include/fcl/BV/BV_node.h
include/fcl/BV/AABB.h
include/fcl/BV/OBB.h
include/fcl/BV/kDOP.h
include/fcl/narrowphase/narrowphase.h
include/fcl/narrowphase/gjk.h
include/fcl/narrowphase/gjk_libccd.h
include/fcl/broadphase/interval_tree.h
include/fcl/broadphase/broadphase_spatialhash.h
include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
include/fcl/broadphase/broadphase_SSaP.h
include/fcl/broadphase/broadphase_interval_tree.h
include/fcl/broadphase/broadphase.h
include/fcl/broadphase/hierarchy_tree.h
include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
include/fcl/broadphase/broadphase_SaP.h
include/fcl/broadphase/broadphase_bruteforce.h
include/fcl/broadphase/morton.h
include/fcl/broadphase/hash.h
include/fcl/learning/classifier.h
include/fcl/shape/geometric_shapes_utility.h
include/fcl/shape/geometric_shape_to_BVH_model.h
include/fcl/shape/geometric_shapes.h
include/fcl/simd/simd_intersect.h
include/fcl/simd/math_simd_details.h
include/fcl/distance_func_matrix.h
include/fcl/collision.h
include/fcl/collision_node.h
include/fcl/collision_func_matrix.h
include/fcl/distance.h
include/fcl/knn/greedy_kcenters.h
include/fcl/knn/nearest_neighbors_GNAT.h
include/fcl/knn/nearest_neighbors_flann.h
include/fcl/knn/nearest_neighbors_sqrtapprox.h
include/fcl/knn/nearest_neighbors_linear.h
include/fcl/knn/nearest_neighbors.h
include/fcl/continuous_collision.h
include/fcl/math/vec_nf.h
include/fcl/math/matrix_3f.h
include/fcl/math/vec_3f.h
include/fcl/math/sampling.h
include/fcl/math/math_details.h
include/fcl/math/transform.h
include/fcl/traversal/traversal_node_shapes.h
include/fcl/traversal/traversal_node_setup.h
include/fcl/traversal/traversal_recurse.h
include/fcl/traversal/traversal_node_octree.h
include/fcl/traversal/traversal_node_bvhs.h
include/fcl/traversal/traversal_node_bvh_shape.h
include/fcl/traversal/traversal_node_base.h
include/fcl/data_types.h
include/fcl/articulated_model/model.h
include/fcl/articulated_model/joint_config.h
include/fcl/articulated_model/model_config.h
include/fcl/articulated_model/joint.h
include/fcl/articulated_model/link.h
include/fcl/BVH/BV_splitter.h
include/fcl/BVH/BVH_internal.h
include/fcl/BVH/BVH_model.h
include/fcl/BVH/BV_fitter.h
include/fcl/BVH/BVH_front.h
include/fcl/BVH/BVH_utility.h
include/fcl/intersect.h
include/fcl/collision_object.h
include/fcl/octree.h
)
pkg_config_append_libs
(
"fcl"
)
add_subdirectory
(
src
)
set
(
pkg_conf_file_in
"
${
CMAKE_CURRENT_SOURCE_DIR
}
/fcl.pc.in"
)
set
(
pkg_conf_file_out
"
${
CMAKE_CURRENT_BINARY_DIR
}
/fcl.pc"
)
configure_file
(
"
${
pkg_conf_file_in
}
"
"
${
pkg_conf_file_out
}
"
@ONLY
)
install
(
DIRECTORY include/ DESTINATION include
FILES_MATCHING PATTERN
"*.h"
PATTERN
"*.hxx"
PATTERN
".DS_Store"
EXCLUDE
)
install
(
FILES
"
${
pkg_conf_file_out
}
"
DESTINATION lib/pkgconfig/ COMPONENT pkgconfig
)
# Add uninstall target
configure_file
(
"
${
CMAKE_CURRENT_SOURCE_DIR
}
/CMakeModules/cmake_uninstall.cmake.in"
"
${
CMAKE_CURRENT_BINARY_DIR
}
/CMakeModules/cmake_uninstall.cmake"
IMMEDIATE @ONLY
)
add_custom_target
(
uninstall
"
${
CMAKE_COMMAND
}
"
-P
"
${
CMAKE_CURRENT_BINARY_DIR
}
/CMakeModules/cmake_uninstall.cmake"
)
enable_testing
()
add_subdirectory
(
test
)
setup_project_finalize
()
cmake
@
bfaeb03c
Subproject commit bfaeb03c13f01b4e10c36ea13b238b283d18a7bd
doc/Doxyfile.extra.in
0 → 100644
View file @
3cfc1739
include/fcl/config.h.in
deleted
100644 → 0
View file @
af1e9c3d
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2012-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef FCL_CONFIG_
#define FCL_CONFIG_
#define FCL_VERSION "@FCL_VERSION@"
#define FCL_MAJOR_VERSION @FCL_MAJOR_VERSION@
#define FCL_MINOR_VERSION @FCL_MINOR_VERSION@
#define FCL_PATCH_VERSION @FCL_PATCH_VERSION@
#cmakedefine01 FCL_HAVE_SSE
#cmakedefine01 FCL_HAVE_OCTOMAP
#cmakedefine01 FCL_HAVE_FLANN
#cmakedefine01 FCL_HAVE_TINYXML
#cmakedefine01 FCL_BUILD_TYPE_DEBUG
#cmakedefine01 FCL_BUILD_TYPE_RELEASE
#endif
src/CMakeLists.txt
View file @
3cfc1739
file
(
GLOB_RECURSE FCL_SOURCE_CODE
${
CMAKE_CURRENT_SOURCE_DIR
}
/*.cpp
)
if
(
FCL_STATIC_LIBRARY
)
add_library
(
${
PROJECT_NAME
}
STATIC
${
FCL_HEADERS
}
${
FCL_SOURCE_CODE
}
)
else
()
add_library
(
${
PROJECT_NAME
}
SHARED
${
FCL_HEADERS
}
${
FCL_SOURCE_CODE
}
)
endif
()
#
# Software License Agreement (BSD License)
#
# Copyright (c) 2014 CNRS-LAAS
# Author: Florent Lamiraux
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of CNRS-LAAS. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
target_link_libraries
(
${
PROJECT_NAME
}
${
CCD_LIBRARIES
}
${
OCTOMAP_LIBRARIES
}
${
Boost_LIBRARIES
}
)
set
(
LIBRARY_NAME
${
PROJECT_NAME
}
)
set
(
${
LIBRARY_NAME
}
_SOURCES
collision.cpp
distance_func_matrix.cpp
ccd/taylor_matrix.cpp
ccd/taylor_model.cpp
ccd/interval.cpp
ccd/interval_vector.cpp
ccd/conservative_advancement.cpp
ccd/taylor_vector.cpp
ccd/interval_matrix.cpp
ccd/interpolation/interpolation_linear.cpp
ccd/interpolation/interpolation_factory.cpp
ccd/interpolation/interpolation.cpp
ccd/motion.cpp
collision_data.cpp
collision_node.cpp
BV/RSS.cpp
BV/AABB.cpp
BV/kIOS.cpp
BV/kDOP.cpp
BV/OBBRSS.cpp
BV/OBB.cpp
narrowphase/gjk_libccd.cpp
narrowphase/narrowphase.cpp
narrowphase/gjk.cpp
broadphase/broadphase_bruteforce.cpp
broadphase/interval_tree.cpp
broadphase/broadphase_SaP.cpp
broadphase/broadphase_dynamic_AABB_tree.cpp
broadphase/broadphase_SSaP.cpp
broadphase/broadphase_dynamic_AABB_tree_array.cpp
broadphase/broadphase_interval_tree.cpp
broadphase/broadphase_spatialhash.cpp
broadphase/hierarchy_tree.cpp
shape/geometric_shapes.cpp
shape/geometric_shapes_utility.cpp
distance_capsule_capsule.cpp
intersect.cpp
math/transform.cpp
math/sampling.cpp
traversal/traversal_node_setup.cpp
traversal/traversal_node_bvhs.cpp
traversal/traversal_recurse.cpp
traversal/traversal_node_base.cpp
profile.cpp
continuous_collision.cpp
articulated_model/link.cpp
articulated_model/model.cpp
articulated_model/model_config.cpp
articulated_model/joint.cpp
articulated_model/joint_config.cpp
distance.cpp
BVH/BVH_utility.cpp
BVH/BV_fitter.cpp
BVH/BVH_model.cpp
BVH/BV_splitter.cpp
collision_func_matrix.cpp
)
install
(
TARGETS
${
PROJECT_NAME
}
ARCHIVE DESTINATION lib/ LIBRARY DESTINATION lib/
)
# Declare boost include directories
include_directories
(
${
Boost_INCLUDE_DIRS
}
)
link_directories
(
${
Boost_LIBRARY_DIRS
}
)
add_library
(
${
LIBRARY_NAME
}
SHARED
${${
LIBRARY_NAME
}
_SOURCES
}
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
Boost_LIBRARIES
}
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
ccd
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
octomap
)
#PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} flann)
install
(
TARGETS
${
LIBRARY_NAME
}
DESTINATION
${
CMAKE_INSTALL_LIBDIR
}
)
test/CMakeLists.txt
View file @
3cfc1739
config_files
(
fcl_resources/config.h
)
macro
(
add_fcl_test test_name
)
MESSAGE
(
"add_executable
${
ARGV
}
"
)
add_executable
(
${
ARGV
}
)
target_link_libraries
(
${
test_name
}
fcl
${
Boost_SYSTEM_LIBRARY
}
${
Boost_THREAD_LIBRARY
}
${
Boost_DATE_TIME_LIBRARY
}
${
Boost_UNIT_TEST_FRAMEWORK_LIBRARY
}
)
${
Boost_LIBRARIES
}
)
add_test
(
${
test_name
}
${
EXECUTABLE_OUTPUT_PATH
}
/
${
test_name
}
)
endmacro
(
add_fcl_test
)
# configure location of resources
file
(
TO_NATIVE_PATH
"
${
CMAKE_CURRENT_SOURCE_DIR
}
/fcl_resources"
TEST_RESOURCES_SRC_DIR
)
file
(
TO_NATIVE_PATH
"
${
CMAKE_CURRENT_BINARY_DIR
}
/fcl_resources"
TEST_RESOURCES_BIN_DIR
)
if
(
WIN32
)
# Correct directory separator for Windows
string
(
REPLACE
"
\\
"
"
\\\\
"
TEST_RESOURCES_SRC_DIR
${
TEST_RESOURCES_SRC_DIR
}
)
string
(
REPLACE
"
\\
"
"
\\\\
"
TEST_RESOURCES_BIN_DIR
${
TEST_RESOURCES_BIN_DIR
}
)
endif
(
WIN32
)
configure_file
(
"
${
TEST_RESOURCES_SRC_DIR
}
/config.h.in"
"
${
TEST_RESOURCES_BIN_DIR
}
/config.h"
)
include_directories
(
${
CMAKE_CURRENT_BINARY_DIR
}
)
include_directories
(
${
Boost_INCLUDE_DIRS
}
)
include_directories
(
.
)
include_directories
(
"
${
CMAKE_CURRENT_BINARY_DIR
}
"
)
add_fcl_test
(
test_fcl_collision test_fcl_collision.cpp test_fcl_utility.cpp
)
add_fcl_test
(
test_fcl_distance test_fcl_distance.cpp test_fcl_utility.cpp
)
...
...
@@ -43,14 +35,3 @@ if (FCL_HAVE_OCTOMAP)
add_fcl_test
(
test_fcl_octomap test_fcl_octomap.cpp test_fcl_utility.cpp
)
endif
()
#if (FCL_HAVE_TINYXML)
# add_executable(test_fcl_xmldata test_fcl_xmldata.cpp test_fcl_utility.cpp libsvm/svm.cpp)
# target_link_libraries(test_fcl_xmldata
# fcl
# ${TINYXML_LIBRARY_DIRS}
# ${Boost_SYSTEM_LIBRARY}
# ${Boost_THREAD_LIBRARY}
# ${Boost_DATE_TIME_LIBRARY}
# ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
# add_test(test_fcl_xmldata ${EXECUTABLE_OUTPUT_PATH}/test_fcl_xmldata)
#endif()
test/fcl_resources/config.h.in
View file @
3cfc1739
...
...
@@ -37,5 +37,5 @@
#ifndef FCL_TEST_RESOURCES_CONFIG_
#define FCL_TEST_RESOURCES_CONFIG_
#define TEST_RESOURCES_DIR "@
TEST_RESOURCES_SRC_DIR@
"
#define TEST_RESOURCES_DIR "@
PROJECT_SOURCE_DIR@/test/fcl_resources
"
#endif
test/test_fcl_box_box_distance.cpp
View file @
3cfc1739
...
...
@@ -34,10 +34,10 @@
/** \author Florent Lamiraux <florent@laas.fr> */
#define BOOST_TEST_MODULE
"
FCL_BOX_BOX
"
#define BOOST_TEST_MODULE FCL_BOX_BOX
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
...
...
test/test_fcl_broadphase.cpp
View file @
3cfc1739
...
...
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_BROADPHASE"
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include "fcl/config.h"
#include "fcl/broadphase/broadphase.h"
...
...
test/test_fcl_capsule_box_1.cpp
View file @
3cfc1739
...
...
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
...
...
test/test_fcl_capsule_box_2.cpp
View file @
3cfc1739
...
...
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
...
...
test/test_fcl_capsule_capsule.cpp
View file @
3cfc1739
...
...
@@ -38,7 +38,7 @@
#define BOOST_TEST_MODULE "FCL_CAPSULE_CAPSULE"
#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include <cmath>
#include <fcl/distance.h>
...
...
test/test_fcl_collision.cpp
View file @
3cfc1739
...
...
@@ -36,7 +36,7 @@
/** \author Jia Pan */
#define BOOST_TEST_MODULE "FCL_COLLISION"
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/traversal/traversal_node_setup.h"
...
...
test/test_fcl_distance.cpp
View file @
3cfc1739
...
...
@@ -36,7 +36,7 @@
/** \author Jia Pan */
#define BOOST_TEST_MODULE "FCL_DISTANCE"
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/traversal/traversal_node_setup.h"
...
...
test/test_fcl_frontlist.cpp
View file @
3cfc1739
...
...
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_FRONT_LIST"
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/traversal/traversal_node_setup.h"
...
...
test/test_fcl_geometric_shapes.cpp
View file @
3cfc1739
...
...
@@ -37,7 +37,7 @@
#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
#include <boost/test/unit_test.hpp>
#include <boost/test/
included/
unit_test.hpp>
#include "fcl/narrowphase/narrowphase.h"
#include "fcl/collision.h"
...
...
test/test_fcl_math.cpp
