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Guilhem Saurel
hpp-fcl
Commits
48dfb81b
Commit
48dfb81b
authored
Apr 01, 2016
by
Joseph Mirabel
Committed by
Joseph Mirabel
Apr 01, 2016
Browse files
Remove FCL_USE_NATIVE_EIGEN (keep only one option when Eigen is detected.
parent
481f935d
Changes
5
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
48dfb81b
...
...
@@ -47,10 +47,9 @@ set(PROJECT_URL "http://github.com/humanoid-path-planner/hpp-fcl")
setup_project
()
set
(
FCL_HAVE_SSE FALSE CACHE BOOL
"Enable SSE vectorization"
)
set
(
FCL_USE_NATIVE_EIGEN FALSE CACHE BOOL
"Use native eigen matrix type when possible"
)
add_optional_dependency
(
"eigen3 >= 3.0.0"
)
set
(
FCL_HAVE_EIGEN
${
EIGEN3_FOUND
}
CACHE BOOL
"Use eigen
wrappers
"
)
set
(
FCL_HAVE_EIGEN
${
EIGEN3_FOUND
}
CACHE BOOL
"Use eigen
matrix type when possible
"
)
if
(
EIGEN3_FOUND
)
if
(
FCL_HAVE_EIGEN
)
include_directories
(
${
EIGEN3_INCLUDE_DIRS
}
)
...
...
include/hpp/fcl/ccd/taylor_vector.h
View file @
48dfb81b
...
...
@@ -41,7 +41,7 @@
#include
<hpp/fcl/ccd/interval_vector.h>
#include
<hpp/fcl/ccd/taylor_model.h>
#if FCL_
USE_NATI
VE_EIGEN
#if FCL_
HA
VE_EIGEN
#include
<hpp/fcl/eigen/taylor_operator.h>
#endif
...
...
include/hpp/fcl/config-fcl.hh.in
View file @
48dfb81b
...
...
@@ -38,7 +38,6 @@
# include "config.h"
#cmakedefine01 FCL_HAVE_EIGEN
#cmakedefine01 FCL_USE_NATIVE_EIGEN
#cmakedefine01 FCL_HAVE_SSE
#cmakedefine01 FCL_HAVE_OCTOMAP
...
...
include/hpp/fcl/math/matrix_3f.h
View file @
48dfb81b
...
...
@@ -40,7 +40,7 @@
#include
<hpp/fcl/math/vec_3f.h>
#if ! FCL_
USE_NATI
VE_EIGEN
#if ! FCL_
HA
VE_EIGEN
# include <hpp/fcl/math/matrix_3fx.h>
#endif
...
...
@@ -48,15 +48,11 @@ namespace fcl
{
#if FCL_HAVE_EIGEN
# if FCL_USE_NATIVE_EIGEN
typedef
Eigen
::
FclMatrix
<
FCL_REAL
,
3
>
Matrix3f
;
# else
typedef
Matrix3fX
<
details
::
eigen_wrapper_m3
<
FCL_REAL
>
>
Matrix3f
;
# endif
#elif FCL_HAVE_SSE
typedef
Matrix3fX
<
details
::
sse_meta_f12
>
Matrix3f
;
typedef
Matrix3fX
<
details
::
sse_meta_f12
>
Matrix3f
;
#else
typedef
Matrix3fX
<
details
::
Matrix3Data
<
FCL_REAL
>
>
Matrix3f
;
typedef
Matrix3fX
<
details
::
Matrix3Data
<
FCL_REAL
>
>
Matrix3f
;
#endif
static
inline
std
::
ostream
&
operator
<<
(
std
::
ostream
&
o
,
const
Matrix3f
&
m
)
...
...
include/hpp/fcl/math/vec_3f.h
View file @
48dfb81b
...
...
@@ -42,16 +42,14 @@
#include
<hpp/fcl/data_types.h>
#if FCL_HAVE_EIGEN
# if ! FCL_USE_NATIVE_EIGEN
# include <hpp/fcl/eigen/math_details.h>
# endif
#elif FCL_HAVE_SSE
# include <hpp/fcl/simd/math_simd_details.h>
#else
# include <hpp/fcl/math/math_details.h>
#endif
#if FCL_
USE_NATI
VE_EIGEN
#if FCL_
HA
VE_EIGEN
# include <hpp/fcl/eigen/vec_3fx.h>
#else
# include <hpp/fcl/math/vec_3fx.h>
...
...
@@ -66,11 +64,7 @@ namespace fcl
{
#if FCL_HAVE_EIGEN
# if FCL_USE_NATIVE_EIGEN
typedef
Eigen
::
FclMatrix
<
FCL_REAL
,
1
>
Vec3f
;
# else
typedef
Vec3fX
<
details
::
eigen_wrapper_v3
<
FCL_REAL
>
>
Vec3f
;
# endif
#elif FCL_HAVE_SSE
typedef
Vec3fX
<
details
::
sse_meta_f4
>
Vec3f
;
#else
...
...
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