[BVH] Update MeshLoader

include/hpp/fcl/mesh_loader/loader.h

@@ -55,7 +55,7 @@ namespace fcl {
 
        /// \param bvType ignored
       /// \deprecated Use MeshLoader::load(const std::string&, const Vec3f&)
-      CollisionGeometryPtr_t load (const std::string& filename,
+      BVHModelPtr_t load (const std::string& filename,
           const Vec3f& scale,
           const NODE_TYPE& bvType) HPP_FCL_DEPRECATED
       {
@@ -63,7 +63,7 @@ namespace fcl {
         return load (filename, scale);
       }
 
-      virtual CollisionGeometryPtr_t load (const std::string& filename,
+      virtual BVHModelPtr_t load (const std::string& filename,
           const Vec3f& scale);
 
       MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}
@@ -83,7 +83,7 @@ namespace fcl {
 
       CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}
 
-      virtual CollisionGeometryPtr_t load (const std::string& filename,
+      virtual BVHModelPtr_t load (const std::string& filename,
           const Vec3f& scale);
 
       struct Key {
@@ -95,7 +95,7 @@ namespace fcl {
 
         bool operator< (const CachedMeshLoader::Key& b) const;
       };
-      typedef std::map <Key, CollisionGeometryPtr_t> Cache_t;
+      typedef std::map <Key, BVHModelPtr_t> Cache_t;
 
       const Cache_t cache () const { return cache_; }
     private:

src/mesh_loader/loader.cpp

@@ -53,14 +53,14 @@ namespace fcl {
   }
 
   template <typename BV>
-  CollisionGeometryPtr_t _load (const std::string& filename, const Vec3f& scale)
+  BVHModelPtr_t _load (const std::string& filename, const Vec3f& scale)
   {
     boost::shared_ptr < BVHModel<BV> > polyhedron (new BVHModel<BV>);
     loadPolyhedronFromResource (filename, scale, polyhedron);
     return polyhedron;
   }
 
-  CollisionGeometryPtr_t MeshLoader::load (const std::string& filename,
+  BVHModelPtr_t MeshLoader::load (const std::string& filename,
       const Vec3f& scale)
   {
     switch (bvType_) {
@@ -77,13 +77,13 @@ namespace fcl {
     }
   }
 
-  CollisionGeometryPtr_t CachedMeshLoader::load (const std::string& filename,
+  BVHModelPtr_t CachedMeshLoader::load (const std::string& filename,
       const Vec3f& scale)
   {
     Key key (filename, scale);
     Cache_t::const_iterator _cached = cache_.find (key);
     if (_cached == cache_.end()) {
-      CollisionGeometryPtr_t geom = MeshLoader::load (filename, scale);
+      BVHModelPtr_t geom = MeshLoader::load (filename, scale);
       cache_.insert (std::make_pair(key, geom));
       return geom;
     } else {