From a387f34922bb5d27a36d0271f1a6a562f9c7f917 Mon Sep 17 00:00:00 2001
From: Lucile Remigy <lremigy@laas.fr>
Date: Thu, 29 Aug 2019 14:51:29 +0200
Subject: [PATCH] merge of matrix_3f.h and vec_3h.h in types.h
---
CMakeLists.txt | 1 +
include/hpp/fcl/BV/AABB.h | 3 +-
include/hpp/fcl/BV/BV_node.h | 3 +-
include/hpp/fcl/BV/OBB.h | 4 +-
include/hpp/fcl/BV/RSS.h | 3 +-
include/hpp/fcl/BV/kDOP.h | 2 +-
include/hpp/fcl/collision.h | 2 +-
include/hpp/fcl/collision_data.h | 2 +-
include/hpp/fcl/math/matrix_3f.h | 33 +-------
include/hpp/fcl/math/tools.h | 5 +-
include/hpp/fcl/math/transform.h | 6 +-
include/hpp/fcl/math/types.h | 95 ++++++++++++++++++++++++
include/hpp/fcl/math/vec_3f.h | 36 +--------
include/hpp/fcl/mesh_loader/loader.h | 2 +-
include/hpp/fcl/shape/geometric_shapes.h | 2 +-
test/test_fcl_math.cpp | 3 +-
16 files changed, 117 insertions(+), 85 deletions(-)
create mode 100644 include/hpp/fcl/math/types.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3fc08c34..bc580e7f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,6 +128,7 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/distance.h
include/hpp/fcl/math/matrix_3f.h
include/hpp/fcl/math/vec_3f.h
+ include/hpp/fcl/math/types.h
include/hpp/fcl/math/tools.h
include/hpp/fcl/math/transform.h
include/hpp/fcl/traversal/details/traversal.h
diff --git a/include/hpp/fcl/BV/AABB.h b/include/hpp/fcl/BV/AABB.h
index 49dcaadf..6ea903ad 100644
--- a/include/hpp/fcl/BV/AABB.h
+++ b/include/hpp/fcl/BV/AABB.h
@@ -39,8 +39,7 @@
#define HPP_FCL_AABB_H
#include <stdexcept>
-#include <hpp/fcl/math/vec_3f.h>
-#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/math/types.h>
namespace hpp
{
diff --git a/include/hpp/fcl/BV/BV_node.h b/include/hpp/fcl/BV/BV_node.h
index 5889b740..08dbbf8b 100644
--- a/include/hpp/fcl/BV/BV_node.h
+++ b/include/hpp/fcl/BV/BV_node.h
@@ -39,8 +39,7 @@
#ifndef HPP_FCL_BV_NODE_H
#define HPP_FCL_BV_NODE_H
-#include <hpp/fcl/math/vec_3f.h>
-#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/math/types.h>
#include <hpp/fcl/BV/BV.h>
#include <iostream>
diff --git a/include/hpp/fcl/BV/OBB.h b/include/hpp/fcl/BV/OBB.h
index 028f011e..437f6595 100644
--- a/include/hpp/fcl/BV/OBB.h
+++ b/include/hpp/fcl/BV/OBB.h
@@ -38,9 +38,7 @@
#ifndef HPP_FCL_OBB_H
#define HPP_FCL_OBB_H
-
-#include <hpp/fcl/math/vec_3f.h>
-#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/math/types.h>
namespace hpp
{
diff --git a/include/hpp/fcl/BV/RSS.h b/include/hpp/fcl/BV/RSS.h
index 53d3ca3c..a2c0111d 100644
--- a/include/hpp/fcl/BV/RSS.h
+++ b/include/hpp/fcl/BV/RSS.h
@@ -39,8 +39,7 @@
#define HPP_FCL_RSS_H
#include <stdexcept>
-#include <hpp/fcl/math/vec_3f.h>
-#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/math/types.h>
#include <boost/math/constants/constants.hpp>
namespace hpp
diff --git a/include/hpp/fcl/BV/kDOP.h b/include/hpp/fcl/BV/kDOP.h
index 80f8d211..43c6db09 100644
--- a/include/hpp/fcl/BV/kDOP.h
+++ b/include/hpp/fcl/BV/kDOP.h
@@ -39,7 +39,7 @@
#define HPP_FCL_KDOP_H
#include <stdexcept>
-#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/math/types.h>
namespace hpp
{
diff --git a/include/hpp/fcl/collision.h b/include/hpp/fcl/collision.h
index f673494d..700e3234 100644
--- a/include/hpp/fcl/collision.h
+++ b/include/hpp/fcl/collision.h
@@ -39,7 +39,7 @@
#ifndef HPP_FCL_COLLISION_H
#define HPP_FCL_COLLISION_H
-#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/types.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
diff --git a/include/hpp/fcl/collision_data.h b/include/hpp/fcl/collision_data.h
index 88ed5d23..64dd24ff 100644
--- a/include/hpp/fcl/collision_data.h
+++ b/include/hpp/fcl/collision_data.h
@@ -41,7 +41,7 @@
#include <hpp/fcl/collision_object.h>
-#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/types.h>
#include <vector>
#include <set>
#include <limits>
diff --git a/include/hpp/fcl/math/matrix_3f.h b/include/hpp/fcl/math/matrix_3f.h
index 9026a222..3c60bb44 100644
--- a/include/hpp/fcl/math/matrix_3f.h
+++ b/include/hpp/fcl/math/matrix_3f.h
@@ -38,34 +38,9 @@
#ifndef HPP_FCL_MATRIX_3F_H
#define HPP_FCL_MATRIX_3F_H
-#include <hpp/fcl/math/vec_3f.h>
+# warning "This file is deprecated. Include <hpp/fcl/math/types.h> instead."
-namespace hpp
-{
-namespace fcl
-{
+// List of equivalent includes.
+# include <hpp/fcl/math/types.h>
- typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
-
-/// @brief Class for variance matrix in 3d
-class Variance3f
-{
-public:
- /// @brief Variation matrix
- Matrix3f Sigma;
-
- /// @brief Variations along the eign axes
- Matrix3f::Scalar sigma[3];
-
- /// @brief Eigen axes of the variation matrix
- Vec3f axis[3];
-
-};
-
-}
-
-
-
-} // namespace hpp
-
-#endif
+#endif
\ No newline at end of file
diff --git a/include/hpp/fcl/math/tools.h b/include/hpp/fcl/math/tools.h
index f1778661..8ad8a7ab 100644
--- a/include/hpp/fcl/math/tools.h
+++ b/include/hpp/fcl/math/tools.h
@@ -197,8 +197,6 @@ void eigen(const Eigen::MatrixBase<Derived>& m, typename Derived::Scalar dout[3]
return;
}
-
-
template<typename Derived, typename OtherDerived>
bool isEqual(const Eigen::MatrixBase<Derived>& lhs, const Eigen::MatrixBase<OtherDerived>& rhs, const FCL_REAL tol = std::numeric_limits<FCL_REAL>::epsilon()*100)
{
@@ -206,7 +204,6 @@ bool isEqual(const Eigen::MatrixBase<Derived>& lhs, const Eigen::MatrixBase<Othe
}
}
-
} // namespace hpp
-#endif
+#endif
\ No newline at end of file
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index 1787918d..b3aa7832 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -39,7 +39,7 @@
#ifndef HPP_FCL_TRANSFORM_H
#define HPP_FCL_TRANSFORM_H
-#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/math/types.h>
#include <boost/thread/mutex.hpp>
namespace hpp
@@ -126,8 +126,6 @@ public:
R.setIdentity();
}
-
-
/// @brief operator =
Transform3f& operator = (const Transform3f& tf)
{
@@ -262,8 +260,8 @@ public:
}
};
-}
+}
} // namespace hpp
#endif
diff --git a/include/hpp/fcl/math/types.h b/include/hpp/fcl/math/types.h
new file mode 100644
index 00000000..3b14ccf9
--- /dev/null
+++ b/include/hpp/fcl/math/types.h
@@ -0,0 +1,95 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011-2014, 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.
+ */
+
+/** \author Joseph Mirabel */
+
+#ifndef HPP_FCL_MATH_TYPES_H
+#define HPP_FCL_MATH_TYPES_H
+
+#include <hpp/fcl/data_types.h>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <hpp/fcl/math/tools.h>
+
+#include <cmath>
+#include <iostream>
+#include <limits>
+
+namespace hpp
+{
+namespace fcl
+{
+ typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
+}
+
+#ifdef HPP_FCL_HAVE_OCTOMAP
+ #define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
+ (OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
+ (OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
+ OCTOMAP_PATCH_VERSION >= z))))
+
+ #define OCTOMAP_VERSION_AT_MOST(x,y,z) \
+ (OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
+ (OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
+ OCTOMAP_PATCH_VERSION <= z))))
+#endif // HPP_FCL_HAVE_OCTOMAP
+}
+
+namespace hpp
+{
+namespace fcl
+{
+ typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
+
+/// @brief Class for variance matrix in 3d
+class Variance3f
+{
+public:
+ /// @brief Variation matrix
+ Matrix3f Sigma;
+
+ /// @brief Variations along the eign axes
+ Matrix3f::Scalar sigma[3];
+
+ /// @brief Eigen axes of the variation matrix
+ Vec3f axis[3];
+
+};
+
+}
+} // namespace hpp
+
+#endif
\ No newline at end of file
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index a45a9202..9d41c14f 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -38,37 +38,9 @@
#ifndef HPP_FCL_VEC_3F_H
#define HPP_FCL_VEC_3F_H
-#include <hpp/fcl/data_types.h>
+# warning "This file is deprecated. Include <hpp/fcl/math/types.h> instead."
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-#include <hpp/fcl/math/tools.h>
+// List of equivalent includes.
+# include <hpp/fcl/math/types.h>
-#include <cmath>
-#include <iostream>
-#include <limits>
-
-
-namespace hpp
-{
-namespace fcl
-{
- typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
-}
-
-
-
-} // namespace hpp
-
-#ifdef HPP_FCL_HAVE_OCTOMAP
- #define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
- (OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
- (OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
- OCTOMAP_PATCH_VERSION >= z))))
-
- #define OCTOMAP_VERSION_AT_MOST(x,y,z) \
- (OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
- (OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
- OCTOMAP_PATCH_VERSION <= z))))
-#endif // HPP_FCL_HAVE_OCTOMAP
-#endif
+#endif
\ No newline at end of file
diff --git a/include/hpp/fcl/mesh_loader/loader.h b/include/hpp/fcl/mesh_loader/loader.h
index 01ba842b..c24f9035 100644
--- a/include/hpp/fcl/mesh_loader/loader.h
+++ b/include/hpp/fcl/mesh_loader/loader.h
@@ -40,7 +40,7 @@
#include <boost/shared_ptr.hpp>
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/config.hh>
-#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/types.h>
#include <hpp/fcl/collision_object.h>
namespace hpp
diff --git a/include/hpp/fcl/shape/geometric_shapes.h b/include/hpp/fcl/shape/geometric_shapes.h
index 87723bbd..586fa826 100644
--- a/include/hpp/fcl/shape/geometric_shapes.h
+++ b/include/hpp/fcl/shape/geometric_shapes.h
@@ -42,7 +42,7 @@
#include <boost/math/constants/constants.hpp>
#include <hpp/fcl/collision_object.h>
-#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/math/types.h>
#include <string.h>
namespace hpp
diff --git a/test/test_fcl_math.cpp b/test/test_fcl_math.cpp
index a82721b1..117ec04f 100644
--- a/test/test_fcl_math.cpp
+++ b/test/test_fcl_math.cpp
@@ -39,8 +39,7 @@
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
-#include <hpp/fcl/math/vec_3f.h>
-#include <hpp/fcl/math/matrix_3f.h>
+#include <hpp/fcl/math/types.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/intersect.h>
--
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