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Guilhem Saurel
hpp-fcl
Commits
c7e55d79
Commit
c7e55d79
authored
Jun 16, 2016
by
Javier V. Gomez
Committed by
Florent Lamiraux florent@laas.fr
Nov 15, 2017
Browse files
Octomap <1.8.0 compatible but not working
parent
b7ce8b11
Changes
3
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CMakeLists.txt
View file @
c7e55d79
...
...
@@ -80,6 +80,11 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
include_directories
(
${
OCTOMAP_INCLUDE_DIRS
}
)
link_directories
(
${
OCTOMAP_LIBRARY_DIRS
}
)
set
(
FCL_HAVE_OCTOMAP 1
)
string
(
REPLACE
"."
";"
VERSION_LIST
${
OCTOMAP_VERSION
}
)
list
(
GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION
)
list
(
GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION
)
list
(
GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION
)
message
(
STATUS
"FCL uses Octomap"
)
else
()
message
(
STATUS
"FCL does not use Octomap"
)
...
...
include/hpp/fcl/math/vec_3f.h
View file @
c7e55d79
...
...
@@ -56,4 +56,20 @@ namespace fcl
}
#if FCL_HAVE_OCTOMAP
#define OCTOMAP_MAJOR_VERSION @OCTOMAP_MAJOR_VERSION@
#define OCTOMAP_MINOR_VERSION @OCTOMAP_MINOR_VERSION@
#define OCTOMAP_PATCH_VERSION @OCTOMAP_PATCH_VERSION@
#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 // FCL_HAVE_OCTOMAP
#endif
include/hpp/fcl/octree.h
View file @
c7e55d79
...
...
@@ -190,25 +190,41 @@ public:
/// @return ptr to child number childIdx of node
OcTreeNode
*
getNodeChild
(
OcTreeNode
*
node
,
unsigned
int
childIdx
)
{
#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return
tree
->
getNodeChild
(
node
,
childIdx
);
#else
return
node
->
getChild
(
childIdx
);
#endif
}
/// @return const ptr to child number childIdx of node
const
OcTreeNode
*
getNodeChild
(
const
OcTreeNode
*
node
,
unsigned
int
childIdx
)
const
{
#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return
tree
->
getNodeChild
(
node
,
childIdx
);
#else
return
node
->
getChild
(
childIdx
);
#endif
}
/// @brief return true if the child at childIdx exists
bool
nodeChildExists
(
const
OcTreeNode
*
node
,
unsigned
int
childIdx
)
const
{
#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return
tree
->
nodeChildExists
(
node
,
childIdx
);
#else
return
node
->
childExists
(
childIdx
);
#endif
}
/// @brief return true if node has at least one child
bool
nodeHasChildren
(
const
OcTreeNode
*
node
)
const
{
#if OCTOMAP_VERSION_AT_LEAST(1,8,0)
return
tree
->
nodeHasChildren
(
node
);
#else
return
node
->
hasChildren
();
#endif
}
/// @brief return object type, it is an octree
...
...
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