Merge pull request #19 from florent-lamiraux/master

Add an accessor to shared pointer to CollisionGeometry member.

include/fcl/collision_object.h

@@ -38,6 +38,7 @@
 #ifndef FCL_COLLISION_OBJECT_BASE_H
 #define FCL_COLLISION_OBJECT_BASE_H
 
+#include <fcl/deprecated.h>
 #include "fcl/BV/AABB.h"
 #include "fcl/math/transform.h"
 #include "fcl/ccd/motion_base.h"
@@ -295,11 +296,17 @@ public:
   }
 
   /// @brief get geometry from the object instance
-  const CollisionGeometry* getCollisionGeometry() const
+  const CollisionGeometry* getCollisionGeometry() const FCL_DEPRECATED
   {
     return cgeom.get();
   }
 
+  /// @brief get geometry from the object instance
+  boost::shared_ptr<const CollisionGeometry> collisionGeometry() const
+  {
+    return cgeom;
+  }
+
   /// @brief get object's cost density
   FCL_REAL getCostDensity() const
   {
@@ -437,11 +444,17 @@ public:
   }
 
   /// @brief get geometry from the object instance
-  inline const CollisionGeometry* getCollisionGeometry() const
+  inline const CollisionGeometry* getCollisionGeometry() const FCL_DEPRECATED
   {
     return cgeom.get();
   }
 
+  /// @brief get geometry from the object instance
+  inline boost::shared_ptr<const CollisionGeometry> collisionGeometry() const
+  {
+    return cgeom;
+  }
+
 protected:
 
   boost::shared_ptr<CollisionGeometry> cgeom;

include/fcl/deprecated.h

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, CNRS-LAAS.
+ *  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 Willow Garage, Inc. 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 Florent Lamiraux
+
+#ifndef FCL_DEPRECATED_HH
+# define FCL_DEPRECATED_HH
+
+// Define a suffix which can be used to tag a type, a function or a a
+// variable as deprecated (i.e. it will emit a warning when using it).
+//
+// Tagging a function as deprecated:
+//  void foo () FCL_DEPRECATED;
+//
+// Tagging a type as deprecated:
+//  class Foo {};
+//  typedef Foo Bar FCL_DEPRECATED;
+//
+// Tagging a variable as deprecated:
+//  int a FCL_DEPRECATED = 0;
+//
+// The use of a macro is required as this is /not/ a standardized
+// feature of C++ language or preprocessor, even if most of the
+// compilers support it.
+# ifdef __GNUC__
+#  define FCL_DEPRECATED __attribute__ ((deprecated))
+# elif defined _MSC_VER
+#  define FCL_DEPRECATED __declspec (deprecated)
+# elif defined(clang)
+#  define FL_DEPRECATED \
+  attribute((deprecated("FCL: Use of this method is deprecated")))
+# else
+// If the compiler is not recognized, drop the feature.
+#  define FCL_DEPRECATED /* nothing */
+# endif
+
+#endif //! FCL_DEPRECATED_HH