[Doc] Fix generation of documentation.

CMakeLists.txt

@@ -48,6 +48,7 @@ ENDIF()
 # Do not support CMake older than 2.8.12
 CMAKE_POLICY(SET CMP0022 NEW)
 SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
+SET(DOXYGEN_USE_TEMPLATE_CSS TRUE)
 
 # Check if the submodule cmake have been initialized
 IF(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")

doc/Doxyfile.extra.in

 FILE_PATTERNS          = *.h  *.hh  *.hxx
 GENERATE_XML           = YES
+EXPAND_ONLY_PREDEF     = NO

doc/python/doxygen_xml_parser.py

@@ -232,7 +232,7 @@ class MemberDef(Reference):
         return ", ".join([ d['type'] + " " + d['name'] for d in self.template_params ])
 
     def s_rettype (self):
-        assert not self.special
+        assert not self.special, "Member {} ({}) is a special function and no return type".format(self.name, self.id)
         return self.xmlToType(self.rettype)
 
     def s_name (self):

include/hpp/fcl/narrowphase/narrowphase.h

@@ -461,39 +461,33 @@ namespace fcl
      const Vec3f& P3, const Transform3f& tf2, FCL_REAL& distance,
      Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
 
-#define HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1,Shape2)                          \
+#define HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1,Shape2,doc)                      \
+  /** @brief Fast implementation for Shape1-Shape2 distance. doc */            \
   template<>                                                                   \
     bool GJKSolver::shapeDistance<Shape1, Shape2>                              \
     (const Shape1& s1, const Transform3f& tf1,                                 \
      const Shape2& s2, const Transform3f& tf2,                                 \
      FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const
-#define HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Shape)                             \
-  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape,Shape)
-#define HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Shape1,Shape2)                     \
-  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1,Shape2);                               \
-  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape2,Shape1)
-
-  /// @brief Fast implementation for sphere-box distance
-  HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Sphere, Box);
-
-  /// @brief Fast implementation for sphere-capsule distance
-  HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Sphere, Capsule);
-
-  /// @brief Fast implementation for sphere-cylinder distance
-  HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Sphere, Cylinder);
-
-  /// @brief Fast implementation for sphere-sphere distance
-  HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Sphere);
-
-  /// @brief Computation of the distance result for capsule capsule.
-  /// Closest points are based on two line-segments.
-  HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Capsule);
-
-  /// Distance computation between two triangles
-  ///
-  /// Do not run EPA algorithm to compute penetration depth, use a dedicated
-  /// method.
-  HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(TriangleP);
+#define HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Shape,doc)                         \
+  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape,Shape,doc)
+#define HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Shape1,Shape2,doc)                 \
+  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1,Shape2,doc);                           \
+  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape2,Shape1,doc)
+
+  HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Sphere, Box,);
+  HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Sphere, Capsule,);
+  HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Sphere, Cylinder,);
+  HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Sphere,);
+
+  HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Capsule,
+      Closest points are based on two line-segments.);
+
+  HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(TriangleP,
+      Do not run EPA algorithm to compute penetration depth, use a dedicated method.);
+
+#undef HPP_FCL_DECLARE_SHAPE_DISTANCE
+#undef HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF
+#undef HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR
 }
 
 } // namespace hpp