Verified Commit 203e9663 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

all: fix HPP_FCL_HAS_OCTOMAP

Previously, it was name
parent 991b9195
......@@ -92,14 +92,14 @@ endif ()
# Optional dependencies
ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
if(octomap_FOUND)
SET(HPP_FCL_HAVE_OCTOMAP TRUE)
SET(HPP_FCL_HAS_OCTOMAP TRUE)
string(REPLACE "." ";" VERSION_LIST ${octomap_VERSION})
list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
message(STATUS "FCL uses Octomap")
else()
SET(HPP_FCL_HAVE_OCTOMAP FALSE)
SET(HPP_FCL_HAS_OCTOMAP FALSE)
message(STATUS "FCL does not use Octomap")
endif()
......@@ -184,11 +184,11 @@ endif ()
add_subdirectory(test)
pkg_config_append_libs("hpp-fcl")
IF(HPP_FCL_HAVE_OCTOMAP)
IF(HPP_FCL_HAS_OCTOMAP)
# FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
PKG_CONFIG_APPEND_CFLAGS(
"-DHPP_FCL_HAVE_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
ENDIF(HPP_FCL_HAVE_OCTOMAP)
"-DHPP_FCL_HAS_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
ENDIF(HPP_FCL_HAS_OCTOMAP)
# Install catkin package.xml
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
......@@ -46,7 +46,8 @@
namespace hpp
{
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
#define 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 && \
......@@ -56,7 +57,7 @@ namespace hpp
(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 // HPP_FCL_HAS_OCTOMAP
}
namespace hpp
......
......@@ -45,7 +45,7 @@
#include <hpp/fcl/internal/traversal_node_shapes.h>
#include <hpp/fcl/internal/traversal_node_bvh_shape.h>
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
#include <hpp/fcl/internal/traversal_node_octree.h>
#endif
......@@ -56,7 +56,7 @@ namespace hpp
namespace fcl
{
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
/// @brief Initialize traversal node for collision between two octrees, given current object transform
inline bool initialize(OcTreeCollisionTraversalNode& node,
const OcTree& model1, const Transform3f& tf1,
......
......@@ -202,7 +202,7 @@ IF(octomap_FOUND)
target_include_directories(${LIBRARY_NAME} SYSTEM PUBLIC ${OCTOMAP_INCLUDE_DIRS})
target_link_libraries(${LIBRARY_NAME} PUBLIC ${OCTOMAP_LIBRARIES})
target_compile_definitions (${LIBRARY_NAME} PUBLIC
-DHPP_FCL_HAVE_OCTOMAP
-DHPP_FCL_HAS_OCTOMAP
-DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
-DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
-DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
......
......@@ -49,7 +49,7 @@ namespace hpp
namespace fcl
{
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
template<typename TypeA, typename TypeB>
std::size_t Collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
......@@ -416,7 +416,7 @@ CollisionFunctionMatrix::CollisionFunctionMatrix()
collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS>;
collision_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHCollide<OBBRSS>;
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
collision_matrix[GEOM_OCTREE][GEOM_BOX] = &Collide<OcTree, Box>;
collision_matrix[GEOM_OCTREE][GEOM_SPHERE] = &Collide<OcTree, Sphere>;
collision_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &Collide<OcTree, Capsule>;
......
......@@ -47,7 +47,7 @@ namespace hpp
namespace fcl
{
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
template<typename TypeA, typename TypeB>
FCL_REAL Distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
......@@ -390,7 +390,7 @@ DistanceFunctionMatrix::DistanceFunctionMatrix()
distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS>;
distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS>;
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
distance_matrix[GEOM_OCTREE][GEOM_BOX] = &Distance<OcTree, Box>;
distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &Distance<OcTree, Sphere>;
distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &Distance<OcTree, Capsule>;
......
......@@ -37,7 +37,7 @@
#include <hpp/fcl/mesh_loader/loader.h>
#include <hpp/fcl/mesh_loader/assimp.h>
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
# include <hpp/fcl/octree.h>
#endif
......@@ -83,7 +83,7 @@ namespace fcl {
CollisionGeometryPtr_t MeshLoader::loadOctree (const std::string& filename)
{
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
shared_ptr<octomap::OcTree> octree (new octomap::OcTree (filename));
return CollisionGeometryPtr_t (new hpp::fcl::OcTree (octree));
#else
......
......@@ -57,9 +57,9 @@ add_fcl_test(bvh_models bvh_models.cpp)
add_fcl_test(profiling profiling.cpp)
add_fcl_test(gjk gjk.cpp)
if(HPP_FCL_HAVE_OCTOMAP)
if(HPP_FCL_HAS_OCTOMAP)
add_fcl_test(octree octree.cpp)
endif(HPP_FCL_HAVE_OCTOMAP)
endif(HPP_FCL_HAS_OCTOMAP)
## Benchmark
IF(BUILD_TESTING)
......
......@@ -216,7 +216,7 @@ void saveOBJFile(const char* filename, std::vector<Vec3f>& points, std::vector<T
os.close();
}
#ifdef HPP_FCL_HAVE_OCTOMAP
#ifdef HPP_FCL_HAS_OCTOMAP
OcTree loadOctreeFile (const std::string& filename, const FCL_REAL& resolution)
{
OcTreePtr_t octree (new octomap::OcTree (filename));
......
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