all: fix HPP_FCL_HAS_OCTOMAP

Previously, it was name

CMakeLists.txt

@@ -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})

include/hpp/fcl/data_types.h

@@ -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

include/hpp/fcl/internal/traversal_node_setup.h

@@ -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,

src/CMakeLists.txt

@@ -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})

src/collision_func_matrix.cpp

@@ -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>;

src/distance_func_matrix.cpp

@@ -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>;

src/mesh_loader/loader.cpp

@@ -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

test/CMakeLists.txt

@@ -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)

test/utility.cpp

@@ -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));