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Humanoid Path Planner
hpp-fcl
Commits
8aa94d0b
Commit
8aa94d0b
authored
Jan 31, 2019
by
Joseph Mirabel
Committed by
Joseph Mirabel
Feb 07, 2019
Browse files
Prefix HPP_ for preprocessor variables.
parent
eb686fe2
Changes
6
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
8aa94d0b
...
...
@@ -76,10 +76,10 @@ search_for_boost()
# Optional dependencies
add_optional_dependency
(
"octomap >= 1.6"
)
if
(
OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS
)
include_directories
(
${
OCTOMAP_INCLUDE_DIRS
}
)
link_directories
(
${
OCTOMAP_LIBRARY_DIRS
}
)
SET
(
FCL_HAVE_OCTOMAP TRUE
)
add_definitions
(
-DFCL_HAVE_OCTOMAP
)
include_directories
(
${
OCTOMAP_INCLUDE_DIRS
}
)
link_directories
(
${
OCTOMAP_LIBRARY_DIRS
}
)
SET
(
HPP_
FCL_HAVE_OCTOMAP TRUE
)
add_definitions
(
-D
HPP_
FCL_HAVE_OCTOMAP
)
string
(
REPLACE
"."
";"
VERSION_LIST
${
OCTOMAP_VERSION
}
)
list
(
GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION
)
list
(
GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION
)
...
...
@@ -87,20 +87,20 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
add_definitions
(
-DOCTOMAP_MAJOR_VERSION=
${
OCTOMAP_MAJOR_VERSION
}
-DOCTOMAP_MINOR_VERSION=
${
OCTOMAP_MINOR_VERSION
}
-DOCTOMAP_PATCH_VERSION=
${
OCTOMAP_PATCH_VERSION
}
)
message
(
STATUS
"FCL uses Octomap"
)
message
(
STATUS
"FCL uses Octomap"
)
else
()
SET
(
FCL_HAVE_OCTOMAP FALSE
)
message
(
STATUS
"FCL does not use Octomap"
)
SET
(
HPP_
FCL_HAVE_OCTOMAP FALSE
)
message
(
STATUS
"FCL does not use Octomap"
)
endif
()
ADD_REQUIRED_DEPENDENCY
(
"assimp >= 2.0"
)
if
(
ASSIMP_FOUND
)
if
(
NOT
${
ASSIMP_VERSION
}
VERSION_LESS
"2.0.1150"
)
add_definitions
(
-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
)
SET
(
WITH
_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES TRUE
)
add_definitions
(
-D
HPP_
FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
)
SET
(
HPP
_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES TRUE
)
message
(
STATUS
"Assimp version has unified headers"
)
else
()
SET
(
WITH
_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES FALSE
)
SET
(
HPP
_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES FALSE
)
message
(
STATUS
"Assimp version does not have unified headers"
)
endif
()
endif
()
...
...
@@ -162,12 +162,14 @@ endif ()
pkg_config_append_libs
(
"hpp-fcl"
)
PKG_CONFIG_APPEND_BOOST_LIBS
(
thread date_time filesystem system
)
IF
(
WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
)
PKG_CONFIG_APPEND_CFLAGS
(
"-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES"
)
ENDIF
(
WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
)
IF
(
FCL_HAVE_OCTOMAP
)
IF
(
HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
)
# FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES kept for backard compatibility reasons.
PKG_CONFIG_APPEND_CFLAGS
(
"-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES -DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES"
)
ENDIF
(
HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
)
IF
(
HPP_FCL_HAVE_OCTOMAP
)
# FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
PKG_CONFIG_APPEND_CFLAGS
(
"-DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=
${
OCTOMAP_MAJOR_VERSION
}
-DOCTOMAP_MINOR_VERSION=
${
OCTOMAP_MINOR_VERSION
}
-DOCTOMAP_PATCH_VERSION=
${
OCTOMAP_PATCH_VERSION
}
"
)
ENDIF
(
FCL_HAVE_OCTOMAP
)
"
-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
)
setup_project_finalize
()
include/hpp/fcl/math/vec_3f.h
View file @
8aa94d0b
...
...
@@ -57,7 +57,7 @@ namespace fcl
}
#ifdef FCL_HAVE_OCTOMAP
#ifdef
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 && \
...
...
@@ -67,7 +67,7 @@ namespace fcl
(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 //
HPP_
FCL_HAVE_OCTOMAP
}
// namespace hpp
...
...
include/hpp/fcl/mesh_loader/assimp.h
View file @
8aa94d0b
...
...
@@ -37,7 +37,7 @@
#ifndef HPP_FCL_MESH_LOADER_ASSIMP_H
#define HPP_FCL_MESH_LOADER_ASSIMP_H
#ifdef FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
#ifdef
HPP_
FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
#include
<assimp/DefaultLogger.hpp>
#include
<assimp/IOStream.hpp>
#include
<assimp/IOSystem.hpp>
...
...
@@ -166,7 +166,7 @@ inline void buildMesh (const fcl::Vec3f & scale,
aiFace
&
face
=
input_mesh
->
mFaces
[
j
];
if
(
face
.
mNumIndices
!=
3
)
{
std
::
stringstream
ss
;
#ifdef FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
#ifdef
HPP_
FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
ss
<<
"Mesh "
<<
input_mesh
->
mName
.
C_Str
()
<<
" has a face with "
<<
face
.
mNumIndices
<<
" vertices. This is not supported
\n
"
;
ss
<<
"Node name is: "
<<
node
->
mName
.
C_Str
()
<<
"
\n
"
;
...
...
include/hpp/fcl/traversal/traversal_node_setup.h
View file @
8aa94d0b
...
...
@@ -43,7 +43,7 @@
#include
<hpp/fcl/traversal/traversal_node_shapes.h>
#include
<hpp/fcl/traversal/traversal_node_bvh_shape.h>
#ifdef FCL_HAVE_OCTOMAP
#ifdef
HPP_
FCL_HAVE_OCTOMAP
#include
<hpp/fcl/traversal/traversal_node_octree.h>
#endif
...
...
@@ -54,7 +54,7 @@ namespace hpp
namespace
fcl
{
#ifdef FCL_HAVE_OCTOMAP
#ifdef
HPP_
FCL_HAVE_OCTOMAP
/// @brief Initialize traversal node for collision between two octrees, given current object transform
template
<
typename
NarrowPhaseSolver
>
bool
initialize
(
OcTreeCollisionTraversalNode
<
NarrowPhaseSolver
>&
node
,
...
...
src/collision_func_matrix.cpp
View file @
8aa94d0b
...
...
@@ -48,7 +48,7 @@ namespace hpp
namespace
fcl
{
#ifdef FCL_HAVE_OCTOMAP
#ifdef
HPP_
FCL_HAVE_OCTOMAP
template
<
typename
T_SH
,
typename
NarrowPhaseSolver
>
std
::
size_t
ShapeOcTreeCollide
(
const
CollisionGeometry
*
o1
,
const
Transform3f
&
tf1
,
const
CollisionGeometry
*
o2
,
const
Transform3f
&
tf2
,
const
NarrowPhaseSolver
*
nsolver
,
...
...
@@ -505,7 +505,7 @@ CollisionFunctionMatrix<NarrowPhaseSolver>::CollisionFunctionMatrix()
collision_matrix
[
BV_kIOS
][
BV_kIOS
]
=
&
BVHCollide
<
kIOS
,
NarrowPhaseSolver
>
;
collision_matrix
[
BV_OBBRSS
][
BV_OBBRSS
]
=
&
BVHCollide
<
OBBRSS
,
NarrowPhaseSolver
>
;
#ifdef FCL_HAVE_OCTOMAP
#ifdef
HPP_
FCL_HAVE_OCTOMAP
collision_matrix
[
GEOM_OCTREE
][
GEOM_BOX
]
=
&
OcTreeShapeCollide
<
Box
,
NarrowPhaseSolver
>
;
collision_matrix
[
GEOM_OCTREE
][
GEOM_SPHERE
]
=
&
OcTreeShapeCollide
<
Sphere
,
NarrowPhaseSolver
>
;
collision_matrix
[
GEOM_OCTREE
][
GEOM_CAPSULE
]
=
&
OcTreeShapeCollide
<
Capsule
,
NarrowPhaseSolver
>
;
...
...
src/distance_func_matrix.cpp
View file @
8aa94d0b
...
...
@@ -46,7 +46,7 @@ namespace hpp
namespace
fcl
{
#ifdef FCL_HAVE_OCTOMAP
#ifdef
HPP_
FCL_HAVE_OCTOMAP
template
<
typename
T_SH
,
typename
NarrowPhaseSolver
>
FCL_REAL
ShapeOcTreeDistance
(
const
CollisionGeometry
*
o1
,
const
Transform3f
&
tf1
,
const
CollisionGeometry
*
o2
,
const
Transform3f
&
tf2
,
const
NarrowPhaseSolver
*
nsolver
,
const
DistanceRequest
&
request
,
DistanceResult
&
result
)
...
...
@@ -452,7 +452,7 @@ DistanceFunctionMatrix<NarrowPhaseSolver>::DistanceFunctionMatrix()
distance_matrix
[
BV_kIOS
][
BV_kIOS
]
=
&
BVHDistance
<
kIOS
,
NarrowPhaseSolver
>
;
distance_matrix
[
BV_OBBRSS
][
BV_OBBRSS
]
=
&
BVHDistance
<
OBBRSS
,
NarrowPhaseSolver
>
;
#ifdef FCL_HAVE_OCTOMAP
#ifdef
HPP_
FCL_HAVE_OCTOMAP
distance_matrix
[
GEOM_OCTREE
][
GEOM_BOX
]
=
&
OcTreeShapeDistance
<
Box
,
NarrowPhaseSolver
>
;
distance_matrix
[
GEOM_OCTREE
][
GEOM_SPHERE
]
=
&
OcTreeShapeDistance
<
Sphere
,
NarrowPhaseSolver
>
;
distance_matrix
[
GEOM_OCTREE
][
GEOM_CAPSULE
]
=
&
OcTreeShapeDistance
<
Capsule
,
NarrowPhaseSolver
>
;
...
...
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