Merge pull request #2086 from jcarpent/topic/fcl-update

Update minimal version of hpp-fcl to 2.0.0
stack-of-tasks · Nov 16, 2023 · 033771a · 033771a
2 parents b87ea95 + e58bb2d
commit 033771a
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Showing 7 changed files with 7 additions and 58 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -180,7 +180,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
   ADD_DEFINITIONS(-DPINOCCHIO_WITH_HPP_FCL)
   LIST(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
-  ADD_PROJECT_DEPENDENCY(hpp-fcl 1.7.3 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 1.7.3")
+  ADD_PROJECT_DEPENDENCY(hpp-fcl 2.0.0 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 2.0.0")
   # Check whether hpp-fcl python bindings are available.
   SET(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
   IF(BUILD_PYTHON_INTERFACE)

diff --git a/bindings/python/pinocchio/visualize/meshcat_visualizer.py b/bindings/python/pinocchio/visualize/meshcat_visualizer.py
@@ -6,7 +6,6 @@
 import os
 import warnings
 import numpy as np
-from distutils.version import LooseVersion
 
 try:
     import hppfcl
@@ -154,13 +153,7 @@ def loadMesh(mesh):
             tri = call_triangles(k)
             faces[k] = [tri[i] for i in range(3)]
 
-        if LooseVersion(hppfcl.__version__) >= LooseVersion("1.7.7"):
-            vertices = call_vertices()
-        else:
-            vertices = np.empty((num_vertices, 3))
-            for k in range(num_vertices):
-                vertices[k] = call_vertices(k)
-
+        vertices = call_vertices()
         vertices = vertices.astype(np.float32)
 
     if num_tris > 0:

diff --git a/cmake b/cmake
diff --git a/include/pinocchio/multibody/fcl.hpp b/include/pinocchio/multibody/fcl.hpp
@@ -47,30 +47,15 @@
 #include <limits>
 #include <assert.h>
 
-#ifdef PINOCCHIO_WITH_HPP_FCL
-#if HPP_FCL_VERSION_AT_LEAST(2,0,0)
-#define PINOCCHIO_HPPFCL_USE_STD_SHARED_PTR
-#endif
-#endif
-
-#ifdef PINOCCHIO_HPPFCL_USE_STD_SHARED_PTR
 #include <memory>
-#else
-#include <boost/shared_ptr.hpp>
-#include <boost/make_shared.hpp>
-#endif
 
 #include <boost/foreach.hpp>
 
 namespace pinocchio
 {
-#ifdef PINOCCHIO_HPPFCL_USE_STD_SHARED_PTR
   using std::shared_ptr;
   using std::make_shared;
-#else
-  using boost::shared_ptr;
-  using boost::make_shared;
-#endif
+
   struct CollisionPair
   : public std::pair<GeomIndex, GeomIndex>
   {

diff --git a/include/pinocchio/parsers/urdf.hpp b/include/pinocchio/parsers/urdf.hpp
@@ -24,11 +24,7 @@ namespace hpp
   namespace fcl
   {
     class MeshLoader;
-#ifdef PINOCCHIO_HPPFCL_USE_STD_SHARED_PTR
     typedef std::shared_ptr<MeshLoader> MeshLoaderPtr;
-#else
-    typedef boost::shared_ptr<MeshLoader> MeshLoaderPtr;
-#endif
   }
 }
 /// \endcond

diff --git a/src/parsers/urdf/geometry.cpp b/src/parsers/urdf/geometry.cpp
@@ -110,12 +110,6 @@ namespace pinocchio
       }
 
 #ifdef PINOCCHIO_WITH_HPP_FCL
-# if ( HPP_FCL_MAJOR_VERSION>1 || ( HPP_FCL_MAJOR_VERSION==1 && \
-      ( HPP_FCL_MINOR_VERSION>1 || ( HPP_FCL_MINOR_VERSION==1 && \
-                                     HPP_FCL_PATCH_VERSION>3))))
-#  define PINOCCHIO_HPP_FCL_SUPERIOR_TO_1_1_3
-# endif
-
       /**
        * @brief      Get a fcl::CollisionObject from a URDF geometry, searching
        *             for it in specified package directories
@@ -160,26 +154,14 @@ namespace pinocchio
           retrieveMeshScale(urdf_mesh, meshScale);
 
           // Create FCL mesh by parsing Collada file.
-#ifdef PINOCCHIO_HPP_FCL_SUPERIOR_TO_1_1_3
           hpp::fcl::BVHModelPtr_t bvh = meshLoader->load (meshPath, scale);
           bool convex = tree.isMeshConvex (linkName, geomName);
           if (convex) {
             bvh->buildConvexRepresentation (false);
-#if HPP_FCL_MAJOR_VERSION < 2
-            geometry = bvh->convex;
-#else
             geometry = shared_ptr<fcl::CollisionGeometry>(bvh->convex.get(), [bvh](...) mutable { bvh->convex.reset(); });
-#endif  // HPP_FCL_MAJOR_VERSION
           } else {
-#if HPP_FCL_MAJOR_VERSION < 2
-            geometry = bvh;
-#else
             geometry = shared_ptr<fcl::CollisionGeometry>(bvh.get(), [bvh](...) mutable { bvh.reset(); });
-#endif  // HPP_FCL_MAJOR_VERSION
           }
-#else
-          geometry = meshLoader->load (meshPath, scale);
-#endif
         }
 
         // Handle the case where collision geometry is a cylinder

diff --git a/unittest/urdf.cpp b/unittest/urdf.cpp
@@ -56,18 +56,11 @@ BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
   BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CAPSULE);
 #endif
 
-#if ( HPP_FCL_MAJOR_VERSION>1 || ( HPP_FCL_MAJOR_VERSION==1 && \
-      ( HPP_FCL_MINOR_VERSION>1 || ( HPP_FCL_MINOR_VERSION==1 && \
-                                     HPP_FCL_PATCH_VERSION>3))))
-#  define PINOCCHIO_HPP_FCL_SUPERIOR_TO_1_1_3
-#endif
-
-#if defined(PINOCCHIO_HPP_FCL_SUPERIOR_TO_1_1_3) && !defined(PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME)
+#ifndef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
   BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getNodeType(), hpp::fcl::GEOM_CONVEX);
-#undef PINOCCHIO_HPP_FCL_SUPERIOR_TO_1_1_3
-#else // PINOCCHIO_HPP_FCL_SUPERIOR_TO_1_1_3 && !PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
+#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
   BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getObjectType(), hpp::fcl::OT_BVH);
-#endif // PINOCCHIO_HPP_FCL_SUPERIOR_TO_1_1_3 && !PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
+#endif
 #endif // PINOCCHIO_WITH_HPP_FCL
 
   pinocchio::Model model_ff;
+4 −4		.pre-commit-config.yaml
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