DART  6.7.3
BackwardCompatibility.hpp
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32 
33 #ifndef DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_
34 #define DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_
35 
36 #include "dart/config.hpp"
37 
38 #include <Eigen/Dense>
39 
40 #define FCL_VERSION_AT_LEAST(x,y,z) \
41  (FCL_MAJOR_VERSION > x || (FCL_MAJOR_VERSION >= x && \
42  (FCL_MINOR_VERSION > y || (FCL_MINOR_VERSION >= y && \
43  FCL_PATCH_VERSION >= z))))
44 
45 #define FCL_MAJOR_MINOR_VERSION_AT_MOST(x,y) \
46  (FCL_MAJOR_VERSION < x || (FCL_MAJOR_VERSION <= x && \
47  (FCL_MINOR_VERSION < y || (FCL_MINOR_VERSION <= y))))
48 
49 #include <fcl/config.h>
50 
51 #if FCL_VERSION_AT_LEAST(0,6,0)
52 
53 #include <fcl/math/geometry.h>
54 
55 #include <fcl/geometry/bvh/BVH_model.h>
56 #include <fcl/geometry/geometric_shape_to_BVH_model.h>
57 #include <fcl/math/bv/OBBRSS.h>
58 #include <fcl/math/bv/utility.h>
59 #include <fcl/narrowphase/collision.h>
60 #include <fcl/narrowphase/collision_object.h>
61 #include <fcl/narrowphase/distance.h>
62 
63 #else
64 
65 #include <fcl/math/vec_3f.h>
66 #include <fcl/math/matrix_3f.h>
67 #include <fcl/math/transform.h>
68 
69 #include <fcl/BV/OBBRSS.h>
70 #include <fcl/BVH/BVH_model.h>
71 #include <fcl/collision.h>
72 #include <fcl/collision_data.h>
73 #include <fcl/collision_object.h>
74 #include <fcl/distance.h>
75 
76 #endif // FCL_VERSION_AT_LEAST(0,6,0)
77 
78 #include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
79 
80 #if HAVE_OCTOMAP && defined(FCL_HAVE_OCTOMAP)
81 #if FCL_VERSION_AT_LEAST(0,6,0)
82 #include <fcl/geometry/octree/octree.h>
83 #else
84 #include <fcl/octree.h>
85 #endif // FCL_VERSION_AT_LEAST(0,6,0)
86 #endif // HAVE_OCTOMAP && defined(FCL_HAVE_OCTOMAP)
87 
88 #if FCL_VERSION_AT_LEAST(0,5,0)
89 #include <memory>
90 template <class T> using fcl_shared_ptr = std::shared_ptr<T>;
91 template <class T> using fcl_weak_ptr = std::weak_ptr<T>;
92 template <class T, class... Args>
93 fcl_shared_ptr<T> fcl_make_shared(Args&&... args)
94 {
95  return std::make_shared<T>(std::forward<Args>(args)...);
96 }
97 #else
98 #include <boost/weak_ptr.hpp>
99 #include <boost/make_shared.hpp>
100 template <class T> using fcl_shared_ptr = boost::shared_ptr<T>;
101 template <class T> using fcl_weak_ptr = boost::weak_ptr<T>;
102 template <class T, class... Args>
104 {
105  return boost::make_shared<T>(std::forward<Args>(args)...);
106 }
107 #endif // FCL_VERSION_AT_LEAST(0,5,0)
108 
109 namespace dart {
110 namespace collision {
111 namespace fcl {
112 
113 #if FCL_VERSION_AT_LEAST(0,6,0)
114 // Geometric fundamentals
115 using Vector3 = ::fcl::Vector3<double>;
116 using Matrix3 = ::fcl::Matrix3<double>;
117 using Transform3 = ::fcl::Transform3<double>;
118 // Geometric primitives
119 using Box = ::fcl::Box<double>;
120 using Cylinder = ::fcl::Cylinder<double>;
121 using Ellipsoid = ::fcl::Ellipsoid<double>;
122 using Halfspace = ::fcl::Halfspace<double>;
123 using Sphere = ::fcl::Sphere<double>;
124 #if HAVE_OCTOMAP && defined(FCL_HAVE_OCTOMAP)
125 using OcTree = ::fcl::OcTree<double>;
126 #endif // HAVE_OCTOMAP && defined(FCL_HAVE_OCTOMAP)
127 // Collision objects
128 using CollisionObject = ::fcl::CollisionObject<double>;
129 using CollisionGeometry = ::fcl::CollisionGeometry<double>;
131  = ::fcl::DynamicAABBTreeCollisionManager<double>;
132 using OBBRSS = ::fcl::OBBRSS<double>;
133 using CollisionRequest = ::fcl::CollisionRequest<double>;
134 using CollisionResult = ::fcl::CollisionResult<double>;
135 using DistanceRequest = ::fcl::DistanceRequest<double>;
136 using DistanceResult = ::fcl::DistanceResult<double>;
137 using Contact = ::fcl::Contact<double>;
138 #else
139 // Geometric fundamentals
140 using Vector3 = ::fcl::Vec3f;
141 using Matrix3 = ::fcl::Matrix3f;
142 using Transform3 = ::fcl::Transform3f;
143 // Geometric primitives
144 using Box = ::fcl::Box;
148 #if HAVE_OCTOMAP && defined(FCL_HAVE_OCTOMAP)
149 using OcTree = ::fcl::OcTree;
150 #endif // HAVE_OCTOMAP && defined(FCL_HAVE_OCTOMAP)
151 // Collision objects
161 #endif
162 
163 #if FCL_VERSION_AT_LEAST(0,4,0) && !FCL_VERSION_AT_LEAST(0,6,0)
164 using Ellipsoid = ::fcl::Ellipsoid;
165 #endif
166 
168 double length(const dart::collision::fcl::Vector3& t);
169 
171 double length2(const dart::collision::fcl::Vector3& t);
172 
176 
178 void setTranslation(
181 
185 
187 void setRotation(
190 
192 void setEulerZYX(
194  double eulerX,
195  double eulerY,
196  double eulerZ);
197 
202 
203 } // namespace fcl
204 } // namespace collision
205 } // namespace dart
206 
207 #endif // DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_
boost::weak_ptr< T > fcl_weak_ptr
Definition: BackwardCompatibility.hpp:101
boost::shared_ptr< T > fcl_shared_ptr
Definition: BackwardCompatibility.hpp:100
fcl_shared_ptr< T > fcl_make_shared(Args &&... args)
Definition: BackwardCompatibility.hpp:103
::fcl::CollisionGeometry CollisionGeometry
Definition: BackwardCompatibility.hpp:153
void setTranslation(dart::collision::fcl::Transform3 &T, const dart::collision::fcl::Vector3 &t)
Sets translation component of a transform.
Definition: BackwardCompatibility.cpp:71
::fcl::CollisionObject CollisionObject
Definition: BackwardCompatibility.hpp:152
::fcl::Sphere Sphere
Definition: BackwardCompatibility.hpp:147
void setEulerZYX(dart::collision::fcl::Matrix3 &rot, double eulerX, double eulerY, double eulerZ)
Sets a rotation matrix given Euler-XYZ angles.
Definition: BackwardCompatibility.cpp:104
double length(const dart::collision::fcl::Vector3 &t)
Returns norm of a 3-dim vector.
Definition: BackwardCompatibility.cpp:40
double length2(const dart::collision::fcl::Vector3 &t)
Returns squared norm of a 3-dim vector.
Definition: BackwardCompatibility.cpp:50
::fcl::OBBRSS OBBRSS
Definition: BackwardCompatibility.hpp:155
void setRotation(dart::collision::fcl::Transform3 &T, const dart::collision::fcl::Matrix3 &R)
Sets rotation component of a transform.
Definition: BackwardCompatibility.cpp:93
::fcl::CollisionResult CollisionResult
Definition: BackwardCompatibility.hpp:157
::fcl::Halfspace Halfspace
Definition: BackwardCompatibility.hpp:146
::fcl::DynamicAABBTreeCollisionManager DynamicAABBTreeCollisionManager
Definition: BackwardCompatibility.hpp:154
::fcl::Vec3f Vector3
Definition: BackwardCompatibility.hpp:140
dart::collision::fcl::Vector3 transform(const dart::collision::fcl::Transform3 &t, const dart::collision::fcl::Vector3 &v)
Transforms a 3-dim vector by a transform and returns the result.
Definition: BackwardCompatibility.cpp:131
::fcl::Cylinder Cylinder
Definition: BackwardCompatibility.hpp:145
::fcl::Transform3f Transform3
Definition: BackwardCompatibility.hpp:142
::fcl::CollisionRequest CollisionRequest
Definition: BackwardCompatibility.hpp:156
::fcl::DistanceResult DistanceResult
Definition: BackwardCompatibility.hpp:159
::fcl::Matrix3f Matrix3
Definition: BackwardCompatibility.hpp:141
dart::collision::fcl::Vector3 getTranslation(const dart::collision::fcl::Transform3 &T)
Returns translation component of a transform.
Definition: BackwardCompatibility.cpp:60
dart::collision::fcl::Matrix3 getRotation(const dart::collision::fcl::Transform3 &T)
Returns rotation component of a transform.
Definition: BackwardCompatibility.cpp:82
::fcl::Box Box
Definition: BackwardCompatibility.hpp:144
::fcl::Contact Contact
Definition: BackwardCompatibility.hpp:160
::fcl::DistanceRequest DistanceRequest
Definition: BackwardCompatibility.hpp:158
Definition: BulletCollisionDetector.cpp:63