Embed FCL in source code

rmf_traffic/CMakeLists.txt

@@ -22,17 +22,15 @@ include(GNUInstallDirs)
 
 find_package(fcl 0.6 QUIET)
 if(fcl_FOUND)
-  set(FCL_LIBRARIES fcl)
-  set(using_new_fcl true)
-  message(STATUS "Using FCL version: ${FCL_VERSION}")
+  message(STATUS "Using installed FCL version: ${FCL_VERSION}")
 else()
-  include(FindPkgConfig)
-  pkg_check_modules(PC_FCL REQUIRED fcl)
-  pkg_check_modules(PC_CCD REQUIRED ccd)
-  set(FCL_LIBRARIES ${PC_FCL_LIBRARIES} ${PC_CCD_LIBRARIES})
-  set(using_new_fcl)
-  message(STATUS "Using FCL version: ${PC_FCL_VERSION}")
+  message(STATUS "Using in-source FCL")
+  add_subdirectory(thirdparty/fcl)
 endif()
+# TODO(MXG): Remove everything related to maintaining compatibility with 0.5,
+# since we are now requiring FCL-0.6+
+set(using_new_fcl true)
+set(FCL_LIBRARIES fcl)
 
 find_package(rmf_utils REQUIRED)
 find_package(Eigen3 REQUIRED)

rmf_traffic/package.xml

@@ -12,10 +12,12 @@
   <build_depend>rmf_utils</build_depend>
   <build_export_depend>rmf_utils</build_export_depend>
 
-  <build_depend>libccd-dev</build_depend>
-  <build_depend>libfcl-dev</build_depend>
-  <!-- Uncomment the line below for fcl-0.6 -->
-  <!-- <depend>fcl</depend> -->
+  <depend>libccd-dev</depend>
+  <!-- Note: We require fcl-0.6 or greater. A copy of fcl-0.6 is provided
+       in-source in case the user is missing it. If you want to build
+       rmf_traffic against a different version of fcl>=0.6 that is in your
+       workspace, then uncomment the line below -->
+  <!--<depend>fcl</depend>-->
 
   <test_depend>ament_cmake_catch2</test_depend>
   <test_depend>rmf_cmake_uncrustify</test_depend>

rmf_traffic/thirdparty/fcl/.clang-format

@@ -0,0 +1,40 @@
+# -*- mode: yaml -*-
+# vi: set ft=yaml :
+
+# Copyright (c) 2018, Toyota Research Institute, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Author: Jamie Snape, Kitware, Inc.
+
+---
+BasedOnStyle: Google
+---
+Language: Cpp
+DerivePointerAlignment: false
+PointerAlignment: Left

rmf_traffic/thirdparty/fcl/.clang-tidy

@@ -0,0 +1,36 @@
+# -*- mode: yaml -*-
+# vi: set ft=yaml :
+
+# Copyright (c) 2018, Toyota Research Institute, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Author: Jamie Snape, Kitware, Inc.
+
+---
+Checks: 'clang-analyzer-*,clang-diagnostic-*,cppcoreguidelines-*,google-*,modernize-*,performance-*,readability-*'