Copy FCL collision detection

Switch to hpp-fcl explicit namespace instead of using Drop compatibility, suffix for createCollisionGeometry # Conflicts: # moveit_core/CMakeLists.txt # moveit_core/package.xml
sjahr · Mar 11, 2024 · a61a190 · a61a190
1 parent dafa36f
commit a61a190
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diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(fcl REQUIRED)
 find_package(generate_parameter_library REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(hpp-fcl REQUIRED)
 find_package(kdl_parser REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(OCTOMAP REQUIRED)
@@ -44,6 +45,7 @@ include(ConfigExtras.cmake)
 
 add_subdirectory(collision_detection_bullet)
 add_subdirectory(collision_detection_fcl)
+add_subdirectory(collision_detection_hpp_fcl)
 add_subdirectory(collision_detection)
 add_subdirectory(collision_distance_field)
 add_subdirectory(constraint_samplers)
@@ -76,6 +78,7 @@ install(
           moveit_collision_detection
           moveit_collision_detection_bullet
           moveit_collision_detection_fcl
+          moveit_collision_detection_hpp_fcl
           moveit_collision_distance_field
           moveit_constraint_samplers
           moveit_distance_field
@@ -109,6 +112,7 @@ ament_export_dependencies(
   Eigen3
   eigen3_cmake_module
   fcl
+  hpp-fcl
   generate_parameter_library
   geometric_shapes
   geometry_msgs

diff --git a/moveit_core/collision_detection_hpp_fcl/CMakeLists.txt b/moveit_core/collision_detection_hpp_fcl/CMakeLists.txt
@@ -0,0 +1,40 @@
+set(MOVEIT_LIB_NAME moveit_collision_detection_hpp_fcl)
+
+add_library(${MOVEIT_LIB_NAME}
+  src/collision_common.cpp
+  src/collision_env_hpp_fcl.cpp
+)
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+
+target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} hpp-fcl::hpp-fcl ${Boost_LIBRARIES})
+add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+
+add_library(collision_detector_hpp_fcl_plugin src/collision_detector_hpp_fcl_plugin_loader.cpp)
+set_target_properties(collision_detector_hpp_fcl_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+target_link_libraries(collision_detector_hpp_fcl_plugin ${catkin_LIBRARIES} ${MOVEIT_LIB_NAME} moveit_planning_scene)
+
+
+install(TARGETS ${MOVEIT_LIB_NAME} collision_detector_hpp_fcl_plugin
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+install(FILES ../collision_detector_hpp_fcl_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+if(CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(test_hpp_fcl_collision_detection test/test_fcl_collision_detection_pr2.cpp)
+  target_link_libraries(test_hpp_fcl_collision_detection moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+  if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(test_hpp_fcl_collision_detection PRIVATE -Wno-deprecated-declarations)
+  endif()
+
+  catkin_add_gtest(test_hpp_fcl_collision_detection_panda test/test_fcl_collision_detection_panda.cpp)
+  target_link_libraries(test_hpp_fcl_collision_detection_panda moveit_test_utils ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
+  if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    # TODO: remove if transition to gtest's new API TYPED_TEST_SUITE_P is finished
+    target_compile_options(test_hpp_fcl_collision_detection_panda PRIVATE -Wno-deprecated-declarations)
+  endif()
+endif()