Merge pull request #449 from jcarpent/hppfcl2x

Add citations

CITATION.bib

@@ -0,0 +1,6 @@
+@misc{hppfclweb,
+   author = {Jia Pan and Sachin Chitta and Dinesh Manocha and Florent Lamiraux and Joseph Mirabel and Justin Carpentier and Louis Montaut and others},
+   title = {HPP-FCL: an extension of the Flexible Collision Library},
+   howpublished = {https://github.com/humanoid-path-planner/hpp-fcl},
+   year = {2015--2023}
+}

CITATION.cff

@@ -0,0 +1,23 @@
+cff-version: 1.2.0
+message: Thanks for using HPP-FCL. Please use the following metadata to cite us in your documents.
+title: HPP-FCL - An extension of the Flexible Collision Library
+abstract: An extension of the Flexible Collision Library
+  - family-names: Pan
+    given-names: Jia
+  - family-names: Chitta
+    given-names: Sachin
+  - family-names: Pan
+    given-names: Jia
+  - family-names: Manocha
+    given-names: Dinesh
+  - family-names: Mirabel
+    given-names: Joseph
+  - family-names: Carpentier
+    given-names: Justin
+    orcid: "https://orcid.org/0000-0001-6585-2894"
+  - family-names: Montaut
+    given-names: Louis
+version: 2.3.5
+date-released: "2023-07-11"
+license: BSD-2-Clause
+repository-code: "https://github.com/humanoid-path-planner/hpp-fcl"

include/hpp/fcl/BVH/BVH_model.h

@@ -328,7 +328,7 @@ class HPP_FCL_DLLAPI BVHModel : public BVHModelBase {
   /// save one matrix transformation.
   void makeParentRelative() {
     Matrix3f I(Matrix3f::Identity());
-    makeParentRelativeRecurse(0, I, Vec3f());
+    makeParentRelativeRecurse(0, I, Vec3f::Zero());
   }
 
  protected:

include/hpp/fcl/internal/tools.h

@@ -35,11 +35,10 @@
 
 /** \author Joseph Mirabel */
 
-#ifndef HPP_FCL_MATH_TOOLS_H
-#define HPP_FCL_MATH_TOOLS_H
+#ifndef HPP_FCL_INTERNAL_TOOLS_H
+#define HPP_FCL_INTERNAL_TOOLS_H
 
-#include <Eigen/Dense>
-#include <Eigen/Geometry>
+#include <hpp/fcl/fwd.hh>
 
 #include <cmath>
 #include <iostream>
@@ -110,6 +109,7 @@ void eigen(const Eigen::MatrixBase<Derived>& m,
   int j, iq, ip, i;
   Scalar tresh, theta, tau, t, sm, s, h, g, c;
   int nrot;
+  HPP_FCL_UNUSED_VARIABLE(nrot);
   Scalar b[3];
   Scalar z[3];
   Scalar v[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};

src/BV/AABB.cpp

@@ -55,15 +55,15 @@ bool AABB::overlap(const AABB& other, const CollisionRequest& request,
   sqrDistLowerBound =
       (min_ - other.max_ - Vec3f::Constant(request.security_margin))
           .array()
-          .max(0)
+          .max(FCL_REAL(0))
           .matrix()
           .squaredNorm();
   if (sqrDistLowerBound > break_distance_squared) return false;
 
   sqrDistLowerBound =
       (other.min_ - max_ - Vec3f::Constant(request.security_margin))
           .array()
-          .max(0)
+          .max(FCL_REAL(0))
           .matrix()
           .squaredNorm();
   if (sqrDistLowerBound > break_distance_squared) return false;

src/BV/OBB.cpp

@@ -292,7 +292,7 @@ inline FCL_REAL obbDisjoint_check_A_axis(const Vec3f& T, const Vec3f& a,
   // |T| - |B| * b - a
   Vec3f AABB_corner(T.cwiseAbs() - a);
   AABB_corner.noalias() -= Bf * b;
-  return AABB_corner.array().max(0).matrix().squaredNorm();
+  return AABB_corner.array().max(FCL_REAL(0)).matrix().squaredNorm();
 }
 
 inline FCL_REAL obbDisjoint_check_B_axis(const Matrix3f& B, const Vec3f& T,
@@ -356,10 +356,12 @@ bool obbDisjointAndLowerBoundDistance(const Matrix3f& B, const Vec3f& T,
       request.break_distance * request.break_distance;
 
   Matrix3f Bf(B.cwiseAbs());
-  const Vec3f a(
-      (a_ + Vec3f::Constant(request.security_margin / 2)).array().max(0));
-  const Vec3f b(
-      (b_ + Vec3f::Constant(request.security_margin / 2)).array().max(0));
+  const Vec3f a((a_ + Vec3f::Constant(request.security_margin / 2))
+                    .array()
+                    .max(FCL_REAL(0)));
+  const Vec3f b((b_ + Vec3f::Constant(request.security_margin / 2))
+                    .array()
+                    .max(FCL_REAL(0)));
 
   // Corner of b axis aligned bounding box the closest to the origin
   squaredLowerBoundDistance = internal::obbDisjoint_check_A_axis(T, a, b, Bf);

test/obb.cpp

@@ -129,7 +129,7 @@ inline FCL_REAL _computeDistanceForCase1(const Vec3f& T, const Vec3f& a,
   AABB_corner.noalias() = T.cwiseAbs() - Bf * b - a;
 #endif
   // */
-  return AABB_corner.array().max(0).matrix().squaredNorm();
+  return AABB_corner.array().max(FCL_REAL(0)).matrix().squaredNorm();
 }
 
 inline FCL_REAL _computeDistanceForCase2(const Matrix3f& B, const Vec3f& T,
@@ -138,7 +138,7 @@ inline FCL_REAL _computeDistanceForCase2(const Matrix3f& B, const Vec3f& T,
   /*
   Vec3f AABB_corner(PRODUCT(B.transpose(), T).cwiseAbs() - b);
   AABB_corner.noalias() -= PRODUCT(Bf.transpose(), a);
-  return AABB_corner.array().max(0).matrix().squaredNorm ();
+  return AABB_corner.array().max(FCL_REAL(0)).matrix().squaredNorm ();
   /*/
 #if MANUAL_PRODUCT
   FCL_REAL s, t = 0;
@@ -151,7 +151,7 @@ inline FCL_REAL _computeDistanceForCase2(const Matrix3f& B, const Vec3f& T,
   return t;
 #else
   Vec3f AABB_corner((B.transpose() * T).cwiseAbs() - Bf.transpose() * a - b);
-  return AABB_corner.array().max(0).matrix().squaredNorm();
+  return AABB_corner.array().max(FCL_REAL(0)).matrix().squaredNorm();
 #endif
   // */
 }