Attempt to use the c version of qhull

[GiulioRomualdi]

On ubuntu 22.04 I got the following error

usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_new_qhull(int, int, double*, unsigned int, char*, _IO_FILE*, _IO_FILE*)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_memfreeshort(int*, int*)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_freeqhull(unsigned int)'
collect2: error: ld returned 1 exit status
make[3]: *** [src/Planners/tests/CMakeFiles/SwingFootPlannerUnitTests.dir/build.make:108: bin/SwingFootPlannerUnitTests] Error 1
make[2]: *** [CMakeFiles/Makefile2:3853: src/Planners/tests/CMakeFiles/SwingFootPlannerUnitTests.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:3860: src/Planners/tests/CMakeFiles/SwingFootPlannerUnitTests.dir/rule] Error 2
make: *** [Makefile:1141: SwingFootPlannerUnitTests] Error 2

with qhull installed via APT

[GiulioRomualdi]

I switched to qhull_r and the problem seems to be fixed. Now what is missing is a cmake function that allows the user to find qhull in ubuntu 20.04

[traversaro]

New failures:

[ 66%] Linking CXX executable ../../../bin/ConvexHullHelperUnitTests
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_freeqhull(qhT*, unsigned int)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_memfreeshort(qhT*, int*, int*)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_zero(qhT*, _IO_FILE*)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_new_qhull(qhT*, int, int, double*, unsigned int, char*, _IO_FILE*, _IO_FILE*)'
collect2: error: ld returned 1 exit status

[traversaro]

New failures:

[ 66%] Linking CXX executable ../../../bin/ConvexHullHelperUnitTests
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_freeqhull(qhT*, unsigned int)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_memfreeshort(qhT*, int*, int*)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_zero(qhT*, _IO_FILE*)'
/usr/bin/ld: ../../../lib/libBipedalLocomotionFrameworkPlanners.so.0.14.200: undefined reference to `qh_new_qhull(qhT*, int, int, double*, unsigned int, char*, _IO_FILE*, _IO_FILE*)'
collect2: error: ld returned 1 exit status

As the symbols are in the library but just with C mangling and not with C++ one:

gitpod@traversaro-gitpodubuntu-j71zab8at4q:/usr/lib/x86_64-linux-gnu$ readelf -s libqhull_r.so.7 | grep qh_free
   229: 0000000000006880  1022 FUNC    GLOBAL DEFAULT   12 qh_freebuild
   357: 00000000000065f0   647 FUNC    GLOBAL DEFAULT   12 qh_freebuffers
   359: 000000000002f430     5 FUNC    GLOBAL DEFAULT   12 qh_free
   396: 0000000000006c80   138 FUNC    GLOBAL DEFAULT   12 qh_freeqhull

I think that we are missing extern "C" like in https://github.com/PointCloudLibrary/pcl/blob/3eabe5a772717028874db24a54bc6f88bffffae8/surface/include/pcl/surface/qhull.h#L49 . Probably this is not necessary in newer verson of qhull available in Ubuntu 22.04 as it is already included in the headers of qhull itself.

[traversaro]

Cool, now a runtime error:

2023-07-31T15:08:24.9658085Z QH6186 qhull error (qh_new_qhull): start qhull_cmd argument with "qhull "

[traversaro]

Cool, now a runtime error:

2023-07-31T15:08:24.9658085Z QH6186 qhull error (qh_new_qhull): start qhull_cmd argument with "qhull "

Hopefully this will be fixed by #713 (comment) .

[traversaro]

Ok, now only brew is failing and I guess that is expected.

[GiulioRomualdi]

Thank you @traversaro I will squash and merge