Address reviewer comments

    1. Fix typos
    2. Update copyright
    3. Simplify mathematical expression
    4. Test w.r.t. templated scalar.

include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h

@@ -391,7 +391,7 @@ bool cylinderHalfspaceIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
  else
  {
  Vector3<S> C = dir_z * cosa - new_s2.n;
- if(std::abs(cosa + 1) < halfspaceIntersectTolerance<S>() || std::abs(cosa - 1) < halfspaceIntersectTolerance<S>())
+ if(std::abs(cosa) - 1 < halfspaceIntersectTolerance<S>())
  C = Vector3<S>(0, 0, 0);
  else
  {

test/test_fcl_cylinder_half_space.cpp

@@ -1,9 +1,7 @@
 /*
  * Software License Agreement (BSD License)
  *
- * Copyright (c) 2013-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2016, Open Source Robotics Foundation
- * All rights reserved.
+ * Copyright (c) 2018, Toyota Research Institute
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -62,7 +60,7 @@ void test_collision_cylinder_half_space(fcl::GJKSolverType solver_type)
  // Pose of half space frame H in the world frame W.
  Transform3<S> X_WH = Transform3<S>::Identity();
 
- CollisionObject<S> half_sapce_co(half_space, X_WH);
+ CollisionObject<S> half_space_co(half_space, X_WH);
  CollisionObject<S> cylinder_co(cylinder, X_WC);
 
  fcl::CollisionResult<S> result;
@@ -71,22 +69,22 @@ void test_collision_cylinder_half_space(fcl::GJKSolverType solver_type)
  fcl::CollisionRequest<S> request(num_max_contacts, enable_contact);
  request.gjk_solver_type = solver_type;
 
- fcl::collide(&half_sapce_co, &cylinder_co, request, result);
+ fcl::collide(&half_space_co, &cylinder_co, request, result);
  vector<Contact<S>> contacts;
  result.getContacts(contacts);
 
  EXPECT_EQ(static_cast<int>(contacts.size()), 1);
  EXPECT_NEAR(contacts[0].penetration_depth, 0.051, kTolerance);
 
  // Now perform the same test but with the cylinder's z axis Cz pointing down.
- X_WC.linear() = AngleAxisd(M_PI, Vector3d::UnitX()).matrix();
- X_WC.translation() = Vector3d(0, 0, 0.049);
+ X_WC.linear() = AngleAxis<S>(M_PI, Vector3d::UnitX()).matrix();
+ X_WC.translation() = Vector3<S>(0, 0, 0.049);
  cylinder_co.setTransform(X_WC);
 
  result.clear();
  contacts.clear();
 
- fcl::collide(&half_sapce_co, &cylinder_co, request, result);
+ fcl::collide(&half_space_co, &cylinder_co, request, result);
  result.getContacts(contacts);
 
  EXPECT_EQ(static_cast<int>(contacts.size()), 1);