Merge pull request #2323 from nim65s/coal-compat

non-breaking coal initial compatibility

CHANGELOG.md

@@ -13,6 +13,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Added
 - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))
+- Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) ([#2323](https://github.com/stack-of-tasks/pinocchio/pull/2323))
 
 ### Changed
 - Use eigenpy to expose `GeometryObject::meshMaterial` variant ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))

include/pinocchio/parsers/meshloader-fwd.hpp

@@ -0,0 +1,31 @@
+//
+// Copyright (c) 2024 INRIA
+//
+
+#ifndef __pinocchio_parsers_meshloader_fwd_hpp__
+#define __pinocchio_parsers_meshloader_fwd_hpp__
+
+#include <memory>
+
+#ifdef PINOCCHIO_WITH_HPP_FCL
+  #include <hpp/fcl/config.hh>
+#endif // PINOCCHIO_WITH_HPP_FCL
+
+#ifdef COAL_VERSION
+namespace coal
+{
+  class MeshLoader;
+  typedef std::shared_ptr<MeshLoader> MeshLoaderPtr;
+} // namespace coal
+#else
+namespace hpp
+{
+  namespace fcl
+  {
+    class MeshLoader;
+    typedef std::shared_ptr<MeshLoader> MeshLoaderPtr;
+  } // namespace fcl
+} // namespace hpp
+#endif // COAL_VERSION
+
+#endif // __pinocchio_parsers_meshloader_fwd_hpp__

include/pinocchio/parsers/sdf/geometry.hxx

@@ -8,19 +8,11 @@
 #include "pinocchio/parsers/config.hpp"
 #include "pinocchio/parsers/sdf.hpp"
 #include "pinocchio/parsers/utils.hpp"
+#include "pinocchio/parsers/meshloader-fwd.hpp"
 
 #include <string>
 #include <vector>
 
-namespace hpp
-{
-  namespace fcl
-  {
-    class MeshLoader;
-    typedef std::shared_ptr<MeshLoader> MeshLoaderPtr;
-  } // namespace fcl
-} // namespace hpp
-
 namespace pinocchio
 {
   namespace sdf

include/pinocchio/parsers/urdf.hpp

@@ -8,26 +8,16 @@
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/geometry.hpp"
+#include "pinocchio/parsers/meshloader-fwd.hpp"
 
-#ifdef PINOCCHIO_WITH_CXX11_SUPPORT
-  #include <memory>
-#endif
+#include <memory>
 
 /// \cond
 // forward declaration of the unique type from urdfdom which is expose.
 namespace urdf
 {
   class ModelInterface;
 }
-
-namespace hpp
-{
-  namespace fcl
-  {
-    class MeshLoader;
-    typedef std::shared_ptr<MeshLoader> MeshLoaderPtr;
-  } // namespace fcl
-} // namespace hpp
 /// \endcond
 
 namespace pinocchio

sources.cmake

@@ -338,6 +338,7 @@ set(${PROJECT_NAME}_PARSERS_SOURCES
     ${PROJECT_SOURCE_DIR}/src/parsers/mjcf/mjcf-graph-geom.cpp)
 
 set(${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS
+    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/meshloader-fwd.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/srdf.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/srdf.hxx
     ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/utils.hpp