From 7dd9c3e7f7a9ba43c35cb1e1e281b4fd411d0ae5 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Fri, 12 Jul 2024 12:31:58 +0200
Subject: [PATCH] coal: Don't include hpp/fcl/config.hpp if collision is not
 enable

Split forward declaration in a standalone header to avoid code
duplication in sdf/geometry.hxx.
---
 include/pinocchio/parsers/meshloader-fwd.hpp | 31 ++++++++++++++++++++
 include/pinocchio/parsers/sdf/geometry.hxx   | 10 +------
 include/pinocchio/parsers/urdf.hpp           | 24 ++-------------
 sources.cmake                                |  1 +
 4 files changed, 35 insertions(+), 31 deletions(-)
 create mode 100644 include/pinocchio/parsers/meshloader-fwd.hpp

diff --git a/include/pinocchio/parsers/meshloader-fwd.hpp b/include/pinocchio/parsers/meshloader-fwd.hpp
new file mode 100644
index 0000000000..4abb31c973
--- /dev/null
+++ b/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__
diff --git a/include/pinocchio/parsers/sdf/geometry.hxx b/include/pinocchio/parsers/sdf/geometry.hxx
index c937d425b4..3c5d05015d 100644
--- a/include/pinocchio/parsers/sdf/geometry.hxx
+++ b/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
diff --git a/include/pinocchio/parsers/urdf.hpp b/include/pinocchio/parsers/urdf.hpp
index 88df76263c..51cbc76197 100644
--- a/include/pinocchio/parsers/urdf.hpp
+++ b/include/pinocchio/parsers/urdf.hpp
@@ -6,13 +6,11 @@
 #ifndef __pinocchio_parsers_urdf_hpp__
 #define __pinocchio_parsers_urdf_hpp__
 
-#include <hpp/fcl/config.hh>
 #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.
@@ -20,24 +18,6 @@ namespace urdf
 {
   class ModelInterface;
 }
-
-#ifdef COAL_VERSION
-namespace coal
-{
-  class MeshLoader;
-  typedef std::shared_ptr<MeshLoader> MeshLoaderPtr;
-} // namespace coal
-/// \endcond
-#else
-namespace hpp
-{
-  namespace fcl
-  {
-    class MeshLoader;
-    typedef std::shared_ptr<MeshLoader> MeshLoaderPtr;
-  } // namespace fcl
-} // namespace hpp
-#endif
 /// \endcond
 
 namespace pinocchio
diff --git a/sources.cmake b/sources.cmake
index 9f973d17ee..991984996b 100644
--- a/sources.cmake
+++ b/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