Add visibility control to all packages

tesseract/tesseract/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.5.0)
 project(tesseract VERSION 0.1.0 LANGUAGES CXX)
 
+set(CMAKE_CXX_VISIBILITY_PRESET hidden)
+set(CMAKE_VISIBILITY_INLINES_HIDDEN 1)
+
 find_package(Boost COMPONENTS system REQUIRED)
 find_package(console_bridge REQUIRED)
 find_package(tesseract_scene_graph REQUIRED)
@@ -20,7 +23,7 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 tesseract_variables()
 
 # Create target
-add_library(${PROJECT_NAME} SHARED src/tesseract.cpp src/manipulator_manager.cpp)
+add_library(${PROJECT_NAME} src/tesseract.cpp src/manipulator_manager.cpp)
 target_link_libraries(${PROJECT_NAME} PUBLIC
   tesseract::tesseract_urdf
   tesseract::tesseract_scene_graph
@@ -32,6 +35,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   tesseract::tesseract_command_language
   console_bridge)
 target_compile_options(${PROJECT_NAME} PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME} PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME} ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})

tesseract/tesseract/include/tesseract/manipulator_manager.h

@@ -39,7 +39,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract
 {
-class ManipulatorManager
+class TESSERACT_PUBLIC ManipulatorManager
 {
 public:
   using Ptr = std::shared_ptr<ManipulatorManager>;

tesseract/tesseract/include/tesseract/tesseract.h

@@ -59,7 +59,7 @@ using FindTCPCallbackFn = std::function<Eigen::Isometry3d(const tesseract_planni
  * It also provides several construction methods for loading from urdf, srdf
  *
  */
-class Tesseract
+class TESSERACT_PUBLIC Tesseract
 {
 public:
   using Ptr = std::shared_ptr<Tesseract>;

tesseract/tesseract/include/tesseract/tesseract_init_info.h

@@ -56,7 +56,7 @@ enum class TesseractInitType
 Note: Recreating a Tesseract does not guarantee that it is identical to the Tesseract associate with this construction
 info since the kinmeatics managers could have changed and it does not include the environment command history. This will
 simply recreate the Tesseract as it was at construction.  */
-struct TesseractInitInfo
+struct TESSERACT_PUBLIC TesseractInitInfo
 {
   using Ptr = std::shared_ptr<TesseractInitInfo>;
   using ConstPtr = std::shared_ptr<const TesseractInitInfo>;

tesseract/tesseract_collision/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.6.0)
 project(tesseract_collision VERSION 0.1.0 LANGUAGES CXX)
 
+set(CMAKE_CXX_VISIBILITY_PRESET hidden)
+set(CMAKE_VISIBILITY_INLINES_HIDDEN 1)
+
 find_package(Eigen3 REQUIRED)
 find_package(Boost COMPONENTS system thread program_options REQUIRED)
 find_package(octomap REQUIRED)
@@ -41,6 +44,7 @@ tesseract_variables()
 add_library(${PROJECT_NAME}_core INTERFACE)
 target_link_libraries(${PROJECT_NAME}_core INTERFACE tesseract::tesseract_common tesseract::tesseract_geometry PkgConfig::bullet ${Boost_LIBRARIES})
 target_compile_options(${PROJECT_NAME}_core INTERFACE ${TESSERACT_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME}_core INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_core ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_core INTERFACE VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME}_core INTERFACE ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})
@@ -52,7 +56,7 @@ target_include_directories(${PROJECT_NAME}_core SYSTEM INTERFACE
     ${Boost_INCLUDE_DIRS})
 
 # Create target for Bullet implementation
-add_library(${PROJECT_NAME}_bullet SHARED
+add_library(${PROJECT_NAME}_bullet
   src/bullet/bullet_cast_bvh_manager.cpp
   src/bullet/bullet_cast_simple_manager.cpp
   src/bullet/bullet_discrete_bvh_manager.cpp
@@ -66,6 +70,7 @@ add_library(${PROJECT_NAME}_bullet SHARED
 )
 target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry PkgConfig::bullet console_bridge octomap octomath)
 target_compile_options(${PROJECT_NAME}_bullet PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME}_bullet PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_bullet ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_bullet PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME}_bullet ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})
@@ -77,12 +82,13 @@ target_include_directories(${PROJECT_NAME}_bullet SYSTEM PUBLIC
     ${Boost_INCLUDE_DIRS})
 
 # Create target for FCL implementation
-add_library(${PROJECT_NAME}_fcl SHARED
+add_library(${PROJECT_NAME}_fcl
   src/fcl/fcl_discrete_managers.cpp
   src/fcl/fcl_utils.cpp
   src/fcl/fcl_collision_object_wrapper.cpp)
 target_link_libraries(${PROJECT_NAME}_fcl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry PkgConfig::bullet console_bridge octomap octomath fcl)
 target_compile_options(${PROJECT_NAME}_fcl PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME}_fcl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_fcl ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_fcl PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME}_fcl ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})
@@ -97,9 +103,9 @@ target_include_directories(${PROJECT_NAME}_fcl SYSTEM PUBLIC
 add_executable(create_convex_hull src/create_convex_hull.cpp)
 target_link_libraries(create_convex_hull PUBLIC tesseract::tesseract_common tesseract::tesseract_geometry console_bridge PkgConfig::bullet ${Boost_LIBRARIES} octomap octomath)
 target_compile_options(create_convex_hull PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_compile_definitions(create_convex_hull PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(create_convex_hull ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(create_convex_hull PRIVATE VERSION ${TESSERACT_CXX_VERSION})
-target_compile_definitions(create_convex_hull PRIVATE "-DBT_USE_DOUBLE_PRECISION")
 target_include_directories(create_convex_hull PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
 target_include_directories(create_convex_hull SYSTEM PUBLIC
     ${EIGEN3_INCLUDE_DIRS}
@@ -110,6 +116,7 @@ target_include_directories(create_convex_hull SYSTEM PUBLIC
 add_library(${PROJECT_NAME}_test_suite INTERFACE)
 target_link_libraries(${PROJECT_NAME}_test_suite INTERFACE tesseract::tesseract_support tesseract::tesseract_geometry ${PROJECT_NAME}_core)
 target_compile_options(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_test_suite ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_test_suite INTERFACE VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(${PROJECT_NAME}_test_suite INTERFACE ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE ${TESSERACT_ENABLE_TESTING})

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_bvh_manager.h

@@ -41,6 +41,7 @@
 #ifndef TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
 #define TESSERACT_COLLISION_BULLET_CAST_BVH_MANAGERS_H
 
+#include <tesseract_common/visibility_control.h>
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
@@ -50,7 +51,7 @@ namespace tesseract_collision
 namespace tesseract_collision_bullet
 {
 /** @brief A BVH implementaiton of a tesseract contact manager */
-class BulletCastBVHManager : public ContinuousContactManager
+class TESSERACT_PUBLIC BulletCastBVHManager : public ContinuousContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletCastBVHManager>;

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_simple_manager.h

@@ -41,6 +41,7 @@
 #ifndef TESSERACT_COLLISION_BULLET_CAST_SIMPLE_MANAGERS_H
 #define TESSERACT_COLLISION_BULLET_CAST_SIMPLE_MANAGERS_H
 
+#include <tesseract_common/visibility_control.h>
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
@@ -50,7 +51,7 @@ namespace tesseract_collision
 namespace tesseract_collision_bullet
 {
 /** @brief A simple implementaiton of a tesseract manager which does not use BHV */
-class BulletCastSimpleManager : public ContinuousContactManager
+class TESSERACT_PUBLIC BulletCastSimpleManager : public ContinuousContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletCastSimpleManager>;

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_bvh_manager.h

@@ -41,6 +41,7 @@
 #ifndef TESSERACT_COLLISION_BULLET_DISCRETE_BVH_MANAGERS_H
 #define TESSERACT_COLLISION_BULLET_DISCRETE_BVH_MANAGERS_H
 
+#include <tesseract_common/visibility_control.h>
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
@@ -50,7 +51,7 @@ namespace tesseract_collision
 namespace tesseract_collision_bullet
 {
 /** @brief A BVH implementaiton of a bullet manager */
-class BulletDiscreteBVHManager : public DiscreteContactManager
+class TESSERACT_PUBLIC BulletDiscreteBVHManager : public DiscreteContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletDiscreteBVHManager>;

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_simple_manager.h

@@ -41,6 +41,7 @@
 #ifndef TESSERACT_COLLISION_BULLET_DISCRETE_SIMPLE_MANAGERS_H
 #define TESSERACT_COLLISION_BULLET_DISCRETE_SIMPLE_MANAGERS_H
 
+#include <tesseract_common/visibility_control.h>
 #include <tesseract_collision/bullet/bullet_utils.h>
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/bullet/tesseract_collision_configuration.h>
@@ -50,7 +51,7 @@ namespace tesseract_collision
 namespace tesseract_collision_bullet
 {
 /** @brief A simple implementaiton of a bullet manager which does not use BHV */
-class BulletDiscreteSimpleManager : public DiscreteContactManager
+class TESSERACT_PUBLIC BulletDiscreteSimpleManager : public DiscreteContactManager
 {
 public:
   using Ptr = std::shared_ptr<BulletDiscreteSimpleManager>;

tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_utils.h

@@ -122,7 +122,7 @@ inline Eigen::Isometry3d convertBtToEigen(const btTransform& t)
  * It is a wrapper around bullet's collision object which
  * contains specific information related to tesseract
  */
-class CollisionObjectWrapper : public btCollisionObject
+class TESSERACT_LOCAL CollisionObjectWrapper : public btCollisionObject
 {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -222,7 +222,7 @@ using Link2Cow = std::map<std::string, COW::Ptr>;
 using Link2ConstCow = std::map<std::string, COW::ConstPtr>;
 
 /** @brief This is a casted collision shape used for checking if an object is collision free between two transforms */
-struct CastHullShape : public btConvexShape
+struct TESSERACT_LOCAL CastHullShape : public btConvexShape
 {
 public:
   btConvexShape* m_shape;
@@ -619,7 +619,7 @@ inline btScalar addCastSingleResult(btManifoldPoint& cp,
 }
 
 /** @brief This is copied directly out of BulletWorld */
-struct TesseractBridgedManifoldResult : public btManifoldResult
+struct TESSERACT_LOCAL TesseractBridgedManifoldResult : public btManifoldResult
 {
   btCollisionWorld::ContactResultCallback& m_resultCallback;
 
@@ -676,7 +676,7 @@ struct TesseractBridgedManifoldResult : public btManifoldResult
 };
 
 /** @brief The BroadphaseContactResultCallback is used to report contact points */
-struct BroadphaseContactResultCallback
+struct TESSERACT_LOCAL BroadphaseContactResultCallback
 {
   ContactTestData& collisions_;
   double contact_distance_;
@@ -707,7 +707,7 @@ struct BroadphaseContactResultCallback
                                    int index1) = 0;
 };
 
-struct DiscreteBroadphaseContactResultCallback : public BroadphaseContactResultCallback
+struct TESSERACT_LOCAL DiscreteBroadphaseContactResultCallback : public BroadphaseContactResultCallback
 {
   DiscreteBroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
     : BroadphaseContactResultCallback(collisions, contact_distance, verbose)
@@ -729,7 +729,7 @@ struct DiscreteBroadphaseContactResultCallback : public BroadphaseContactResultC
   }
 };
 
-struct CastBroadphaseContactResultCallback : public BroadphaseContactResultCallback
+struct TESSERACT_LOCAL CastBroadphaseContactResultCallback : public BroadphaseContactResultCallback
 {
   CastBroadphaseContactResultCallback(ContactTestData& collisions, double contact_distance, bool verbose = false)
     : BroadphaseContactResultCallback(collisions, contact_distance, verbose)
@@ -751,7 +751,7 @@ struct CastBroadphaseContactResultCallback : public BroadphaseContactResultCallb
   }
 };
 
-struct TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
+struct TESSERACT_LOCAL TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
 {
   BroadphaseContactResultCallback& result_callback_;
 
@@ -816,7 +816,7 @@ struct TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
  * If the AABB of two collision objects are overlapping the processOverlap method is called
  * and they are checked for collision/distance and the results are stored in collision_.
  */
-class TesseractCollisionPairCallback : public btOverlapCallback
+class TESSERACT_LOCAL TesseractCollisionPairCallback : public btOverlapCallback
 {
   const btDispatcherInfo& dispatch_info_;
   btCollisionDispatcher* dispatcher_;
@@ -869,7 +869,7 @@ class TesseractCollisionPairCallback : public btOverlapCallback
 };
 
 /** @brief This class is used to filter broadphase */
-class TesseractOverlapFilterCallback : public btOverlapFilterCallback
+class TESSERACT_LOCAL TesseractOverlapFilterCallback : public btOverlapFilterCallback
 {
 public:
   TesseractOverlapFilterCallback(bool verbose = false) : verbose_(verbose) {}
@@ -946,7 +946,7 @@ inline COW::Ptr createCollisionObject(const std::string& name,
   return new_cow;
 }
 
-struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallback
+struct TESSERACT_LOCAL DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallback
 {
   ContactTestData& collisions_;
   const COW::Ptr cow_;
@@ -983,7 +983,7 @@ struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallba
   }
 };
 
-struct CastCollisionCollector : public btCollisionWorld::ContactResultCallback
+struct TESSERACT_LOCAL CastCollisionCollector : public btCollisionWorld::ContactResultCallback
 {
   ContactTestData& collisions_;
   const COW::Ptr cow_;

tesseract/tesseract_collision/include/tesseract_collision/bullet/tesseract_collision_configuration.h

@@ -58,7 +58,7 @@ namespace tesseract_collision_bullet
  *     - Compound to Compound
  *     - Convex to Convex
  */
-class TesseractCollisionConfiguration : public btDefaultCollisionConfiguration
+class TESSERACT_LOCAL TesseractCollisionConfiguration : public btDefaultCollisionConfiguration
 {
 public:
   TesseractCollisionConfiguration(

tesseract/tesseract_collision/include/tesseract_collision/bullet/tesseract_compound_collision_algorithm.h

@@ -52,7 +52,7 @@ namespace tesseract_collision_bullet
  * with the collision shape. I don't believe this will be an issue since all of the other callback in Bullet accept
  * both.
  */
-class TesseractCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm  // NOLINT
+class TESSERACT_LOCAL TesseractCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm  // NOLINT
 {
   btNodeStack stack2;
   btManifoldArray manifoldArray;

tesseract/tesseract_collision/include/tesseract_collision/bullet/tesseract_compound_compound_collision_algorithm.h

@@ -55,7 +55,8 @@ namespace tesseract_collision_bullet
  * with the collision shape. I don't believe this will be an issue since all of the other callback in Bullet accept
  * both.
  */
-class TesseractCompoundCompoundCollisionAlgorithm : public TesseractCompoundCollisionAlgorithm  // NOLINT
+class TESSERACT_LOCAL TesseractCompoundCompoundCollisionAlgorithm
+  : public TesseractCompoundCollisionAlgorithm  // NOLINT
 {
   class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
   btSimplePairArray m_removePairs;

tesseract/tesseract_collision/include/tesseract_collision/bullet/tesseract_convex_convex_algorithm.h

@@ -64,7 +64,7 @@ namespace tesseract_collision_bullet
  *
  * Note: This will not be able to be removed.
  */
-class TesseractConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
+class TESSERACT_LOCAL TesseractConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
 {
 #ifdef USE_SEPDISTANCE_UTIL2
   btConvexSeparatingDistanceUtil m_sepDistance;

tesseract/tesseract_collision/include/tesseract_collision/bullet/tesseract_gjk_pair_detector.h

@@ -49,7 +49,7 @@ namespace tesseract_collision_bullet
  *
  * Note: This will not be able to be removed.
  */
-class TesseractGjkPairDetector : public btDiscreteCollisionDetectorInterface
+class TESSERACT_LOCAL TesseractGjkPairDetector : public btDiscreteCollisionDetectorInterface
 {
   btVector3 m_cachedSeparatingAxis;
   btConvexPenetrationDepthSolver* m_penetrationDepthSolver;

tesseract/tesseract_collision/include/tesseract_collision/core/continuous_contact_manager.h

@@ -37,7 +37,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_collision
 {
-class ContinuousContactManager
+class TESSERACT_PUBLIC ContinuousContactManager
 {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW

tesseract/tesseract_collision/include/tesseract_collision/core/continuous_contact_manager_factory.h

@@ -27,11 +27,12 @@
 #ifndef TESSERACT_COLLISION_CONTINUOUS_CONTACT_MANAGER_FACTORY_H
 #define TESSERACT_COLLISION_CONTINUOUS_CONTACT_MANAGER_FACTORY_H
 
+#include <tesseract_common/visibility_control.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 
 namespace tesseract_collision
 {
-class ContinuousContactManagerFactory
+class TESSERACT_PUBLIC ContinuousContactManagerFactory
 {
 public:
   using CreateMethod = std::function<ContinuousContactManager::Ptr()>;

tesseract/tesseract_collision/include/tesseract_collision/core/discrete_contact_manager.h

@@ -37,7 +37,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_collision
 {
-class DiscreteContactManager
+class TESSERACT_PUBLIC DiscreteContactManager
 {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW

tesseract/tesseract_collision/include/tesseract_collision/core/discrete_contact_manager_factory.h

@@ -26,11 +26,12 @@
 #ifndef TESSERACT_COLLISION_DISCRETE_CONTACT_MANAGER_FACTORY_H
 #define TESSERACT_COLLISION_DISCRETE_CONTACT_MANAGER_FACTORY_H
 
+#include <tesseract_common/visibility_control.h>
 #include <tesseract_collision/core/discrete_contact_manager.h>
 
 namespace tesseract_collision
 {
-class DiscreteContactManagerFactory
+class TESSERACT_PUBLIC DiscreteContactManagerFactory
 {
 public:
   using CreateMethod = std::function<DiscreteContactManager::Ptr()>;