From 548bc0e9bd6deb9d86efb4e753e454216821d7a3 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Wed, 15 May 2024 09:19:21 +0200 Subject: [PATCH 1/3] core: fix potential with older version of Eigen --- include/hpp/fcl/contact_patch/contact_patch_solver.hxx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/hpp/fcl/contact_patch/contact_patch_solver.hxx b/include/hpp/fcl/contact_patch/contact_patch_solver.hxx index 7473d0da5..1960ff0ac 100644 --- a/include/hpp/fcl/contact_patch/contact_patch_solver.hxx +++ b/include/hpp/fcl/contact_patch/contact_patch_solver.hxx @@ -130,7 +130,7 @@ void ContactPatchSolver::computePatch(const ShapeType1& s1, } // `eps` is be used to check strict positivity of determinants. - static constexpr FCL_REAL eps = Eigen::NumTraits::dummy_precision(); + const FCL_REAL eps = Eigen::NumTraits::dummy_precision(); using Polygon = SupportSet::Polygon; if ((this->support_set_shape1.size() == 2) && From 567df18f7803a45131822ffd64ea2e72a3fadce9 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 15 May 2024 07:20:09 +0000 Subject: [PATCH 2/3] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 88cc78f76..59df407f9 100644 --- a/README.md +++ b/README.md @@ -11,11 +11,11 @@ ruff

-[FCL](https://github.com/flexible-collision-library/fcl) was forked in 2015. +[FCL](https://github.com/flexible-collision-library/fcl) was forked in 2015. Since then, a large part of the code has been rewritten or removed (for the unused and untested part). The broad phase was reintroduced by [Justin Carpentier](https://github.com/jcarpent) in 2022 based on the FCL version 0.7.0. -If you use **HPP-FCL** in your projects and research papers, we would appreciate it if you'd [cite it](https://raw.githubusercontent.com/humanoid-path-planner/hpp-fcl/devel/CITATION.bib). +If you use **HPP-FCL** in your projects and research papers, we would appreciate it if you'd [cite it](https://raw.githubusercontent.com/humanoid-path-planner/hpp-fcl/devel/CITATION.bib). ## New features @@ -27,7 +27,7 @@ Compared to the original [FCL](https://github.com/flexible-collision-library/fcl - the implementation of Python bindings for easy code prototyping - the support of new geometries such as height fields, capsules, ellipsoids, etc. - enhance reliability with the fix of a myriad of bugs -- efficient computation of **contact points** and **contact patches** between objects +- efficient computation of **contact points** and **contact patches** between objects - full support of object serialization via Boost.Serialization This project is now used in many robotics frameworks such as [Pinocchio](https://github.com/stack-of-tasks/pinocchio), an open-source software that implements efficient and versatile rigid body dynamics algorithms, the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc), an open-source software for Motion and Manipulation Planning. **HPP-FCL** has also been recently used to develop [Simple](https://github.com/Simple-Robotics/Simple), a new (differentiable) and efficient simulator for robotics and beyond. From 014c1ac2dd34b14381e19004e1d71a45014d9975 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Wed, 15 May 2024 14:28:11 +0200 Subject: [PATCH 3/3] core: add missing include for recent version of Eigen >= 3.4.90 --- include/hpp/fcl/fwd.hh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/include/hpp/fcl/fwd.hh b/include/hpp/fcl/fwd.hh index 63040d2ab..1d51a4f40 100644 --- a/include/hpp/fcl/fwd.hh +++ b/include/hpp/fcl/fwd.hh @@ -2,7 +2,7 @@ // Software License Agreement (BSD License) // // Copyright (c) 2014, CNRS-LAAS -// Copyright (c) 2022, Inria +// Copyright (c) 2022-2024, Inria // Author: Florent Lamiraux // // All rights reserved. @@ -38,6 +38,7 @@ #ifndef HPP_FCL_FWD_HH #define HPP_FCL_FWD_HH +#include #include #include #include