Use Eigen for math operations (#150)

.appveyor.yml

@@ -31,10 +31,20 @@ before_build:
             cmake --build . --target install --config %Configuration% &&
             cd ..
          ) else (echo Using cached libccd)
+  - cmd: if not exist C:\"Program Files"\Eigen\include\eigen3\Eigen\Core (
+            curl -L -o eigen-eigen-dc6cfdf9bcec.tar.gz https://bitbucket.org/eigen/eigen/get/3.2.9.tar.gz &&
+            cmake -E tar zxf eigen-eigen-dc6cfdf9bcec.tar.gz &&
+            cd eigen-eigen-dc6cfdf9bcec &&
+            mkdir build &&
+            cd build &&
+            cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% .. &&
+            cmake --build . --target install --config %Configuration% &&
+            cd ..\..
+         ) else (echo Using cached Eigen3)
   - cmd: set
   - cmd: mkdir build
   - cmd: cd build
-  - cmd: cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIRS="C:\Program Files\libccd\include" -DCCD_LIBRARY="C:\Program Files\libccd\lib\ccd.lib" ..
+  - cmd: cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIRS="C:\Program Files\libccd\include" -DCCD_LIBRARY="C:\Program Files\libccd\lib\ccd.lib" -DEIGEN3_INCLUDE_DIR="C:\Program Files\Eigen\include\eigen3" ..
 
 build:
   project: C:\projects\fcl\build\fcl.sln

CHANGELOG.md

@@ -2,6 +2,7 @@
 
 ### FCL 0.6.0 (2016-XX-XX)
 
+* Switched to Eigen for math operations: [#150](https://github.com/flexible-collision-library/fcl/pull/150), [#96](https://github.com/flexible-collision-library/fcl/issues/96)
 * Added missing copyright headers:  [#149](https://github.com/flexible-collision-library/fcl/pull/149)
 * Removed dependency on boost: [#148](https://github.com/flexible-collision-library/fcl/pull/148), [#147](https://github.com/flexible-collision-library/fcl/pull/147), [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#140](https://github.com/flexible-collision-library/fcl/pull/140)
 

CMakeLists.txt

@@ -9,6 +9,8 @@ endif()
 
 project(fcl CXX C)
 
+option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+
 # set the default build type
 if (NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
@@ -64,9 +66,43 @@ if(FCL_COVERALLS)
   coveralls_turn_on_coverage()
 endif()
 
-# Find Octomap (optional)
 find_package(PkgConfig QUIET)
 
+# Find Eigen3
+find_package(Eigen3 3.0.5 QUIET)
+if(EIGEN3_FOUND)
+  set(FCL_HAVE_EIGEN TRUE)
+  include_directories(${EIGEN3_INCLUDE_DIR})
+else()
+  message(SEND_ERROR "EIGEN3 (>= 3.0.5) is required by FCL")
+  set(FCL_HAVE_EIGEN FALSE)
+endif()
+
+# Find libccd
+if(PKG_CONFIG_FOUND)
+  pkg_check_modules(CCD ccd)
+  # check to see if the pkg is installed under the libccd name
+  if(NOT CCD_FOUND)
+    pkg_check_modules(CCD libccd)
+  endif()
+endif()
+
+if(NOT CCD_FOUND)
+    # if pkgconfig is not installed, then fall back on more fragile detection
+    # of ccd
+    find_path(CCD_INCLUDE_DIRS ccd/ccd.h)
+    find_library(CCD_LIBRARY
+        ${CMAKE_SHARED_LIBRARY_PREFIX}ccd${CMAKE_SHARED_LIBRARY_SUFFIX})
+    if(CCD_INCLUDE_DIRS AND CCD_LIBRARY)
+        set(CCD_LIBRARIES "${CCD_LIBRARY}")
+    else()
+        message(FATAL_ERROR "Libccd is required by FCL")
+    endif()
+endif()
+include_directories(${CCD_INCLUDE_DIRS})
+link_directories(${CCD_LIBRARY_DIRS})
+
+# Find Octomap (optional)
 option(FCL_WITH_OCTOMAP "octomap library support" ON)
 set(FCL_HAVE_OCTOMAP 0)
 if(FCL_WITH_OCTOMAP)
@@ -116,29 +152,6 @@ endif()
 include_directories(BEFORE "include")
 include_directories(BEFORE "${CMAKE_CURRENT_BINARY_DIR}/include")
 
-if(PKG_CONFIG_FOUND)
-  pkg_check_modules(CCD ccd)
-  # check to see if the pkg is installed under the libccd name
-  if(NOT CCD_FOUND)
-    pkg_check_modules(CCD libccd)
-  endif()
-endif()
-
-if(NOT CCD_FOUND)
-    # if pkgconfig is not installed, then fall back on more fragile detection
-    # of ccd
-    find_path(CCD_INCLUDE_DIRS ccd/ccd.h)
-    find_library(CCD_LIBRARY
-        ${CMAKE_SHARED_LIBRARY_PREFIX}ccd${CMAKE_SHARED_LIBRARY_SUFFIX})
-    if(CCD_INCLUDE_DIRS AND CCD_LIBRARY)
-        set(CCD_LIBRARIES "${CCD_LIBRARY}")
-    else()
-        message(FATAL_ERROR "Libccd is required by FCL")
-    endif()
-endif()
-include_directories(${CCD_INCLUDE_DIRS})
-link_directories(${CCD_LIBRARY_DIRS})
-
 add_subdirectory(include/fcl)
 add_subdirectory(src)
 

CMakeModules/CompilerSettings.cmake

@@ -1,17 +1,28 @@
-# force C++11 mode
-add_definitions()
-
+# GCC
 if(CMAKE_COMPILER_IS_GNUCXX)
     add_definitions(-std=c++11 -W -Wall -g -Wextra -Wno-missing-field-initializers -Wno-unused-parameter)
+    if(FCL_TREAT_WARNINGS_AS_ERRORS)
+        add_definitions(-Werror)
+    endif(FCL_TREAT_WARNINGS_AS_ERRORS)
 endif(CMAKE_COMPILER_IS_GNUCXX)
+
+# Clang
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
     add_definitions(-std=c++11 -W -Wall -Wextra -Wno-missing-field-initializers -Wno-unused-parameter -Wno-delete-non-virtual-dtor -Wno-overloaded-virtual -Wno-unknown-pragmas -Wno-deprecated-register)
+    if(FCL_TREAT_WARNINGS_AS_ERRORS)
+        add_definitions(-Werror)
+    endif(FCL_TREAT_WARNINGS_AS_ERRORS)
 endif()
 
+# Visual Studio
 if(MSVC OR MSVC90 OR MSVC10)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /W1")
+    if(FCL_TREAT_WARNINGS_AS_ERRORS)
+        add_definitions(/WX)
+    endif(FCL_TREAT_WARNINGS_AS_ERRORS)
 endif(MSVC OR MSVC90 OR MSVC10)
 
+# Intel
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Intel")
     set(IS_ICPC 1)
 else()
@@ -26,8 +37,12 @@ if(IS_ICPC)
     set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g" CACHE STRING
     "Flags used by the C++ compiler during debug builds." FORCE)
     set(CMAKE_LINKER "xild" CACHE STRING "Intel linker" FORCE)
+    if(FCL_TREAT_WARNINGS_AS_ERRORS)
+        add_definitions(-Werror)
+    endif(FCL_TREAT_WARNINGS_AS_ERRORS)
 endif(IS_ICPC)
 
+# XL
 if(CMAKE_CXX_COMPILER_ID STREQUAL "XL")
     set(IS_XLC 1)
 else()
@@ -39,8 +54,12 @@ if(IS_XLC)
     set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -q64")
 endif(IS_XLC)
 
+# MinGW
 if((CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) AND NOT MINGW)
     add_definitions(-fPIC)
+    if(FCL_TREAT_WARNINGS_AS_ERRORS)
+        add_definitions(-Werror)
+    endif(FCL_TREAT_WARNINGS_AS_ERRORS)
 endif((CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) AND NOT MINGW)
 
 # Set rpath http://www.paraview.org/Wiki/CMake_RPATH_handling

CMakeModules/FindEigen3.cmake

@@ -0,0 +1,90 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+#
+# This module reads hints about search locations from 
+# the following enviroment variables:
+#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      HINTS
+      ENV EIGEN3_ROOT 
+      ENV EIGEN3_ROOT_DIR
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
+

INSTALL

@@ -2,10 +2,11 @@
 Dependencies:
 ============
 
+ - Eigen (available at http://eigen.tuxfamily.org/)
  - libccd (available at http://libccd.danfis.cz/)
  - octomap (optional dependency, available at http://octomap.github.com)
 
-libccd is the only mandatory dependency. If octomap is not found,
+Eigen and libccd are mandatory dependencies. If octomap is not found,
 collision detection with octrees will not be possible.
 
 For installation, CMake will also be needed (http://cmake.org).

README.md

@@ -31,7 +31,7 @@ FCL has the following features
 
 ## Installation
 
-Before compiling FCL, please make libccd (for collision checking between convex objects and is available here https://github.com/danfis/libccd) is installed. For libccd, make sure to compile from github version instead of the zip file from the webpage, because one bug fixing is not included in the zipped version.
+Before compiling FCL, please make sure Eigen and libccd (for collision checking between convex objects and is available here https://github.com/danfis/libccd) are installed. For libccd, make sure to compile from github version instead of the zip file from the webpage, because one bug fixing is not included in the zipped version.
 
 Some optional libraries need to be installed for some optional capability of FCL. For octree collision, please install the octomap library from http://octomap.github.com.
 

ci/install_linux.sh

@@ -1,6 +1,7 @@
 sudo add-apt-repository --yes ppa:libccd-debs/ppa
 sudo apt-get -qq update
 
+sudo apt-get -qq --yes --force-yes install libeigen3-dev
 sudo apt-get -qq --yes --force-yes install libccd-dev
 
 # Octomap

ci/install_osx.sh

@@ -1,5 +1,8 @@
 brew tap homebrew/science
 
+brew update > /dev/null
+
 brew install git
 brew install cmake
+brew install eigen
 brew install libccd