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add support for fcl 0.6 #1156
The (still unreleased) fcl 0.6 changed paths to relevant headers as well as the name of many types.
This patch adds the header fcl_compat.h to check for the fcl version and include fcl headers accordingly.
The other way around might be the better choice for now, but the old type names are still in use in the new versions (as templates), so the alias trick only works this way around.
For this a lot of code from @Levi-Armstrong was used, who already created a branch with support for fcl 0.6 but without support for fcl 0.5: https://github.com/Levi-Armstrong/moveit/tree/newFCL
A third option, besides aliasing old types to new or new types to old types, is to using typedefs that are not in the
As long as we agree on how to handle the aliases, this is a great contribution. .
v4hn left a comment
I asked @2scholz to implement it the way he did and we discussed quite a bit while he worked on it.
I believe it would be better to merge this only after the FCL maintainers pushed a release tag to their repository. That way we can refer to their officially released API for the way we use it here.
However, if they don't manage to do this reasonably soon, I'm also happy with merging it right away.
rhaschke left a comment
Including all headers in