fcl_compat.h

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/* Author: Benjamin Scholz */

#ifndef MOVEIT_COLLISION_DETECTION_FCL_COMPAT_
#define MOVEIT_COLLISION_DETECTION_FCL_COMPAT_

#include <fcl/config.h>

#define FCL_VERSION_CHECK(major, minor, patch) ((major << 16) | (minor << 8) | (patch))
#define MOVEIT_FCL_VERSION FCL_VERSION_CHECK(FCL_MAJOR_VERSION, FCL_MINOR_VERSION, FCL_PATCH_VERSION)

#if (MOVEIT_FCL_VERSION < FCL_VERSION_CHECK(0, 6, 0))
namespace fcl
{
class CollisionGeometry;
using CollisionGeometryd = fcl::CollisionGeometry;
class CollisionObject;
using CollisionObjectd = fcl::CollisionObject;
class BroadPhaseCollisionManager;
using BroadPhaseCollisionManagerd = fcl::BroadPhaseCollisionManager;
class Transform3f;
using Transform3d = fcl::Transform3f;
class Contact;
using Contactd = fcl::Contact;
class CostSource;
using CostSourced = fcl::CostSource;
class CollisionRequest;
using CollisionRequestd = fcl::CollisionRequest;
class CollisionResult;
using CollisionResultd = fcl::CollisionResult;
class DistanceRequest;
using DistanceRequestd = fcl::DistanceRequest;
class DistanceResult;
using DistanceResultd = fcl::DistanceResult;
class Plane;
using Planed = fcl::Plane;
class Sphere;
using Sphered = fcl::Sphere;
class Box;
using Boxd = fcl::Box;
class Cylinder;
using Cylinderd = fcl::Cylinder;
class Cone;
using Coned = fcl::Cone;

namespace details
{
struct sse_meta_f4;
template <typename T>
struct Vec3Data;
}  // namespace details
template <typename T>
class Vec3fX;
#if FCL_HAVE_SSE
using Vector3d = Vec3fX<details::sse_meta_f4>;
#else
using Vector3d = Vec3fX<details::Vec3Data<double> >;
#endif

class OcTree;
using OcTreed = fcl::OcTree;
class OBBRSS;
using OBBRSSd = fcl::OBBRSS;
class DynamicAABBTreeCollisionManager;
using DynamicAABBTreeCollisionManagerd = fcl::DynamicAABBTreeCollisionManager;
}  // namespace fcl
#endif
#endif