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replace much boost usage with C++11 equivalents #104

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Mar 24, 2016
Merged

replace much boost usage with C++11 equivalents #104

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9703a24
replace much boost usage with C++11 equivalents
mamoll Mar 23, 2016
5368a47
define math constants in a separate file. specify C++11 compilation m…
mamoll Mar 23, 2016
65b948e
bump minor version due to API/ABI change, update pkg-config file
mamoll Mar 23, 2016
5b82c3b
update Travis CI settings to use more modern compilers, put back Boos…
mamoll Mar 24, 2016
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3 changes: 3 additions & 0 deletions CMakeModules/CompilerSettings.cmake
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@@ -1,3 +1,6 @@
# force C++11 mode
add_definitions(-std=c++11)
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This causes zillions of warnings on Windows -- that should only be added for gcc & clang.


if(CMAKE_COMPILER_IS_GNUCXX)
add_definitions(-W -Wall -g -Wextra -Wno-missing-field-initializers -Wno-unused-parameter)
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I think you could just move the -std=c++11 here also.

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👍

endif(CMAKE_COMPILER_IS_GNUCXX)
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6 changes: 3 additions & 3 deletions include/fcl/BV/RSS.h
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Expand Up @@ -38,10 +38,10 @@
#ifndef FCL_RSS_H
#define FCL_RSS_H


#include <math.h>
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nitpick: I would prefer to use <cmath> since this is a C++ standard library header while <math.h> is a header defined by the C standard library.

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👍 for #include <cmath>. Shouldn't use any C headers.

#include "fcl/math/vec_3f.h"
#include "fcl/math/matrix_3f.h"
#include <boost/math/constants/constants.hpp>


namespace fcl
{
Expand Down Expand Up @@ -111,7 +111,7 @@ class RSS
/// @brief Volume of the RSS
inline FCL_REAL volume() const
{
return (l[0] * l[1] * 2 * r + 4 * boost::math::constants::pi<FCL_REAL>() * r * r * r);
return (l[0] * l[1] * 2 * r + 4 * M_PI * r * r * r);
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Two problems with M_PI:

  • it is a macro and hence untyped; needs to have type FCL_REAL
  • it is non-standard (it is a Posix feature, not a C++11 one)

Since "pi" is the only boost math constant FCL used, I think the simplest thing would be to define an fcl::kPi or whatever that could be defined in a common header with something like

constexpr FCL_REAL kPi=FCL_REAL(/*lots of digits of pi copied from a reliable source*/);

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M_PI caused compilation failures in Visual Studio 2015.

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M_PI works with visual studio if you define _USE_MATH_DEFINES before including cmath

#ifndef _USE_MATH_DEFINES
# define _USE_MATH_DEFINES
#endif

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M_PI works with visual studio if you define _USE_MATH_DEFINES

Thanks -- I know about that but it's a non-standard hack so I think Mark's fcl::constants::pi idea is better.

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sounds good

}

/// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
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6 changes: 3 additions & 3 deletions include/fcl/BVH/BVH_model.h
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Expand Up @@ -44,7 +44,7 @@
#include "fcl/BVH/BV_splitter.h"
#include "fcl/BVH/BV_fitter.h"
#include <vector>
#include <boost/shared_ptr.hpp>
#include <memory>
#include <boost/noncopyable.hpp>

namespace fcl
Expand Down Expand Up @@ -268,10 +268,10 @@ class BVHModel : public CollisionGeometry,
BVHBuildState build_state;

/// @brief Split rule to split one BV node into two children
boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;
std::shared_ptr<BVSplitterBase<BV> > bv_splitter;

/// @brief Fitting rule to fit a BV node to a set of geometry primitives
boost::shared_ptr<BVFitterBase<BV> > bv_fitter;
std::shared_ptr<BVFitterBase<BV> > bv_fitter;
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this is a change to the public API, should we bump the major version number?

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As far as I know, we might don't need to bump the major version number because FCL is still in 0.y.z.

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good point, we should at least bump the minor version then



private:
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27 changes: 13 additions & 14 deletions include/fcl/articulated_model/joint.h
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Expand Up @@ -45,8 +45,7 @@
#include <vector>
#include <map>
#include <limits>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <memory>

namespace fcl
{
Expand All @@ -61,7 +60,7 @@ class Joint
{
public:

Joint(const boost::shared_ptr<Link>& link_parent, const boost::shared_ptr<Link>& link_child,
Joint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name);

Expand All @@ -76,14 +75,14 @@ class Joint

virtual std::size_t getNumDofs() const = 0;

boost::shared_ptr<JointConfig> getJointConfig() const;
void setJointConfig(const boost::shared_ptr<JointConfig>& joint_cfg);
std::shared_ptr<JointConfig> getJointConfig() const;
void setJointConfig(const std::shared_ptr<JointConfig>& joint_cfg);

boost::shared_ptr<Link> getParentLink() const;
boost::shared_ptr<Link> getChildLink() const;
std::shared_ptr<Link> getParentLink() const;
std::shared_ptr<Link> getChildLink() const;

void setParentLink(const boost::shared_ptr<Link>& link);
void setChildLink(const boost::shared_ptr<Link>& link);
void setParentLink(const std::shared_ptr<Link>& link);
void setChildLink(const std::shared_ptr<Link>& link);

JointType getJointType() const;

Expand All @@ -93,13 +92,13 @@ class Joint
protected:

/// links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency
boost::weak_ptr<Link> link_parent_, link_child_;
std::weak_ptr<Link> link_parent_, link_child_;

JointType type_;

std::string name_;

boost::shared_ptr<JointConfig> joint_cfg_;
std::shared_ptr<JointConfig> joint_cfg_;

Transform3f transform_to_parent_;
};
Expand All @@ -108,7 +107,7 @@ class Joint
class PrismaticJoint : public Joint
{
public:
PrismaticJoint(const boost::shared_ptr<Link>& link_parent, const boost::shared_ptr<Link>& link_child,
PrismaticJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name,
const Vec3f& axis);
Expand All @@ -128,7 +127,7 @@ class PrismaticJoint : public Joint
class RevoluteJoint : public Joint
{
public:
RevoluteJoint(const boost::shared_ptr<Link>& link_parent, const boost::shared_ptr<Link>& link_child,
RevoluteJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name,
const Vec3f& axis);
Expand All @@ -150,7 +149,7 @@ class RevoluteJoint : public Joint
class BallEulerJoint : public Joint
{
public:
BallEulerJoint(const boost::shared_ptr<Link>& link_parent, const boost::shared_ptr<Link>& link_child,
BallEulerJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name);

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9 changes: 4 additions & 5 deletions include/fcl/articulated_model/joint_config.h
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Expand Up @@ -39,8 +39,7 @@
#define FCL_ARTICULATED_MODEL_JOINT_CONFIG_H

#include "fcl/data_types.h"
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <memory>
#include <vector>

namespace fcl
Expand All @@ -55,7 +54,7 @@ class JointConfig

JointConfig(const JointConfig& joint_cfg);

JointConfig(const boost::shared_ptr<Joint>& joint,
JointConfig(const std::shared_ptr<Joint>& joint,
FCL_REAL default_value = 0,
FCL_REAL default_value_min = 0,
FCL_REAL default_value_max = 0);
Expand Down Expand Up @@ -84,10 +83,10 @@ class JointConfig

FCL_REAL& getLimitMax(std::size_t i);

boost::shared_ptr<Joint> getJoint() const;
std::shared_ptr<Joint> getJoint() const;

private:
boost::weak_ptr<Joint> joint_;
std::weak_ptr<Joint> joint_;

std::vector<FCL_REAL> values_;
std::vector<FCL_REAL> limits_min_;
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14 changes: 7 additions & 7 deletions include/fcl/articulated_model/link.h
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Expand Up @@ -41,7 +41,7 @@
#include "fcl/data_types.h"
#include "fcl/collision_object.h"

#include <boost/shared_ptr.hpp>
#include <memory>
#include <vector>

namespace fcl
Expand All @@ -58,11 +58,11 @@ class Link

void setName(const std::string& name);

void addChildJoint(const boost::shared_ptr<Joint>& joint);
void addChildJoint(const std::shared_ptr<Joint>& joint);

void setParentJoint(const boost::shared_ptr<Joint>& joint);
void setParentJoint(const std::shared_ptr<Joint>& joint);

void addObject(const boost::shared_ptr<CollisionObject>& object);
void addObject(const std::shared_ptr<CollisionObject>& object);

std::size_t getNumChildJoints() const;

Expand All @@ -71,11 +71,11 @@ class Link
protected:
std::string name_;

std::vector<boost::shared_ptr<CollisionObject> > objects_;
std::vector<std::shared_ptr<CollisionObject> > objects_;

std::vector<boost::shared_ptr<Joint> > children_joints_;
std::vector<std::shared_ptr<Joint> > children_joints_;

boost::shared_ptr<Joint> parent_joint_;
std::shared_ptr<Joint> parent_joint_;
};

}
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22 changes: 11 additions & 11 deletions include/fcl/articulated_model/model.h
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Expand Up @@ -42,7 +42,7 @@
#include "fcl/articulated_model/link.h"

#include "fcl/data_types.h"
#include <boost/shared_ptr.hpp>
#include <memory>

#include <map>
#include <stdexcept>
Expand All @@ -64,9 +64,9 @@ class Model

const std::string& getName() const;

void addLink(const boost::shared_ptr<Link>& link);
void addLink(const std::shared_ptr<Link>& link);

void addJoint(const boost::shared_ptr<Joint>& joint);
void addJoint(const std::shared_ptr<Joint>& joint);

void initRoot(const std::map<std::string, std::string>& link_parent_tree);

Expand All @@ -78,16 +78,16 @@ class Model

std::size_t getNumJoints() const;

boost::shared_ptr<Link> getRoot() const;
boost::shared_ptr<Link> getLink(const std::string& name) const;
boost::shared_ptr<Joint> getJoint(const std::string& name) const;
std::shared_ptr<Link> getRoot() const;
std::shared_ptr<Link> getLink(const std::string& name) const;
std::shared_ptr<Joint> getJoint(const std::string& name) const;

std::vector<boost::shared_ptr<Link> > getLinks() const;
std::vector<boost::shared_ptr<Joint> > getJoints() const;
std::vector<std::shared_ptr<Link> > getLinks() const;
std::vector<std::shared_ptr<Joint> > getJoints() const;
protected:
boost::shared_ptr<Link> root_link_;
std::map<std::string, boost::shared_ptr<Link> > links_;
std::map<std::string, boost::shared_ptr<Joint> > joints_;
std::shared_ptr<Link> root_link_;
std::map<std::string, std::shared_ptr<Link> > links_;
std::map<std::string, std::shared_ptr<Joint> > joints_;

std::string name_;

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9 changes: 4 additions & 5 deletions include/fcl/articulated_model/model_config.h
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Expand Up @@ -42,8 +42,7 @@
#include "fcl/articulated_model/joint_config.h"
#include <string>
#include <map>
#include <boost/weak_ptr.hpp>
#include <boost/shared_ptr.hpp>
#include <memory>

namespace fcl
{
Expand All @@ -55,13 +54,13 @@ class ModelConfig

ModelConfig(const ModelConfig& model_cfg);

ModelConfig(std::map<std::string, boost::shared_ptr<Joint> > joints_map);
ModelConfig(std::map<std::string, std::shared_ptr<Joint> > joints_map);

JointConfig getJointConfigByJointName(const std::string& joint_name) const;
JointConfig& getJointConfigByJointName(const std::string& joint_name);

JointConfig getJointConfigByJoint(boost::shared_ptr<Joint> joint) const;
JointConfig& getJointConfigByJoint(boost::shared_ptr<Joint> joint);
JointConfig getJointConfigByJoint(std::shared_ptr<Joint> joint) const;
JointConfig& getJointConfigByJoint(std::shared_ptr<Joint> joint);

std::map<std::string, JointConfig> getJointCfgsMap() const
{ return joint_cfgs_map_; }
Expand Down
10 changes: 5 additions & 5 deletions include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
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Expand Up @@ -43,8 +43,8 @@
#include "fcl/broadphase/hierarchy_tree.h"
#include "fcl/BV/BV.h"
#include "fcl/shape/geometric_shapes_utility.h"
#include <boost/unordered_map.hpp>
#include <boost/bind.hpp>
#include <unordered_map>
#include <functional>
#include <limits>


Expand All @@ -55,7 +55,7 @@ class DynamicAABBTreeCollisionManager : public BroadPhaseCollisionManager
{
public:
typedef NodeBase<AABB> DynamicAABBNode;
typedef boost::unordered_map<CollisionObject*, DynamicAABBNode*> DynamicAABBTable;
typedef std::unordered_map<CollisionObject*, DynamicAABBNode*> DynamicAABBTable;

int max_tree_nonbalanced_level;
int tree_incremental_balance_pass;
Expand Down Expand Up @@ -114,7 +114,7 @@ class DynamicAABBTreeCollisionManager : public BroadPhaseCollisionManager
void getObjects(std::vector<CollisionObject*>& objs) const
{
objs.resize(this->size());
std::transform(table.begin(), table.end(), objs.begin(), boost::bind(&DynamicAABBTable::value_type::first, _1));
std::transform(table.begin(), table.end(), objs.begin(), std::bind(&DynamicAABBTable::value_type::first, std::placeholders::_1));
}

/// @brief perform collision test between one object and all the objects belonging to the manager
Expand Down Expand Up @@ -152,7 +152,7 @@ class DynamicAABBTreeCollisionManager : public BroadPhaseCollisionManager

private:
HierarchyTree<AABB> dtree;
boost::unordered_map<CollisionObject*, DynamicAABBNode*> table;
std::unordered_map<CollisionObject*, DynamicAABBNode*> table;

bool setup_;

Expand Down
10 changes: 5 additions & 5 deletions include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
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Expand Up @@ -42,8 +42,8 @@
#include "fcl/broadphase/hierarchy_tree.h"
#include "fcl/BV/BV.h"
#include "fcl/shape/geometric_shapes_utility.h"
#include <boost/unordered_map.hpp>
#include <boost/bind.hpp>
#include <unordered_map>
#include <functional>
#include <limits>


Expand All @@ -54,7 +54,7 @@ class DynamicAABBTreeCollisionManager_Array : public BroadPhaseCollisionManager
{
public:
typedef implementation_array::NodeBase<AABB> DynamicAABBNode;
typedef boost::unordered_map<CollisionObject*, size_t> DynamicAABBTable;
typedef std::unordered_map<CollisionObject*, size_t> DynamicAABBTable;

int max_tree_nonbalanced_level;
int tree_incremental_balance_pass;
Expand Down Expand Up @@ -112,7 +112,7 @@ class DynamicAABBTreeCollisionManager_Array : public BroadPhaseCollisionManager
void getObjects(std::vector<CollisionObject*>& objs) const
{
objs.resize(this->size());
std::transform(table.begin(), table.end(), objs.begin(), boost::bind(&DynamicAABBTable::value_type::first, _1));
std::transform(table.begin(), table.end(), objs.begin(), std::bind(&DynamicAABBTable::value_type::first, std::placeholders::_1));
}

/// @brief perform collision test between one object and all the objects belonging to the manager
Expand Down Expand Up @@ -150,7 +150,7 @@ class DynamicAABBTreeCollisionManager_Array : public BroadPhaseCollisionManager

private:
implementation_array::HierarchyTree<AABB> dtree;
boost::unordered_map<CollisionObject*, size_t> table;
std::unordered_map<CollisionObject*, size_t> table;

bool setup_;

Expand Down
8 changes: 7 additions & 1 deletion include/fcl/broadphase/broadphase_interval_tree.h
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Expand Up @@ -109,9 +109,10 @@ class IntervalTreeCollisionManager : public BroadPhaseCollisionManager
/// @brief the number of objects managed by the manager
inline size_t size() const { return endpoints[0].size() / 2; }

protected:


protected:

/// @brief SAP end point
struct EndPoint
{
Expand All @@ -123,6 +124,11 @@ class IntervalTreeCollisionManager : public BroadPhaseCollisionManager

/// @brief tag for whether it is a lower bound or higher bound of an interval, 0 for lo, and 1 for hi
char minmax;

bool operator<(const EndPoint &p) const
{
return value < p.value;
}
};

/// @brief Extention interval tree's interval to SAP interval, adding more information
Expand Down
4 changes: 2 additions & 2 deletions include/fcl/broadphase/hash.h
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Expand Up @@ -42,7 +42,7 @@
#include <set>
#include <vector>
#include <list>
#include <boost/unordered_map.hpp>
#include <unordered_map>

namespace fcl
{
Expand Down Expand Up @@ -123,7 +123,7 @@ class SimpleHashTable


template<typename U, typename V>
class unordered_map_hash_table : public boost::unordered_map<U, V> {};
class unordered_map_hash_table : public std::unordered_map<U, V> {};

/// @brief A hash table implemented using unordered_map
template<typename Key, typename Data, typename HashFnc, template<typename, typename> class TableT = unordered_map_hash_table>
Expand Down
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