Imported upstream version '2.3.0' of 'upstream'

.github/workflows/macos-linux-conda.yml

@@ -13,7 +13,7 @@ jobs:
         os: ["ubuntu-latest", "macos-latest"]
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
 
@@ -24,6 +24,13 @@ jobs:
         environment-file: .github/workflows/conda/conda-env.yml
         python-version: 3.7
 
+    - name: Install compilers on OSX
+      if: contains(matrix.os, 'macos')
+      shell: bash -l {0}
+      run: |
+        conda activate hpp-fcl
+        conda install compilers=1.4.2 -c conda-forge
+
     - name: Install cmake and update conda
       shell: bash -l {0}
       run: |
@@ -35,6 +42,7 @@ jobs:
       shell: bash -l {0}
       run: |
         conda activate hpp-fcl
+        conda list
         echo $CONDA_PREFIX
 
         mkdir build

.github/workflows/ros_ci.yml

@@ -14,23 +14,21 @@ jobs:
           - {ROS_DISTRO: melodic, PRERELEASE: false}
           - {ROS_DISTRO: noetic}
           - {ROS_DISTRO: foxy}
-          - {ROS_DISTRO: galactic}
           - {ROS_DISTRO: rolling}
-          - {ROS_DISTRO: humble}
     env:
       CCACHE_DIR: /github/home/.ccache # Enable ccache
       BUILDER: colcon
       PRERELEASE: true
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
+      - uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@master'
+      - uses: 'ros-industrial/industrial_ci@6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6'
         env: ${{ matrix.env }}

.github/workflows/windows-conda-clang.yml

@@ -15,7 +15,7 @@ jobs:
             compiler: clang-cl
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
     - uses: goanpeca/setup-miniconda@v1

.github/workflows/windows-conda-v142.yml

@@ -14,7 +14,7 @@ jobs:
             os: windows-2019
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
     - uses: goanpeca/setup-miniconda@v1

.pre-commit-config.yaml

@@ -1,6 +1,8 @@
+ci:
+    autoupdate_branch: 'devel'
 repos:
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.4
+    rev: v15.0.7
     hooks:
     -   id: clang-format
         args: ['--style={BasedOnStyle: Google, SortIncludes: false}']
@@ -9,6 +11,6 @@ repos:
     hooks:
     -   id: trailing-whitespace
 -   repo: https://github.com/psf/black
-    rev: 22.10.0
+    rev: 23.1.0
     hooks:
     -   id: black

CMakeLists.txt

@@ -1,7 +1,7 @@
 #
 # Software License Agreement (BSD License)
 #
-#  Copyright (c) 2014-2022 CNRS-LAAS, INRIA
+#  Copyright (c) 2014-2023 CNRS-LAAS, INRIA
 #  Author: Florent Lamiraux, Joseph Mirabel
 #  All rights reserved.
 #
@@ -267,7 +267,9 @@ add_subdirectory(src)
 if (BUILD_PYTHON_INTERFACE)
   add_subdirectory(python)
 endif ()
-add_subdirectory(test)
+if(BUILD_TESTING)
+  add_subdirectory(test)
+endif(BUILD_TESTING)
 
 pkg_config_append_libs("hpp-fcl")
 IF(HPP_FCL_HAS_OCTOMAP)

INSTALL

@@ -3,7 +3,8 @@ Dependencies:
 ============
 
  - Eigen
- - Boost (thread, date_time, unit_test_framework, filesystem)
+ - Boost (thread, date_time, filesystem)
+ - assimp
  - octomap (optional dependency, available at http://octomap.github.com)
  - Qhull (optional dependency, available at http://www.qhull.org)
 
@@ -12,6 +13,12 @@ collision detection with octrees will not be possible.
 
 For installation, CMake will also be needed (http://cmake.org).
 
+Test dependencies:
+=================
+
+When building tests (BUILD_TESTING=ON), additional dependencies are required:
+  - Boost (unit_test_framework, timer)
+
 Install:
 =======
 

README.md

@@ -3,25 +3,37 @@ HPP-FCL — An extension of the Flexible Collision Library
 
 <p align="center">
   <a href="https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/commits/master/"><img src="https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/badges/master/pipeline.svg" alt="Pipeline status"/></a>
+  <a href="https://gepettoweb.laas.fr/hpp/hpp-fcl/doxygen-html/index.html"><img src="https://img.shields.io/badge/docs-online-brightgreen" alt="Documentation"/></a>
   <a href="http://projects.laas.fr/gepetto/doc/humanoid-path-planner/hpp-fcl/master/coverage/"><img src="https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/badges/master/coverage.svg?job=doc-coverage" alt="Coverage report"/></a>
   <a href="https://anaconda.org/conda-forge/hpp-fcl"><img src="https://img.shields.io/conda/dn/conda-forge/hpp-fcl.svg" alt="Conda Downloads"/></a>
   <a href="https://anaconda.org/conda-forge/hpp-fcl"><img src="https://img.shields.io/conda/vn/conda-forge/hpp-fcl.svg" alt="Conda Version"/></a>
   <a href="https://badge.fury.io/py/hpp-fcl"><img src="https://badge.fury.io/py/hpp-fcl.svg" alt="PyPI version"></a>
 </p>
 
-[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 part).
+[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 broadphase was reintroduced by J. Carpentier in 2022 based on the FCL version 0.7.0.
 
+## New features
+
 Compared to the original [FCL](https://github.com/flexible-collision-library/fcl) library, the main new features are:
-- a dedicated implementation of the GJK algorithm (we do not rely anymore on [libccd](https://github.com/danfis/libccd))
-- the use of a safety margin when detecting collision
+- a dedicated and efficient implementation of the GJK algorithm (we do not rely anymore on [libccd](https://github.com/danfis/libccd))
+- the support of safety margins for collision detection
 - an accelerated version of Collision Detection *à la Nesterov* which leads to increased performances (up to a factor 2). More details are available in this [paper](https://hal.archives-ouvertes.fr/hal-03662157/)
 - the computation of a lower bound of the distance between two objects when collision checking is performed and no collision is found
 - the implementation of Python bindings for easy code prototyping
+- the support of height fields, capsule shapes, etc.
 - the fix of various bugs
 
 This project is now used in many robotics frameworks such as [Pinocchio](https://github.com/stack-of-tasks/pinocchio), an open-source software which implements efficient and versatile rigid body dynamics algorithms and the [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc), an open-source software for Motion and Manipulation Planning.
 
+## Performances
+
+Unlike the original FCL library, HPP-FCL implements the well-established GJK algorithm and [its variants](https://hal.archives-ouvertes.fr/hal-03662157/) for collision detection and distance computation. These implementations lead to state-of-the-art performances, as depicted by the figure below. In particular, you can observe that GJK-based approaches largely outperform solutions based on classic optimization solvers (e.g., QP solver like [ProxQP](https://github.com/Simple-Robotics/proxsuite)), notably for large geometries composed of tens or hundred of vertices.
+
+<p align="center">
+  <img src="./doc/images/hpp-fcl-performances.jpg" width="600" alt="HPP-FCL performances" align="center"/>
+</p>
+
 ## Acknowledgments
 
 The development of **HPP-FCL** is actively supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr), the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr) and, to some extend, [Eureka Robotics](https://eurekarobotics.com/).

cmake/.docs/cmake.py

@@ -188,7 +188,6 @@ def _cmake_object_inventory(env, document, line, objtype, targetid):
 
 
 class CMakeTransform(Transform):
-
     # Run this transform early since we insert nodes we want
     # treated as if they were written in the documents.
     default_priority = 210
@@ -281,7 +280,6 @@ def add_target_and_index(self, name, sig, signode):
 
 
 class CMakeXRefRole(XRefRole):
-
     # See sphinx.util.nodes.explicit_title_re; \x00 escapes '<'.
     _re = re.compile(r"^(.+?)(\s*)(?<!\x00)<(.*?)>$", re.DOTALL)
     _re_sub = re.compile(r"^([^()\s]+)\s*\(([^()]*)\)$", re.DOTALL)
@@ -318,7 +316,6 @@ def __call__(self, typ, rawtext, text, *args, **keys):
 
 
 class CMakeXRefTransform(Transform):
-
     # Run this transform early since we insert nodes we want
     # treated as if they were written in the documents, but
     # after the sphinx (210) and docutils (220) substitutions.

cmake/.docs/conf.py

@@ -49,7 +49,6 @@
 
 
 class IfMode(Directive):
-
     has_content = True
     required_arguments = 1
     optional_arguments = 0

cmake/.pre-commit-config.yaml

@@ -5,7 +5,7 @@ repos:
     -  id: check-useless-excludes
     -  id: check-hooks-apply
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.4
+    rev: v15.0.7
     hooks:
     -   id: clang-format
         args: [--style=Google]
@@ -25,7 +25,7 @@ repos:
     -   id: mixed-line-ending
     -   id: trailing-whitespace
 -   repo: https://github.com/psf/black
-    rev: 22.10.0
+    rev: 23.1.0
     hooks:
     -   id: black
 -   repo: https://github.com/PyCQA/flake8

cmake/base.cmake

@@ -164,6 +164,8 @@ foreach(VARIABLE ${REQUIRED_VARIABLES})
   endif(NOT DEFINED ${VARIABLE})
 endforeach(VARIABLE)
 
+message(STATUS "Configuring \"${PROJECT_NAME}\" (${PROJECT_URL})")
+
 # If the project version number is not set, compute it automatically.
 if(NOT DEFINED PROJECT_VERSION)
   version_compute()

cmake/cython/setup.in.py

@@ -177,7 +177,7 @@ def GenExtension(name):
 
 setup(
     name="@CYTHON_BINDINGS_PACKAGE_NAME@",
-    version="@CYTHON_BINDINGS_VERSION@-{}".format(version_hash),
+    version="@CYTHON_BINDINGS_VERSION@+{}".format(version_hash),
     ext_modules=extensions,
     packages=packages,
     package_data=package_data,