Install headers into subdirectory (#253)

* Revert "Forward port ABI compatibility workaround with OBBs to ros2 branch (#252)"

This reverts commit 3bece34.

* Install headers into subdirectory

... following the standard defined in
https://colcon.readthedocs.io/en/released/user/overriding-packages.html#install-headers-to-a-unique-include-directory

* Declare missing include dependency for a test

CMakeLists.txt

@@ -74,8 +74,6 @@ set(THIS_PACKAGE_EXPORT_DEPENDS
 # Set VERSION from package.xml
 ament_package_xml()
 
-include_directories(include)
-
 add_library(${PROJECT_NAME} SHARED
   src/aabb.cpp
   src/bodies.cpp
@@ -89,6 +87,9 @@ add_library(${PROJECT_NAME} SHARED
 )
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION} WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 target_compile_options(${PROJECT_NAME} PRIVATE ${PROJECT_COMPILE_OPTIONS})
+target_include_directories(${PROJECT_NAME}
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+           $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
 target_link_libraries(${PROJECT_NAME} fcl)
 ament_target_dependencies(${PROJECT_NAME}
   ${THIS_PACKAGE_EXPORT_DEPENDS}
@@ -117,7 +118,7 @@ install(
   RUNTIME DESTINATION bin
   INCLUDES DESTINATION include
 )
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})

include/geometric_shapes/bodies.h

@@ -242,10 +242,8 @@ class Body
   virtual void computeBoundingBox(AABB& bbox) const = 0;
 
   /** \brief Compute the oriented bounding box for the body, in its current
-   * pose. Scaling and padding are accounted for.
-   * \note This function should be pure virtual, but it can't in order to maintain ABI compatibility.
-   **/
-  void computeBoundingBox(OBB& bbox) const;
+     pose. Scaling and padding are accounted for. */
+  virtual void computeBoundingBox(OBB& bbox) const = 0;
 
   /** \brief Get a clone of this body, but one that is located at the pose \e pose */
   inline BodyPtr cloneAt(const Eigen::Isometry3d& pose) const
@@ -314,7 +312,7 @@ class Sphere : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -367,7 +365,7 @@ class Cylinder : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -430,7 +428,7 @@ class Box : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -493,7 +491,7 @@ class ConvexMesh : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 

src/bodies.cpp

@@ -136,30 +136,6 @@ bool bodies::Body::samplePointInside(random_numbers::RandomNumberGenerator& rng,
   return false;
 }
 
-void bodies::Body::computeBoundingBox(bodies::OBB& bbox) const
-{
-  // NOTE: this switch is needed only because computeBoundingBox(OBB) could not be defined virtual to keep ABI
-  // compatibility; if porting to new ROS (2) releases, this function should have no base implementation for a generic
-  // body and should be pure virtual
-  switch (this->getType())
-  {
-    case shapes::SPHERE:
-      static_cast<const bodies::Sphere*>(this)->computeBoundingBox(bbox);
-      break;
-    case shapes::CYLINDER:
-      static_cast<const bodies::Cylinder*>(this)->computeBoundingBox(bbox);
-      break;
-    case shapes::BOX:
-      static_cast<const bodies::Box*>(this)->computeBoundingBox(bbox);
-      break;
-    case shapes::MESH:
-      static_cast<const bodies::ConvexMesh*>(this)->computeBoundingBox(bbox);
-      break;
-    default:
-      throw std::runtime_error("Unknown body type: " + std::to_string(this->getType()));
-  }
-}
-
 bool bodies::Sphere::containsPoint(const Eigen::Vector3d& p, bool /* verbose */) const
 {
   return (center_ - p).squaredNorm() <= radius2_;

test/CMakeLists.txt

@@ -7,6 +7,7 @@ configure_file(resources/config.h.in "${CMAKE_CURRENT_BINARY_DIR}/resources/conf
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 ament_add_gtest(test_basics test_basics.cpp)
+target_link_libraries(test_basics ${PROJECT_NAME})
 ament_target_dependencies(test_basics Eigen3)
 
 ament_add_gtest(test_point_inclusion test_point_inclusion.cpp)