Renamming the library to Coal
#596
Conversation
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Should wait for #598 to be merged. |
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For ROS, we may need to make a set of fresh releases to avoid breaking existing packages (and it'll take some time to get dialed in during which any updated downstream projects may fail). Ping me when it's merged and I can get started on the weekend(s) |
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@jcarpent One more thought - would you be open to us first fixing all the warnings before renaming so we can stop the email flood for "unstable" builds for the then no-longer-releasable hpp-fcl library? |
Yes, sure. @lmontaut will integrate your change into the renamed lib. |
Those alone can require quite significant work. I would be in favor of providing an hpp-fcl CMake package, hpp/fcl include dir, and hppfcl python module which would raise some warning when used, but then redirect / symlink / alias to coal, and automatically enable I think we should be able to least configure/build/test pinocchio in its current form without requiring any change. |
We keep the old typedefs for backward compatibility
Enable jrl-cmakemodules workspace compatiblity
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I'd prefer if we could decouple the workspace change from the rename change. This PR is already impossible to review. |
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Some more extensive tests show that a couple fixes are required. I pushed those on lmontaut#4.
Coal more compat
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We should probably push the topic/coal branch to this repo, to have easier ways of making PR to that branch. I had to make some to your fork instead, which make the history harder to follow. I think this is fine for now, we can avoid the extra cost of undoing and re-doing again. But next time, I really think we need to use a cleaner workflow |
Add install-hpp-fcl-compatibility target
updates: - [github.com/astral-sh/ruff-pre-commit: v0.5.1 → v0.6.9](astral-sh/ruff-pre-commit@v0.5.1...v0.6.9) - [github.com/pre-commit/mirrors-clang-format: v18.1.8 → v19.1.1](pre-commit/mirrors-clang-format@v18.1.8...v19.1.1) - [github.com/pre-commit/pre-commit-hooks: v4.6.0 → v5.0.0](pre-commit/pre-commit-hooks@v4.6.0...v5.0.0)
todo: change the badges once the migration is done
## [3.0.0] - 2024-11-20
### Added
- Renaming the library from `hpp-fcl` to `coal`. Created a `COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL` CMake option for retro compatibility. This allows to still do `find_package(hpp-fcl)` and `#include <hpp/fcl/...>` in C++ and it allows to still do `import hppfcl` in python (coal-library/coal#596).
- Added `Transform3f::Random` and `Transform3f::setRandom` (coal-library/coal#584)
- New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) (coal-library/coal#574).
- Enhance Broadphase DynamicAABBTree to better handle planes and halfspace (coal-library/coal#570)
- (coal-library/coal#558):
- [internal] Removed dead code in `narrowphase/details.h` (coal-library/coal#558)
- [internal] Removed specializations of methods of `GJKSolver`. Now the specializations are all handled by `ShapeShapeDistance` in `shape_shape_func.h`.
- [new feature] Added support for Swept-Sphere primitives (sphere, box, capsule, cone, ellipsoid, triangle, halfspace, plane, convex mesh).
- [API change] Renamed default convergence criterion from `VDB` to `Default` (coal-library/coal#556)
- Fixed EPA returning nans on cases where it could return an estimate of the normal and penetration depth. (coal-library/coal#556)
- Fixed too low tolerance in GJK/EPA asserts (coal-library/coal#554)
- Fixed `normal_and_nearest_points` test (no need to have Eigen 3.4) (coal-library/coal#553)
- (coal-library/coal#549)
- Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
- Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
- CMake: allow use of installed jrl-cmakemodules (coal-library/coal#564)
- CMake: Add compatibility with jrl-cmakemodules workspace (coal-library/coal#610)
- Python: add id() support for geometries (coal-library/coal#618).
Packaging changes:
- renamed package
- removed patch 522, merged upstream
- updated patch aa
- replaced common Makefile from HPP to JRL
- turned on backward compatibility with hpp-fcl
- updated required version to 3.0.0 (coal < 3.0.0 does not exist)
…3.0.0
## [3.0.0] - 2024-11-20
### Added
- Renaming the library from `hpp-fcl` to `coal`. Created a `COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL` CMake option for retro compatibility. This allows to still do `find_package(hpp-fcl)` and `#include <hpp/fcl/...>` in C++ and it allows to still do `import hppfcl` in python (coal-library/coal#596).
- Added `Transform3f::Random` and `Transform3f::setRandom` (coal-library/coal#584)
- New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) (coal-library/coal#574).
- Enhance Broadphase DynamicAABBTree to better handle planes and halfspace (coal-library/coal#570)
- (coal-library/coal#558):
- [internal] Removed dead code in `narrowphase/details.h` (coal-library/coal#558)
- [internal] Removed specializations of methods of `GJKSolver`. Now the specializations are all handled by `ShapeShapeDistance` in `shape_shape_func.h`.
- [new feature] Added support for Swept-Sphere primitives (sphere, box, capsule, cone, ellipsoid, triangle, halfspace, plane, convex mesh).
- [API change] Renamed default convergence criterion from `VDB` to `Default` (coal-library/coal#556)
- Fixed EPA returning nans on cases where it could return an estimate of the normal and penetration depth. (coal-library/coal#556)
- Fixed too low tolerance in GJK/EPA asserts (coal-library/coal#554)
- Fixed `normal_and_nearest_points` test (no need to have Eigen 3.4) (coal-library/coal#553)
- (coal-library/coal#549)
- Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
- Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
- CMake: allow use of installed jrl-cmakemodules (coal-library/coal#564)
- CMake: Add compatibility with jrl-cmakemodules workspace (coal-library/coal#610)
- Python: add id() support for geometries (coal-library/coal#618).
Packaging changes:
- renamed package, recursive bump of PKGREVISION
- removed patch 522, merged upstream
- updated patch aa
- replaced common Makefile from HPP to JRL
- turned on backward compatibility with hpp-fcl
- updated required version to 3.0.0 (coal < 3.0.0 does not exist)
This PR addresses #593 and aims at changing the name of the library from
hpp-fcltocoal.For the end-user, this renaming implies the following changes:
find_package(hpp-fcl)->find_package(coal).#include <hpp/fcl/...>->#include <coal/...>.import hppfcl->import coal.C++ users
I have added a layer of compatibility such that the namespace
hpp::fcl::is still available and points tocoal::if the cmake optionCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCLis activated.This option is set to false by default to encourage the use of
coal::instead ofhpp::fcl::.I also took the opportunity to change and clarify certain fundamental types used throughout the library:
FCL_REAL->CoalScalar.Matrix/Vec[...]f(i.e.Vec3f) ->Matrix/Vec[...]s(i.e.Vec3s).Transform3f->Transform3s.The idea behind this change is that multiple people have reported that they found the
fat the end of these types confusing because they thought it referred tofloatwhen the library isdoubleby default.Like the namespace, I kept the old data types behind the
COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCLif needed.Things left to do:
Things to do after PR is merged: conda build, package.xml, ROS.