add safe-guards to allow octree headers only if octomap enabled #136
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octomap is no header-only dependency and there is a hard-coded value in the internal config.h header that specifies whether it is available or not. This value influences the behavior of fcl headers (include/fcl/traversal/traversal_node_setup.h) and it influences which methods are available in the library (src/broadphase/broadphase_dynamic_AABB_tree.cpp) Using these interfaces even though fcl was configured without octomap invites trouble and should be prevented. Problems arise if fcl is not compiled with octomap but some version of octomap is available at compile time of a dependent project. Basically this is the case with libfcl in ubuntu xenial (it was compiled without octomap support) and ros kinetic's octomap 1.8. I expected to find errors on fcl not being configured with octomap but instead only got compile issues because of interface changes.
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octomap is no header-only dependency and there is a hard-coded value in the
internal config.h header that specifies whether it is available or not. This
value influences the behavior of fcl headers
(include/fcl/traversal/traversal_node_setup.h) and it influences which methods
are available in the library
(src/broadphase/broadphase_dynamic_AABB_tree.cpp) Using these interfaces even
though fcl was configured without octomap invites trouble and should be
prevented.
Problems arise if fcl is not compiled with octomap but some version of octomap
is available at compile time of a dependent project. Basically this is the
case with libfcl in ubuntu xenial
(it was compiled without octomap support) and ros kinetic's octomap 1.8. I
expected to find errors on fcl not being configured with octomap but instead
only got compile issues because of interface changes.