Swept-Sphere: fix doxygen xml parser

Author: lmontaut

doc/python/doxygen_xml_parser.py

@@ -116,6 +116,9 @@ def _templateParamToDict(param):
         else:
             return {"type": type_.text, "name": ""}
     else:
+        if type_.text is None:
+            # type_ is not a typename but an existing type
+            type_ = type_.find("ref")
         assert defname.text == declname.text
         return {"type": type_.text, "name": defname.text}
 

include/hpp/fcl/narrowphase/gjk.h

@@ -71,7 +71,7 @@ enum SupportOptions {
 /// `WithSweptSphere`, the support functions take into account the shapes' swept
 /// sphere radii. Please see `MinkowskiDiff::set(const ShapeBase*, const
 /// ShapeBase*)` for more details.
-template <int SupportOptions>
+template <int _SupportOptions = SupportOptions::NoSweptSphere>
 Vec3f getSupport(const ShapeBase* shape, const Vec3f& dir, int& hint);
 
 /// @brief Minkowski difference class of two shapes
@@ -143,7 +143,7 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
   /// involved in the collision, and not relying on GJK/EPA, the
   /// `SupportOptions` template parameter should be set to `WithSweptSphere`.
   /// This is for example the case for specialized collision/distance functions.
-  template <int SupportOptions>
+  template <int _SupportOptions = SupportOptions::NoSweptSphere>
   void set(const ShapeBase* shape0, const ShapeBase* shape1);
 
   /// @brief Set the two shapes, with a relative transformation.
@@ -153,7 +153,7 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
   /// @param tf1 the transformation of the second shape.
   /// @tparam `SupportOptions` see `set(const ShapeBase*, const
   /// ShapeBase*)` for more details.
-  template <int SupportOptions>
+  template <int _SupportOptions = SupportOptions::NoSweptSphere>
   void set(const ShapeBase* shape0, const ShapeBase* shape1,
            const Transform3f& tf0, const Transform3f& tf1);
 
@@ -164,9 +164,9 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
   /// object.
   /// @tparam `SupportOptions` see `set(const ShapeBase*, const
   /// ShapeBase*)` for more details.
-  template <int SupportOptions>
+  template <int _SupportOptions = SupportOptions::NoSweptSphere>
   inline Vec3f support0(const Vec3f& dir, int& hint) const {
-    return getSupport<SupportOptions>(shapes[0], dir, hint);
+    return getSupport<_SupportOptions>(shapes[0], dir, hint);
   }
 
   /// @brief support function for shape1.
@@ -176,10 +176,10 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
   /// object.
   /// @tparam `SupportOptions` see `set(const ShapeBase*, const
   /// ShapeBase*)` for more details.
-  template <int SupportOptions>
+  template <int _SupportOptions = SupportOptions::NoSweptSphere>
   inline Vec3f support1(const Vec3f& dir, int& hint) const {
     // clang-format off
-    return oR1 * getSupport<SupportOptions>(shapes[1], oR1.transpose() * dir, hint) + ot1;
+    return oR1 * getSupport<_SupportOptions>(shapes[1], oR1.transpose() * dir, hint) + ot1;
     // clang-format on
   }
 

python/gjk.cc

@@ -115,7 +115,7 @@ void exposeGJK() {
                  &MinkowskiDiffWrapper::set),
              doxygen::member_func_doc(static_cast<void (MinkowskiDiff::*)(
                                           const ShapeBase*, const ShapeBase*)>(
-                 &MinkowskiDiff::set<false>)))
+                 &MinkowskiDiff::set<SupportOptions::NoSweptSphere>)))
 
         .def("set",
              static_cast<void (*)(MinkowskiDiff&, const ShapeBase*,
@@ -127,12 +127,15 @@ void exposeGJK() {
                      const ShapeBase*, const ShapeBase*, const Transform3f&,
                      const Transform3f&)>(
                      &MinkowskiDiff::set<SupportOptions::NoSweptSphere>)))
+
         .def("support0", &MinkowskiDiffWrapper::support0,
              doxygen::member_func_doc(
                  &MinkowskiDiff::support0<SupportOptions::NoSweptSphere>))
+
         .def("support1", &MinkowskiDiffWrapper::support1,
              doxygen::member_func_doc(
                  &MinkowskiDiff::support1<SupportOptions::NoSweptSphere>))
+
         .def("support", &MinkowskiDiff::support,
              doxygen::member_func_doc(&MinkowskiDiff::support))