cmake: make double default and float optional

Author: lmontaut

CMakeLists.txt

@@ -72,7 +72,7 @@ option(
   "Make Coal retro-compatible with HPP-FCL."
   FALSE
 )
-option(COAL_USE_DOUBLE_PRECISION "Use double precision (64-bit) instead of single precision (32-bit)" TRUE)
+option(COAL_USE_FLOAT_PRECISION "Use float precision (32-bit) instead of the default double precision (64-bit)" FALSE)
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")

include/coal/data_types.h

@@ -60,30 +60,12 @@
 #endif  // COAL_HAS_OCTOMAP
 
 namespace coal {
-#ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
-// We keep the FCL_REAL typedef and the Vec[..]f typedefs for backward
-// compatibility.
-#ifdef COAL_USE_DOUBLE_PRECISION
-typedef double FCL_REAL;
+#ifdef COAL_USE_FLOAT_PRECISION
+COAL_DEPRECATED typedef float CoalScalar;
+typedef float Scalar;
 #else
-typedef float FCL_REAL;
-#endif
-typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
-typedef Eigen::Matrix<FCL_REAL, 2, 1> Vec2f;
-typedef Eigen::Matrix<FCL_REAL, 6, 1> Vec6f;
-typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> VecXf;
-typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
-typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3, Eigen::RowMajor> Matrixx3f;
-typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 2, Eigen::RowMajor> Matrixx2f;
-typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;
-#endif
-
-#ifdef COAL_USE_DOUBLE_PRECISION
 COAL_DEPRECATED typedef double CoalScalar;
 typedef double Scalar;
-#else
-COAL_DEPRECATED typedef float CoalScalar;
-typedef float Scalar;
 #endif
 typedef Eigen::Matrix<Scalar, 3, 1> Vec3s;
 typedef Eigen::Matrix<Scalar, 2, 1> Vec2s;
@@ -97,6 +79,20 @@ typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor>
 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixXs;
 typedef Eigen::Vector2i support_func_guess_t;
 
+#ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
+// We keep the FCL_REAL typedef and the Vec[..]f typedefs for backward
+// compatibility.
+typedef Scalar FCL_REAL;
+typedef Vec3s Vec3f;
+typedef Vec2s Vec2f;
+typedef Vec6s Vec6f;
+typedef VecXs VecXf;
+typedef Matrix3s Matrix3f;
+typedef MatrixX3s Matrixx3f;
+typedef MatrixX2s Matrixx2f;
+typedef MatrixXs MatrixXf;
+#endif
+
 /// @brief Initial guess to use for the GJK algorithm
 /// DefaultGuess: Vec3s(1, 0, 0)
 /// CachedGuess: previous vector found by GJK or guess cached by the user

src/CMakeLists.txt

@@ -250,8 +250,8 @@ if(COAL_ENABLE_LOGGING)
   )
 endif()
 
-if (COAL_USE_DOUBLE_PRECISION)
-  target_compile_definitions(${LIBRARY_NAME} PUBLIC COAL_USE_DOUBLE_PRECISION)
+if (COAL_USE_FLOAT_PRECISION)
+  target_compile_definitions(${LIBRARY_NAME} PUBLIC COAL_USE_FLOAT_PRECISION)
 endif()
 
 if(WIN32)