Activate collision specific features in pinocchio_default

.github/workflows/linux.yml

@@ -87,7 +87,6 @@ jobs:
       - name: Set and install dependencies
         run: |
           export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
-          # Force eigenpy 3.10.0 to be compatible with hpp-fcl
           export APT_DEPENDENCIES="doxygen \
                                    ccache \
                                    curl \
@@ -104,8 +103,8 @@ jobs:
                                    libboost-python-dev \
                                    python3-numpy \
                                    python3-matplotlib \
-                                   robotpkg-py${PYTHON3_VERSION}-eigenpy=3.10.0 \
-                                   robotpkg-py${PYTHON3_VERSION}-hpp-fcl \
+                                   robotpkg-py${PYTHON3_VERSION}-eigenpy \
+                                   robotpkg-py${PYTHON3_VERSION}-coal \
                                    robotpkg-py${PYTHON3_VERSION}-casadi"
           echo $APT_DEPENDENCIES
 
@@ -126,6 +125,7 @@ jobs:
           export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
           export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
           export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
+          export CMAKE_PREFIX_PATH=/opt/openrobots/lib
 
           mkdir build
           cd build
@@ -150,6 +150,7 @@ jobs:
           export PATH=$PATH:/opt/openrobots/bin
           export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
           export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
+          export CMAKE_PREFIX_PATH=/opt/openrobots/lib
           cd ./unittest/packaging/cmake
           mkdir build
           cd build

CHANGELOG.md

@@ -21,6 +21,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Changed
 - On GNU/Linux and macOS, hide all symbols by default ([#2469](https://github.com/stack-of-tasks/pinocchio/pull/2469))
+- Build `pinocchio_default` with collision features ([#2517](https://github.com/stack-of-tasks/pinocchio/pull/2517))
 
 ## [3.3.0] - 2024-11-06
 

CMakeLists.txt

@@ -331,9 +331,7 @@ else()
 endif()
 
 if(BUILD_WITH_HPP_FCL_SUPPORT)
-  list(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
-  list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_collision)
-  add_project_dependency(hpp-fcl 2.1.2 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 2.1.2")
+  add_project_dependency(hpp-fcl 2.1.2 REQUIRED "hpp-fcl >= 2.1.2")
 endif()
 
 if(BUILD_WITH_ACCELERATE_SUPPORT)

src/CMakeLists.txt

@@ -185,6 +185,16 @@ add_header_group(${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS)
 # This target will also have hpp-fcl and workspace module in it.
 pinocchio_specific_type(default DEFAULT_SCOPE)
 
+# Some core library algorithms have different behavior if PINOCCHIO_WITH_HPP_FCL is defined. Since
+# some are template instantiated, or some user can link only on pinocchio_default, we muste define
+# PINOCCHIO_WITH_HPP_FCL in pinocchio_default.
+if(BUILD_WITH_HPP_FCL_SUPPORT)
+  target_compile_definitions(pinocchio_default PUBLIC PINOCCHIO_WITH_HPP_FCL)
+  target_include_directories(
+    pinocchio_default PUBLIC $<TARGET_PROPERTY:hpp-fcl::hpp-fcl,INTERFACE_INCLUDE_DIRECTORIES>)
+
+endif()
+
 # Define the extra target This target hold extra algorithms.
 if(BUILD_WITH_EXTRA_SUPPORT)
   set(EXTRA_LIB_NAME "${PROJECT_NAME}_extra")