Leverage forward declarations to improve compile times

tesseract-robotics · Jul 18, 2024 · 1b8cde1 · 1b8cde1
1 parent e87265a
commit 1b8cde1
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/tesseract_collision/hpp_fcl/include/tesseract_collision/hpp_fcl/hpp_fcl_factories.h b/tesseract_collision/hpp_fcl/include/tesseract_collision/hpp_fcl/hpp_fcl_factories.h
@@ -33,7 +33,8 @@ namespace tesseract_collision::tesseract_collision_hpp_fcl
 class HPP_FCLDiscreteBVHManagerFactory : public DiscreteContactManagerFactory
 {
 public:
-  DiscreteContactManager::UPtr create(const std::string& name, const YAML::Node& config) const override final;
+  std::unique_ptr<DiscreteContactManager> create(const std::string& name,
+                                                 const YAML::Node& config) const override final;
 };
 
 TESSERACT_PLUGIN_ANCHOR_DECL(HPP_FCLFactoriesAnchor)

diff --git a/tesseract_collision/hpp_fcl/src/hpp_fcl_factories.cpp b/tesseract_collision/hpp_fcl/src/hpp_fcl_factories.cpp
@@ -26,11 +26,12 @@
 
 #include <tesseract_collision/hpp_fcl/hpp_fcl_factories.h>
 #include <tesseract_collision/hpp_fcl/hpp_fcl_discrete_managers.h>
+#include <tesseract_collision/core/discrete_contact_manager.h>
 
 namespace tesseract_collision::tesseract_collision_hpp_fcl
 {
-DiscreteContactManager::UPtr HPP_FCLDiscreteBVHManagerFactory::create(const std::string& name,
-                                                                      const YAML::Node& /*config*/) const
+std::unique_ptr<tesseract_collision::DiscreteContactManager>
+HPP_FCLDiscreteBVHManagerFactory::create(const std::string& name, const YAML::Node& /*config*/) const
 {
   return std::make_unique<HPP_FCLDiscreteBVHManager>(name);
 }
@@ -42,4 +43,4 @@ TESSERACT_PLUGIN_ANCHOR_IMPL(HPP_FCLFactoriesAnchor)  // LCOV_EXCL_LINE
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 TESSERACT_ADD_DISCRETE_MANAGER_PLUGIN(
     tesseract_collision::tesseract_collision_hpp_fcl::HPP_FCLDiscreteBVHManagerFactory,
-    HPP_FCLDiscreteBVHManagerFactory);
+    HPP_FCLDiscreteBVHManagerFactory)
diff --git a/tesseract_collision/hpp_fcl/src/hpp_fcl_utils.cpp b/tesseract_collision/hpp_fcl/src/hpp_fcl_utils.cpp
@@ -149,7 +149,7 @@ CollisionGeometryPtr createShapePrimitive(const tesseract_geometry::Octree::Cons
 {
   switch (geom->getSubType())
   {
-    case tesseract_geometry::Octree::SubType::BOX:
+    case tesseract_geometry::OctreeSubType::BOX:
     {
       return CollisionGeometryPtr(new hpp::fcl::OcTree(geom->getOctree()));
     }