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Upgrade CI to use newer macOS and Linux images and get octomap from package managers #636

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Upgrade CI to use newer macOS and Linux images and get octomap from package managers #636

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891a80c
Upgrade CI to newer os version
SeanCurtis-TRI Mar 12, 2025
ed65720
Switch CI to use octomap from package managers
traversaro Mar 17, 2025
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2 changes: 1 addition & 1 deletion .github/workflows/all_ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ jobs:
matrix:
compiler: [clang]
build: [Release, Debug]
os: ['macos-11']
os: ['macos-latest']
uses: ./.github/workflows/generic_ci.yml
with:
install-name: 'install_osx.sh'
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11 changes: 1 addition & 10 deletions ci/install_linux.sh
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Expand Up @@ -3,13 +3,4 @@ sudo apt-get -qq update

sudo apt-get -qq --yes --force-yes install libeigen3-dev
sudo apt-get -qq --yes --force-yes install libccd-dev

# Octomap
git clone https://github.com/OctoMap/octomap
cd octomap
git checkout tags/v1.8.0
mkdir build
cd build
cmake ..
make
sudo make install
sudo apt-get -qq --yes --force-yes install liboctomap-dev
11 changes: 1 addition & 10 deletions ci/install_osx.sh
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Expand Up @@ -4,13 +4,4 @@ brew install git
brew install cmake
brew install eigen
brew install libccd

# Octomap
git clone https://github.com/OctoMap/octomap
cd octomap
git checkout tags/v1.8.0
mkdir build
cd build
cmake ..
make
sudo make install
brew install octomap
4 changes: 0 additions & 4 deletions include/fcl/math/geometry-inl.h
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Expand Up @@ -480,7 +480,6 @@ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
int n = 3;
int j, iq, ip, i;
S tresh, theta, tau, t, sm, s, h, g, c;
int nrot;
S b[3];
S z[3];
S v[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
Expand All @@ -492,8 +491,6 @@ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
z[ip] = 0;
}

nrot = 0;

for(i = 0; i < 50; ++i)
{
sm = 0;
Expand Down Expand Up @@ -544,7 +541,6 @@ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
for(j = ip + 1; j < iq; ++j) { g = R(ip, j); h = R(j, iq); R(ip, j) = g - s * (h + g * tau); R(j, iq) = h + s * (g - h * tau); }
for(j = iq + 1; j < n; ++j) { g = R(ip, j); h = R(iq, j); R(ip, j) = g - s * (h + g * tau); R(iq, j) = h + s * (g - h * tau); }
for(j = 0; j < n; ++j) { g = v[j][ip]; h = v[j][iq]; v[j][ip] = g - s * (h + g * tau); v[j][iq] = h + s * (g - h * tau); }
nrot++;
}
}
}
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2 changes: 1 addition & 1 deletion test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_gjk_initializer.cpp
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Expand Up @@ -109,7 +109,7 @@ GTEST_TEST(GjkLibccdSupportFunction, ConvexSupport) {
// clang-format on
const int kNumFaces = 6;
const bool kThrowIfInvalid = true;
const Convex<double> convex_C(move(vertices), kNumFaces, move(faces),
const Convex<double> convex_C(std::move(vertices), kNumFaces, std::move(faces),
kThrowIfInvalid);

/* Collection of arbitrary poses of the convex mesh: identity, translation,
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