Revert "Forward port ABI compatibility workaround with OBBs to ros2 b…

…ranch (moveit#252)"

This reverts commit 3bece34.

include/geometric_shapes/bodies.h

@@ -242,10 +242,8 @@ class Body
   virtual void computeBoundingBox(AABB& bbox) const = 0;
 
   /** \brief Compute the oriented bounding box for the body, in its current
-   * pose. Scaling and padding are accounted for.
-   * \note This function should be pure virtual, but it can't in order to maintain ABI compatibility.
-   **/
-  void computeBoundingBox(OBB& bbox) const;
+     pose. Scaling and padding are accounted for. */
+  virtual void computeBoundingBox(OBB& bbox) const = 0;
 
   /** \brief Get a clone of this body, but one that is located at the pose \e pose */
   inline BodyPtr cloneAt(const Eigen::Isometry3d& pose) const
@@ -314,7 +312,7 @@ class Sphere : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -367,7 +365,7 @@ class Cylinder : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -430,7 +428,7 @@ class Box : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -493,7 +491,7 @@ class ConvexMesh : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
-  void computeBoundingBox(OBB& bbox) const;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 

src/bodies.cpp

@@ -136,30 +136,6 @@ bool bodies::Body::samplePointInside(random_numbers::RandomNumberGenerator& rng,
   return false;
 }
 
-void bodies::Body::computeBoundingBox(bodies::OBB& bbox) const
-{
-  // NOTE: this switch is needed only because computeBoundingBox(OBB) could not be defined virtual to keep ABI
-  // compatibility; if porting to new ROS (2) releases, this function should have no base implementation for a generic
-  // body and should be pure virtual
-  switch (this->getType())
-  {
-    case shapes::SPHERE:
-      static_cast<const bodies::Sphere*>(this)->computeBoundingBox(bbox);
-      break;
-    case shapes::CYLINDER:
-      static_cast<const bodies::Cylinder*>(this)->computeBoundingBox(bbox);
-      break;
-    case shapes::BOX:
-      static_cast<const bodies::Box*>(this)->computeBoundingBox(bbox);
-      break;
-    case shapes::MESH:
-      static_cast<const bodies::ConvexMesh*>(this)->computeBoundingBox(bbox);
-      break;
-    default:
-      throw std::runtime_error("Unknown body type: " + std::to_string(this->getType()));
-  }
-}
-
 bool bodies::Sphere::containsPoint(const Eigen::Vector3d& p, bool /* verbose */) const
 {
   return (center_ - p).squaredNorm() <= radius2_;