Visibility control headers

moveit_core/collision_detection/CMakeLists.txt

@@ -50,6 +50,10 @@ if(BUILD_TESTING)
   target_link_libraries(test_all_valid ${MOVEIT_LIB_NAME} moveit_robot_model)
 endif()
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "COLLISION_DETECTION_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_detector_allocator_allvalid.h

@@ -38,6 +38,7 @@
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection/allvalid/collision_env_allvalid.h>
+#include <moveit/collision_detection/visibility_control.hpp>
 
 namespace collision_detection
 {
@@ -46,6 +47,6 @@ class CollisionDetectorAllocatorAllValid
   : public CollisionDetectorAllocatorTemplate<CollisionEnvAllValid, CollisionDetectorAllocatorAllValid>
 {
 public:
-  static const std::string NAME;  // defined in collision_env_allvalid.cpp
+  COLLISION_DETECTION_PUBLIC static const std::string NAME;  // defined in collision_env_allvalid.cpp
 };
 }  // namespace collision_detection

moveit_core/collision_detection/include/moveit/collision_detection/visibility_control.hpp

@@ -0,0 +1,70 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_
+#define COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define COLLISION_DETECTION_EXPORT __attribute__ ((dllexport))
+    #define COLLISION_DETECTION_IMPORT __attribute__ ((dllimport))
+  #else
+    #define COLLISION_DETECTION_EXPORT __declspec(dllexport)
+    #define COLLISION_DETECTION_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef COLLISION_DETECTION_BUILDING_LIBRARY
+    #define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_EXPORT
+  #else
+    #define COLLISION_DETECTION_PUBLIC COLLISION_DETECTION_IMPORT
+  #endif
+  #define COLLISION_DETECTION_PUBLIC_TYPE COLLISION_DETECTION_PUBLIC
+  #define COLLISION_DETECTION_LOCAL
+#else
+  #define COLLISION_DETECTION_EXPORT __attribute__ ((visibility("default")))
+  #define COLLISION_DETECTION_IMPORT
+  #if __GNUC__ >= 4
+    #define COLLISION_DETECTION_PUBLIC __attribute__ ((visibility("default")))
+    #define COLLISION_DETECTION_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define COLLISION_DETECTION_PUBLIC
+    #define COLLISION_DETECTION_LOCAL
+  #endif
+  #define COLLISION_DETECTION_PUBLIC_TYPE
+#endif
+// clang-format on
+#endif  // COLLISION_DETECTION__VISIBILITY_CONTROL_HPP_

moveit_core/collision_detection_fcl/CMakeLists.txt

@@ -19,6 +19,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_collision_detection
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "COLLISION_DETECTION_FCL_BUILDING_LIBRARY")
+
 add_library(collision_detector_fcl_plugin SHARED src/collision_detector_fcl_plugin_loader.cpp)
 set_target_properties(collision_detector_fcl_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 ament_target_dependencies(collision_detector_fcl_plugin

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_allocator_fcl.h

@@ -38,6 +38,7 @@
 
 #include <moveit/collision_detection/collision_detector_allocator.h>
 #include <moveit/collision_detection_fcl/collision_env_fcl.h>
+#include <moveit/collision_detection_fcl/visibility_control.hpp>
 
 namespace collision_detection
 {
@@ -46,6 +47,6 @@ class CollisionDetectorAllocatorFCL
   : public CollisionDetectorAllocatorTemplate<CollisionEnvFCL, CollisionDetectorAllocatorFCL>
 {
 public:
-  static const std::string NAME;  // defined in collision_env_fcl.cpp
+  COLLISION_DETECTION_FCL_PUBLIC static const std::string NAME;  // defined in collision_env_fcl.cpp
 };
 }  // namespace collision_detection

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h

@@ -38,10 +38,11 @@
 
 #include <moveit/collision_detection/collision_plugin.h>
 #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
+#include <moveit/collision_detection_fcl/visibility_control.hpp>
 
 namespace collision_detection
 {
-class CollisionDetectorFCLPluginLoader : public CollisionPlugin
+class COLLISION_DETECTION_FCL_PLUGIN_PUBLIC CollisionDetectorFCLPluginLoader : public CollisionPlugin
 {
 public:
   bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const override;

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/visibility_control.hpp

@@ -0,0 +1,100 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COLLISION_DETECTION_FCL__VISIBILITY_CONTROL_HPP_
+#define COLLISION_DETECTION_FCL__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define COLLISION_DETECTION_FCL_EXPORT __attribute__ ((dllexport))
+    #define COLLISION_DETECTION_FCL_IMPORT __attribute__ ((dllimport))
+  #else
+    #define COLLISION_DETECTION_FCL_EXPORT __declspec(dllexport)
+    #define COLLISION_DETECTION_FCL_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef COLLISION_DETECTION_FCL_BUILDING_LIBRARY
+    #define COLLISION_DETECTION_FCL_PUBLIC COLLISION_DETECTION_FCL_EXPORT
+  #else
+    #define COLLISION_DETECTION_FCL_PUBLIC COLLISION_DETECTION_FCL_IMPORT
+  #endif
+  #define COLLISION_DETECTION_FCL_PUBLIC_TYPE COLLISION_DETECTION_FCL_PUBLIC
+  #define COLLISION_DETECTION_FCL_LOCAL
+#else
+  #define COLLISION_DETECTION_FCL_EXPORT __attribute__ ((visibility("default")))
+  #define COLLISION_DETECTION_FCL_IMPORT
+  #if __GNUC__ >= 4
+    #define COLLISION_DETECTION_FCL_PUBLIC __attribute__ ((visibility("default")))
+    #define COLLISION_DETECTION_FCL_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define COLLISION_DETECTION_FCL_PUBLIC
+    #define COLLISION_DETECTION_FCL_LOCAL
+  #endif
+  #define COLLISION_DETECTION_FCL_PUBLIC_TYPE
+#endif
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define COLLISION_DETECTION_FCL_PLUGIN_EXPORT __attribute__ ((dllexport))
+    #define COLLISION_DETECTION_FCL_PLUGIN_IMPORT __attribute__ ((dllimport))
+  #else
+    #define COLLISION_DETECTION_FCL_PLUGIN_EXPORT __declspec(dllexport)
+    #define COLLISION_DETECTION_FCL_PLUGIN_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef COLLISION_DETECTION_FCL_PLUGIN_BUILDING_LIBRARY
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC COLLISION_DETECTION_FCL_PLUGIN_EXPORT
+  #else
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC COLLISION_DETECTION_FCL_PLUGIN_IMPORT
+  #endif
+  #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC_TYPE COLLISION_DETECTION_FCL_PLUGIN_PUBLIC
+  #define COLLISION_DETECTION_FCL_PLUGIN_LOCAL
+#else
+  #define COLLISION_DETECTION_FCL_PLUGIN_EXPORT __attribute__ ((visibility("default")))
+  #define COLLISION_DETECTION_FCL_PLUGIN_IMPORT
+  #if __GNUC__ >= 4
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC __attribute__ ((visibility("default")))
+    #define COLLISION_DETECTION_FCL_PLUGIN_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC
+    #define COLLISION_DETECTION_FCL_PLUGIN_LOCAL
+  #endif
+  #define COLLISION_DETECTION_FCL_PLUGIN_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // COLLISION_DETECTION_FCL__VISIBILITY_CONTROL_HPP_

moveit_core/kinematics_base/CMakeLists.txt

@@ -7,6 +7,10 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 # This line is needed to ensure that messages are done being built before this is built
 ament_target_dependencies(${MOVEIT_LIB_NAME} rclcpp urdf urdfdom_headers srdfdom moveit_msgs geometric_shapes geometry_msgs Boost)
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "KINEMATICS_BASE_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib

moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h

@@ -39,6 +39,7 @@
 #include <geometry_msgs/msg/pose.hpp>
 #include <moveit_msgs/msg/move_it_error_codes.hpp>
 #include <moveit/macros/class_forward.h>
+#include <moveit/kinematics_base/visibility_control.hpp>
 #include "rclcpp/rclcpp.hpp"
 #include <boost/function.hpp>
 #include <string>
@@ -140,7 +141,7 @@ MOVEIT_CLASS_FORWARD(KinematicsBase)  // Defines KinematicsBasePtr, ConstPtr, We
  * @class KinematicsBase
  * @brief Provides an interface for kinematics solvers.
  */
-class KinematicsBase
+class KINEMATICS_BASE_PUBLIC KinematicsBase
 {
 public:
   static const rclcpp::Logger LOGGER;

moveit_core/kinematics_base/include/moveit/kinematics_base/visibility_control.hpp

@@ -0,0 +1,72 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef KINEMATICS_BASE__VISIBILITY_CONTROL_HPP_
+#define KINEMATICS_BASE__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+// clang-format off
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define KINEMATICS_BASE_EXPORT __attribute__ ((dllexport))
+    #define KINEMATICS_BASE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define KINEMATICS_BASE_EXPORT __declspec(dllexport)
+    #define KINEMATICS_BASE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef KINEMATICS_BASE_BUILDING_LIBRARY
+    #define KINEMATICS_BASE_PUBLIC KINEMATICS_BASE_EXPORT
+  #else
+    #define KINEMATICS_BASE_PUBLIC KINEMATICS_BASE_IMPORT
+  #endif
+  #define KINEMATICS_BASE_PUBLIC_TYPE KINEMATICS_BASE_PUBLIC
+  #define KINEMATICS_BASE_LOCAL
+#else
+  #define KINEMATICS_BASE_EXPORT __attribute__ ((visibility("default")))
+  #define KINEMATICS_BASE_IMPORT
+  #if __GNUC__ >= 4
+    #define KINEMATICS_BASE_PUBLIC __attribute__ ((visibility("default")))
+    #define KINEMATICS_BASE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define KINEMATICS_BASE_PUBLIC
+    #define KINEMATICS_BASE_LOCAL
+  #endif
+  #define KINEMATICS_BASE_PUBLIC_TYPE
+#endif
+
+// clang-format on
+#endif  // KINEMATICS_BASE__VISIBILITY_CONTROL_HPP_

moveit_core/planning_scene/CMakeLists.txt

@@ -25,6 +25,10 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_utils
 )
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${MOVEIT_LIB_NAME} PRIVATE "PLANNING_SCENE_BUILDING_LIBRARY")
+
 install(TARGETS ${MOVEIT_LIB_NAME}
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib

moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h

@@ -46,6 +46,7 @@
 #include <moveit/kinematics_base/kinematics_base.h>
 #include <moveit/robot_trajectory/robot_trajectory.h>
 #include <moveit/macros/class_forward.h>
+#include <moveit/planning_scene/visibility_control.hpp>
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit_msgs/msg/constraints.hpp>
@@ -99,8 +100,8 @@ class PlanningScene : private boost::noncopyable, public std::enable_shared_from
       const urdf::ModelInterfaceSharedPtr& urdf_model, const srdf::ModelConstSharedPtr& srdf_model,
       const collision_detection::WorldPtr& world = collision_detection::WorldPtr(new collision_detection::World()));
 
-  static const std::string OCTOMAP_NS;
-  static const std::string DEFAULT_SCENE_NAME;
+  PLANNING_SCENE_PUBLIC static const std::string OCTOMAP_NS;
+  PLANNING_SCENE_PUBLIC static const std::string DEFAULT_SCENE_NAME;
 
   ~PlanningScene();