Remove Boost Test and replace with Google Test

CHANGELOG.md

@@ -1,6 +1,10 @@
 ## FCL 0
 
-### FCL 0.5.0 (2016-XX-XX)
+### FCL 0.6.0 (2016-XX-XX)
+
+* Removed Boost Test and replaced with Google Test: [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#140](https://github.com/flexible-collision-library/fcl/pull/140)
+
+### FCL 0.5.0 (2016-07-19)
 
 * Added safe-guards to allow octree headers only if octomap enabled: [#136](https://github.com/flexible-collision-library/fcl/pull/136)
 * Added CMake option to disable octomap in build: [#135](https://github.com/flexible-collision-library/fcl/pull/135)

CMakeLists.txt

@@ -164,7 +164,7 @@ configure_file(
 add_custom_target(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake")
 
-find_package(Boost COMPONENTS date_time filesystem system unit_test_framework)
+find_package(Boost COMPONENTS filesystem system)
 option(FCL_BUILD_TESTS "Build FCL tests" ${Boost_FOUND})
 if(FCL_BUILD_TESTS)
     enable_testing()

CMakeModules/FCLVersion.cmake

@@ -1,6 +1,6 @@
 # set the version in a way CMake can use
 set(FCL_MAJOR_VERSION 0)
-set(FCL_MINOR_VERSION 5)
+set(FCL_MINOR_VERSION 6)
 set(FCL_PATCH_VERSION 0)
 set(FCL_VERSION "${FCL_MAJOR_VERSION}.${FCL_MINOR_VERSION}.${FCL_PATCH_VERSION}")
 

test/CMakeLists.txt

@@ -18,6 +18,16 @@ if(NOT WIN32)
   target_link_libraries(gtest pthread)
 endif()
 
+add_definitions(-DGTEST_DONT_DEFINE_TEST=1)
+add_definitions(-DGTEST_DONT_DEFINE_FAIL=1)
+add_definitions(-DGTEST_DONT_DEFINE_SUCCEED=1)
+add_definitions(-DGTEST_DONT_DEFINE_ASSERT_EQ=1)
+add_definitions(-DGTEST_DONT_DEFINE_ASSERT_NE=1)
+add_definitions(-DGTEST_DONT_DEFINE_ASSERT_LE=1)
+add_definitions(-DGTEST_DONT_DEFINE_ASSERT_LT=1)
+add_definitions(-DGTEST_DONT_DEFINE_ASSERT_GE=1)
+add_definitions(-DGTEST_DONT_DEFINE_ASSERT_GT=1)
+
 execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_results)
 execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
 include_directories(${GTEST_INCLUDE_DIRS})
@@ -26,10 +36,26 @@ add_library(test_fcl_utility test_fcl_utility.cpp)
 
 # test file list
 set(tests
+    test_fcl_broadphase.cpp
+    test_fcl_bvh_models.cpp
+    test_fcl_capsule_box_1.cpp
+    test_fcl_capsule_box_2.cpp
+    test_fcl_capsule_capsule.cpp
+    test_fcl_collision.cpp
     test_fcl_distance.cpp
+    test_fcl_frontlist.cpp
+    test_fcl_geometric_shapes.cpp
+    test_fcl_math.cpp
+    test_fcl_shape_mesh_consistency.cpp
+    test_fcl_simple.cpp
+    test_fcl_sphere_capsule.cpp
 )
 
-macro(add_fcl_gtest test_file_name) # TODO: This should be renamed to add_fcl_test once we completely drop the dependency on Boost Test
+if (FCL_HAVE_OCTOMAP)
+  list(APPEND tests test_fcl_octomap.cpp)
+endif()
+
+macro(add_fcl_test test_file_name)
   # Get the name (i.e. bla.cpp => bla)
   get_filename_component(test_name ${ARGV} NAME_WE)
   add_executable(${test_name} ${ARGV})
@@ -41,35 +67,6 @@ macro(add_fcl_gtest test_file_name) # TODO: This should be renamed to add_fcl_te
       ${Boost_SYSTEM_LIBRARY}
   )
   add_test(${test_name} ${EXECUTABLE_OUTPUT_PATH}/${test_name})
-endmacro(add_fcl_gtest)
-
-# Build all the tests
-foreach(test ${tests})
-  add_fcl_gtest(${test})
-endforeach(test)
-
-#===============================================================================
-# Boost.Test settings
-#===============================================================================
-
-include_directories(${Boost_INCLUDE_DIR})
-
-if(MSVC)
-    add_definitions(-DBOOST_ALL_NO_LIB)
-endif()
-add_definitions(-DBOOST_TEST_DYN_LINK)
-
-
-macro(add_fcl_test test_name)
-  add_executable(${ARGV})
-  target_link_libraries(${test_name}
-    fcl
-    ${Boost_FILESYSTEM_LIBRARY}
-    ${Boost_SYSTEM_LIBRARY}
-    ${Boost_THREAD_LIBRARY}
-    ${Boost_DATE_TIME_LIBRARY}
-    ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
-  add_test(${test_name} ${EXECUTABLE_OUTPUT_PATH}/${test_name})
 endmacro(add_fcl_test)
 
 # configure location of resources
@@ -84,35 +81,14 @@ configure_file("${TEST_RESOURCES_SRC_DIR}/config.h.in" "${TEST_RESOURCES_BIN_DIR
 
 include_directories(.)
 include_directories("${CMAKE_CURRENT_BINARY_DIR}")
+include_directories(${Boost_INCLUDE_DIR})
 
-add_fcl_test(test_fcl_collision test_fcl_collision.cpp test_fcl_utility.cpp)
-#add_fcl_test(test_fcl_distance test_fcl_distance.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_geometric_shapes test_fcl_geometric_shapes.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_broadphase test_fcl_broadphase.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_shape_mesh_consistency test_fcl_shape_mesh_consistency.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_frontlist test_fcl_frontlist.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_math test_fcl_math.cpp test_fcl_utility.cpp)
-
-add_fcl_test(test_fcl_sphere_capsule test_fcl_sphere_capsule.cpp)
-add_fcl_test(test_fcl_capsule_capsule test_fcl_capsule_capsule.cpp)
-add_fcl_test(test_fcl_simple test_fcl_simple.cpp)
-add_fcl_test(test_fcl_capsule_box_1 test_fcl_capsule_box_1.cpp)
-add_fcl_test(test_fcl_capsule_box_2 test_fcl_capsule_box_2.cpp)
-#add_fcl_test(test_fcl_global_penetration test_fcl_global_penetration.cpp libsvm/svm.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_bvh_models test_fcl_bvh_models.cpp test_fcl_utility.cpp)
-
-if (FCL_HAVE_OCTOMAP)
-  add_fcl_test(test_fcl_octomap test_fcl_octomap.cpp test_fcl_utility.cpp)
+if(MSVC)
+    add_definitions(-DBOOST_ALL_NO_LIB)
 endif()
+add_definitions(-DBOOST_TEST_DYN_LINK)
 
-#if (FCL_HAVE_TINYXML)
-#  add_executable(test_fcl_xmldata test_fcl_xmldata.cpp test_fcl_utility.cpp libsvm/svm.cpp)
-#  target_link_libraries(test_fcl_xmldata
-#    fcl
-#    ${TINYXML_LIBRARY_DIRS}
-#    ${Boost_SYSTEM_LIBRARY}
-#    ${Boost_THREAD_LIBRARY}
-#    ${Boost_DATE_TIME_LIBRARY}
-#    ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
-#  add_test(test_fcl_xmldata ${EXECUTABLE_OUTPUT_PATH}/test_fcl_xmldata)
-#endif()
+# Build all the tests
+foreach(test ${tests})
+  add_fcl_test(${test})
+endforeach(test)