Provide default callbacks for broadphase collision manager

[SeanCurtis-TRI]

We had default callbacks defined in the test namespace. The main README.md was recommending using them. This moves them directly into fcl namespace so that user code doesn't have to pull in test code and modifies the README.md accordingly.

Closes #411

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This change is 

[SeanCurtis-TRI]

@sherm1 for both reviews

For the record, the first revision is a bunch of whitespace changes on the README.md file so it is easy to read in a fixed-width context. The second revision then piles changes on top of the reformatted file. I'd recommend reviewing them as two separate revisisons.

Reviewable status: 0 of 10 files reviewed, all discussions resolved

[sherm1]

Looks great, per f2f may need a note in the changelog or release notes noting the name changes in case someone was using the old names.

CI is not happy.

Checkpoint.

Reviewed 1 of 1 files at r1, 9 of 10 files at r2.
Reviewable status: 9 of 10 files reviewed, 2 unresolved discussions (waiting on @SeanCurtis-TRI)

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README.md, line 194 at r2 (raw file):

// a) a callback to collision or distance; 
// b) an intermediate data to store the information generated during the
//    broadphase computation

nit: needs a period

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README.md, line 197 at r2 (raw file):

// For convenience, FCL provides default callbacks to satisfy a) and a
// corresponding call back data to satisfy b) for both collision and distance
// queries. For collision use DefaultCollisionCallback and DefaultCollisoinData

nit: typo "Collisoin"

[jamiesnape]

Reviewable status: 9 of 10 files reviewed, 2 unresolved discussions (waiting on @SeanCurtis-TRI)

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include/fcl/broadphase/default_broadphase_callbacks.h, line 17 at r2 (raw file):

 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its

BTW Open Source Robotics Foundation -> copyright holder (or Toyota Research Institute, but then someone else will copy and paste the wrong name in future.)

[sherm1]

x 2 pending green CI

Just checking: looks like the defaultContinuousDistanceFunction is removed here without a replacement. It didn't appear to ever have a real implementation so that seems like an improvement. Maybe mention that in the changelog also?

Reviewed 1 of 10 files at r2.
Reviewable status: all files reviewed, 6 unresolved discussions (waiting on @SeanCurtis-TRI)

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include/fcl/broadphase/default_broadphase_callbacks.h, line 85 at r2 (raw file):

/// @param o2   The second object in the culled pair.
/// @param data A non-null pointer to a DefaultCollisionData instance.
/// @return True if the broadphase evaluation should stop.

nit consider true (lower case) to be more C++-ish (and below)

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include/fcl/broadphase/default_broadphase_callbacks.h, line 109 at r2 (raw file):

/// @brief Collision data for use with the DefaultContinuousCollisionFunction.
/// It stores the collision request and the result given by collision algorithm

nit: by the collision

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include/fcl/broadphase/default_broadphase_callbacks.h, line 132 at r2 (raw file):

/// to true, this method will simply return without doing any computation.
///
/// For a given instance of DefaultCollisionData, if broadphase evaluation has

nit Default Continuous CollisionData ? (also on next lines)

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include/fcl/broadphase/default_broadphase_callbacks.h, line 160 at r2 (raw file):

/// @brief Distance data for use with the DefaultDistanceFunction. It stores
/// the distance request and the result given by distace algorithm (and

nit typo distace

[SeanCurtis-TRI]

Comments addressed and, with any luck, CI addressed.

Reviewable status: 2 of 10 files reviewed, all discussions resolved (waiting on @sherm1)

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include/fcl/broadphase/default_broadphase_callbacks.h, line 17 at r2 (raw file):

Previously, jamiesnape (Jamie Snape) wrote…

BTW Open Source Robotics Foundation -> copyright holder (or Toyota Research Institute, but then someone else will copy and paste the wrong name in future.)

Nice catch. :)

[SeanCurtis-TRI]

@sherm - waiting on you.

Reviewable status: 2 of 10 files reviewed, all discussions resolved (waiting on @sherm1)

[sherm1]

Needs a manual merge, apparently.

Reviewed 8 of 9 files at r3.
Reviewable status: complete! all files reviewed, all discussions resolved

[SeanCurtis-TRI]

I'm somewhat inclined to go ahead and rebase it and let it run all the way through CI. Just so the PR record shows it merged with all green lights. We have a lot of PRs with red x's. :-/

Reviewable status: complete! all files reviewed, all discussions resolved

[sherm1]

Reviewed 1 of 1 files at r4.
Reviewable status: complete! all files reviewed, all discussions resolved