{"action":"created","issue":{"url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/323","repository_url":"https://api.github.com/repos/flexible-collision-library/fcl","labels_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/323/labels{/name}","comments_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/323/comments","events_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/323/events","html_url":"https://github.com/flexible-collision-library/fcl/issues/323","id":347174846,"node_id":"MDU6SXNzdWUzNDcxNzQ4NDY=","number":323,"title":"Eigen3 versions, ubuntu versions, etc.","user":{"login":"SeanCurtis-TRI","id":22159799,"node_id":"MDQ6VXNlcjIyMTU5Nzk5","avatar_url":"https://avatars3.githubusercontent.com/u/22159799?v=4","gravatar_id":"","url":"https://api.github.com/users/SeanCurtis-TRI","html_url":"https://github.com/SeanCurtis-TRI","followers_url":"https://api.github.com/users/SeanCurtis-TRI/followers","following_url":"https://api.github.com/users/SeanCurtis-TRI/following{/other_user}","gists_url":"https://api.github.com/users/SeanCurtis-TRI/gists{/gist_id}","starred_url":"https://api.github.com/users/SeanCurtis-TRI/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/SeanCurtis-TRI/subscriptions","organizations_url":"https://api.github.com/users/SeanCurtis-TRI/orgs","repos_url":"https://api.github.com/users/SeanCurtis-TRI/repos","events_url":"https://api.github.com/users/SeanCurtis-TRI/events{/privacy}","received_events_url":"https://api.github.com/users/SeanCurtis-TRI/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-08-02T21:07:10Z","updated_at":"2018-08-27T20:29:31Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"Travis CI is configured to run against Ubuntu 14.04 (aka `trusty`) and, as such, installs the default build of Eigen3 associated with that build. That build is version 3.2.0. Eigen3 has shown improvements from 3.2.0 to 3.2.92 (known as 3.3-beta1 -- and the default for 16.04 `xenial`). Specifically, there are some specific cases in which advancing the minor version produces [*more accurate answers*](https://github.com/SeanCurtis-TRI/fcl/blob/PR_cylinder_sphere_collision/test/narrowphase/detail/primitive_shape_algorithm/test_sphere_cylinder.cpp#L59).\r\n\r\nWe might want to consider looking at these infrastructure choices and, at least, revisit CI. By moving from 3.2.0 to 3.2.92 we get the freshest version of Eigen for a fixed API (and are forward consistent with Xenial behavior) and get better answers.\r\n\r\nThe bigger question is if we move FCL's minimum requirement forward outside of CI as well. It would require changing how FCL's cmake engages with eigen. \r\n\r\nThoughts?"},"comment":{"url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/comments/416357930","html_url":"https://github.com/flexible-collision-library/fcl/issues/323#issuecomment-416357930","issue_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/323","id":416357930,"node_id":"MDEyOklzc3VlQ29tbWVudDQxNjM1NzkzMA==","user":{"login":"sherm1","id":4088016,"node_id":"MDQ6VXNlcjQwODgwMTY=","avatar_url":"https://avatars1.githubusercontent.com/u/4088016?v=4","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"created_at":"2018-08-27T20:29:31Z","updated_at":"2018-08-27T20:29:31Z","author_association":"MEMBER","body":"Great idea, @jamiesnape. I would be inclined at the same time to move FCL master to a Xenial (16.04) minimum. People who want to keep using Trusty can still use older version of FCL. Does anyone have a reason why we need to support Trusty  (14.04) for new FCL development?"}}
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