hpp-fcl: include/hpp/fcl/internal/traversal.h Source File

hpp-fcl 1.7.2 HPP fork of FCL -- The Flexible Collision Library

traversal.h
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34
37 #ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
38 #define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
39
41
42 namespace hpp
43 {
44 namespace fcl
45 {
46
47 enum {
48 RelativeTransformationIsIdentity = 1
49 };
50
51 namespace details
52 {
53 template <bool enabled>
54 struct HPP_FCL_DLLAPI RelativeTransformation
55 {
56 RelativeTransformation () : R (Matrix3f::Identity()) {}
57
58 const Matrix3f& _R () const { return R; }
59 const Vec3f & _T () const { return T; }
60
61 Matrix3f R;
62 Vec3f T;
63 };
64
65 template <>
66 struct HPP_FCL_DLLAPI RelativeTransformation <false>
67 {
68 static const Matrix3f& _R () { throw std::logic_error ("should never reach this point"); }
69 static const Vec3f & _T () { throw std::logic_error ("should never reach this point"); }
70 };
71 } // namespace details
72
73 }
74
75 } // namespace hpp
76
78
79 #endif
details
Definition: traversal_node_setup.h:785
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp
Main namespace.
Definition: AABB.h:44