.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_collision_utility.h:

Program Listing for File collision_utility.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_collision_utility.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/collision_utility.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2017 CNRS
   // Copyright (c) 2022 INRIA
   // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
   //
   // This file is part of hpp-fcl.
   // hpp-fcl is free software: you can redistribute it
   // and/or modify it under the terms of the GNU Lesser General Public
   // License as published by the Free Software Foundation, either version
   // 3 of the License, or (at your option) any later version.
   //
   // hpp-fcl is distributed in the hope that it will be
   // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
   // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   // General Lesser Public License for more details.  You should have
   // received a copy of the GNU Lesser General Public License along with
   // hpp-fcl. If not, see <http://www.gnu.org/licenses/>.
   
   #ifndef HPP_FCL_COLLISION_UTILITY_H
   #define HPP_FCL_COLLISION_UTILITY_H
   
   #include <hpp/fcl/collision_object.h>
   
   namespace hpp {
   namespace fcl {
   
   HPP_FCL_DLLAPI CollisionGeometry* extract(const CollisionGeometry* model,
                                             const Transform3f& pose,
                                             const AABB& aabb);
   
   inline const char* get_node_type_name(NODE_TYPE node_type) {
     static const char* node_type_name_all[] = {
         "BV_UNKNOWN",     "BV_AABB",       "BV_OBB",      "BV_RSS",
         "BV_kIOS",        "BV_OBBRSS",     "BV_KDOP16",   "BV_KDOP18",
         "BV_KDOP24",      "GEOM_BOX",      "GEOM_SPHERE", "GEOM_CAPSULE",
         "GEOM_CONE",      "GEOM_CYLINDER", "GEOM_CONVEX", "GEOM_PLANE",
         "GEOM_HALFSPACE", "GEOM_TRIANGLE", "GEOM_OCTREE", "GEOM_ELLIPSOID",
         "HF_AABB",        "HF_OBBRSS",     "NODE_COUNT"};
   
     return node_type_name_all[node_type];
   }
   
   inline const char* get_object_type_name(OBJECT_TYPE object_type) {
     static const char* object_type_name_all[] = {
         "OT_UNKNOWN", "OT_BVH", "OT_GEOM", "OT_OCTREE", "OT_HFIELD", "OT_COUNT"};
   
     return object_type_name_all[object_type];
   }
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif  // FCL_COLLISION_UTILITY_H