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


hpp-fcl
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autogenerated on Fri Jun 2 2023 02:39:02