37 #ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H 38 #define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H 45 enum { RelativeTransformationIsIdentity = 1 };
48 template <
bool enabled>
49 struct HPP_FCL_DLLAPI RelativeTransformation {
50 RelativeTransformation() :
R(
Matrix3f::Identity()) {}
53 const Vec3f& _T()
const {
return T; }
60 struct HPP_FCL_DLLAPI RelativeTransformation<false> {
64 static const Vec3f& _T() {
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
#define HPP_FCL_THROW_PRETTY(message, exception)