traversal.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2019, LAAS CNRS
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Open Source Robotics Foundation nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  */
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
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
R
R
details
Definition: traversal_node_setup.h:792
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
HPP_FCL_THROW_PRETTY
#define HPP_FCL_THROW_PRETTY(message, exception)
Definition: include/hpp/fcl/fwd.hh:57


hpp-fcl
Author(s):
autogenerated on Fri Aug 2 2024 02:45:15