traversal.h

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#ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
#define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
 
 
namespace hpp {
namespace fcl {
 
enum { RelativeTransformationIsIdentity = 1 };
 
namespace details {
template <bool enabled>
struct HPP_FCL_DLLAPI RelativeTransformation {
  RelativeTransformation() : R(Matrix3f::Identity()) {}
 
  const Matrix3f& _R() const { return R; }
  const Vec3f& _T() const { return T; }
 
  Matrix3f R;
  Vec3f T;
};
 
template <>
struct HPP_FCL_DLLAPI RelativeTransformation<false> {
  static const Matrix3f& _R() {
    HPP_FCL_THROW_PRETTY("should never reach this point", std::logic_error);
  }
  static const Vec3f& _T() {
    HPP_FCL_THROW_PRETTY("should never reach this point", std::logic_error);
  }
};
}  // namespace details
 
}  // namespace fcl
 
}  // namespace hpp
 
 
#endif