.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_traversal.h: Program Listing for File traversal.h ==================================== |exhale_lsh| :ref:`Return to documentation for file ` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/internal/traversal.h``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp /* * Software License Agreement (BSD License) * * Copyright (c) 2019, LAAS CNRS * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Open Source Robotics Foundation nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H #define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H namespace hpp { namespace fcl { enum { RelativeTransformationIsIdentity = 1 }; namespace details { template 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 { 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