include
pinocchio
spatial
fcl-pinocchio-conversions.hpp
Go to the documentation of this file.
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//
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// Copyright (c) 2015-2016 CNRS
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//
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#ifndef __pinocchio_fcl_convertion_hpp__
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#define __pinocchio_fcl_convertion_hpp__
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#include <
hpp/fcl/math/transform.h
>
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#include "
pinocchio/spatial/se3.hpp
"
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namespace
pinocchio
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{
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inline
hpp::fcl::Transform3f
toFclTransform3f
(
const
SE3
& m)
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{
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return
hpp::fcl::Transform3f
(
m
.rotation(),
m
.translation());
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}
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inline
SE3
toPinocchioSE3
(
const
hpp::fcl::Transform3f
& tf)
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{
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return
SE3
(tf.
getRotation
(), tf.
getTranslation
());
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}
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}
// namespace pinocchio
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#endif // ifndef __pinocchio_fcl_convertion_hpp__
pinocchio::SE3
SE3Tpl< double, 0 > SE3
Definition:
spatial/fwd.hpp:53
m
float m
pinocchio::SE3Tpl< double, 0 >
transform.h
pinocchio::toFclTransform3f
hpp::fcl::Transform3f toFclTransform3f(const SE3 &m)
Definition:
fcl-pinocchio-conversions.hpp:13
se3.hpp
pinocchio::toPinocchioSE3
SE3 toPinocchioSE3(const hpp::fcl::Transform3f &tf)
Definition:
fcl-pinocchio-conversions.hpp:18
hpp::fcl::Transform3f::getTranslation
const Vec3f & getTranslation() const
hpp::fcl::Transform3f::getRotation
const Matrix3f & getRotation() const
hpp::fcl::Transform3f
pinocchio
Main pinocchio namespace.
Definition:
timings.cpp:28
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:43:58