Program Listing for File fcl-pinocchio-conversions.hpp
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)
//
// Copyright (c) 2015-2024 CNRS INRIA
//
#ifndef __pinocchio_collision_fcl_convertion_hpp__
#define __pinocchio_collision_fcl_convertion_hpp__
#include <hpp/fcl/math/transform.h>
#include "pinocchio/spatial/se3.hpp"
namespace pinocchio
{
template<typename Scalar>
inline hpp::fcl::Transform3f toFclTransform3f(const SE3Tpl<Scalar> & m)
{
SE3Tpl<double, 0> m_ = m.template cast<double>();
return hpp::fcl::Transform3f(m_.rotation(), m_.translation());
}
inline SE3 toPinocchioSE3(const hpp::fcl::Transform3f & tf)
{
typedef SE3::Scalar Scalar;
return SE3(tf.getRotation().cast<Scalar>(), tf.getTranslation().cast<Scalar>());
}
} // namespace pinocchio
#endif // ifndef __pinocchio_collision_fcl_convertion_hpp__