hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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traversal.h
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34
37#ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
38#define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
39
41
42namespace hpp
43{
44namespace fcl
45{
46
47enum {
48 RelativeTransformationIsIdentity = 1
49};
50
51namespace details
52{
53 template <bool enabled>
54 struct HPP_FCL_DLLAPI RelativeTransformation
55 {
56 RelativeTransformation () : R (Matrix3f::Identity()) {}
57
58 const Matrix3f& _R () const { return R; }
59 const Vec3f & _T () const { return T; }
60
61 Matrix3f R;
62 Vec3f T;
63 };
64
65 template <>
66 struct HPP_FCL_DLLAPI RelativeTransformation <false>
67 {
68 static const Matrix3f& _R () { throw std::logic_error ("should never reach this point"); }
69 static const Vec3f & _T () { throw std::logic_error ("should never reach this point"); }
70 };
71} // namespace details
72
73}
74
75} // namespace hpp
76
78
79#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
Main namespace.
Definition: AABB.h:44