hpp-fcl 2.2.0
HPP fork of FCL -- The Flexible Collision Library
Loading...
Searching...
No Matches
traversal.h
Go to the documentation of this file.
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2019, LAAS CNRS
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Open Source Robotics Foundation nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 */
34
37#ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
38#define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
39
41
42namespace hpp {
43namespace fcl {
44
45enum { RelativeTransformationIsIdentity = 1 };
46
47namespace details {
48template <bool enabled>
49struct HPP_FCL_DLLAPI RelativeTransformation {
50 RelativeTransformation() : R(Matrix3f::Identity()) {}
51
52 const Matrix3f& _R() const { return R; }
53 const Vec3f& _T() const { return T; }
54
55 Matrix3f R;
56 Vec3f T;
57};
58
59template <>
60struct HPP_FCL_DLLAPI RelativeTransformation<false> {
61 static const Matrix3f& _R() {
62 HPP_FCL_THROW_PRETTY("should never reach this point", std::logic_error);
63 }
64 static const Vec3f& _T() {
65 HPP_FCL_THROW_PRETTY("should never reach this point", std::logic_error);
66 }
67};
68} // namespace details
69
70} // namespace fcl
71
72} // namespace hpp
73
75
76#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:64
#define HPP_FCL_THROW_PRETTY(message, exception)
Definition: fwd.hh:57
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
Main namespace.
Definition: broadphase_bruteforce.h:44