hpp-fcl
1.7.0
HPP fork of FCL -- The Flexible Collision Library
traversal.h
Go to the documentation of this file.
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019, LAAS CNRS
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* Redistribution and use in source and binary forms, with or without
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#ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
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#define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
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namespace
hpp
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{
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namespace
fcl
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{
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enum
{
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RelativeTransformationIsIdentity = 1
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};
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namespace
details
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{
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template
<
bool
enabled>
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struct
HPP_FCL_DLLAPI
RelativeTransformation
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{
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RelativeTransformation () : R (
Matrix3f
::Identity()) {}
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const
Matrix3f
& _R ()
const
{
return
R; }
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const
Vec3f
& _T ()
const
{
return
T; }
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Matrix3f
R;
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Vec3f
T;
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};
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template
<>
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struct
HPP_FCL_DLLAPI
RelativeTransformation <false>
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{
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static
const
Matrix3f
& _R () {
throw
std::logic_error (
"should never reach this point"
); }
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static
const
Vec3f
& _T () {
throw
std::logic_error (
"should never reach this point"
); }
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};
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}
// namespace details
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}
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}
// namespace hpp
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#endif
HPP_FCL_DLLAPI
#define HPP_FCL_DLLAPI
Definition:
config.hh:64
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition:
data_types.h:67
details
Definition:
traversal_node_setup.h:775
hpp
Main namespace.
Definition:
AABB.h:43
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition:
data_types.h:68
include
hpp
fcl
internal
traversal.h
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