DART  6.10.1
FCLTypes.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_COLLISION_FCL_FCLTTYPES_HPP_
34 #define DART_COLLISION_FCL_FCLTTYPES_HPP_
35 
36 #include <Eigen/Dense>
38 
39 namespace dart {
40 namespace collision {
41 
42 class FCLTypes
43 {
44 public:
45 #if !FCL_VERSION_AT_LEAST(0, 6, 0)
48  const Eigen::Vector3d& _vec);
49 #endif
51  static Eigen::Vector3d convertVector3(
52  const dart::collision::fcl::Vector3& _vec);
53 
56  const Eigen::Matrix3d& _R);
57 
60  const Eigen::Isometry3d& _T);
61 };
62 
63 } // namespace collision
64 } // namespace dart
65 
66 #endif // DART_COLLISION_FCL_FCLTTYPES_HPP_
Definition: FCLTypes.hpp:43
static dart::collision::fcl::Transform3 convertTransform(const Eigen::Isometry3d &_T)
Convert FCL transformation type to Eigen transformation type.
Definition: FCLTypes.cpp:79
static dart::collision::fcl::Vector3 convertVector3(const Eigen::Vector3d &_vec)
Convert Eigen vector3 type to FCL vector3 type.
Definition: FCLTypes.cpp:40
static dart::collision::fcl::Matrix3 convertMatrix3x3(const Eigen::Matrix3d &_R)
Convert FCL matrix3x3 type to Eigen matrix3x3 type.
Definition: FCLTypes.cpp:59
::fcl::Vec3f Vector3
Definition: BackwardCompatibility.hpp:148
::fcl::Transform3f Transform3
Definition: BackwardCompatibility.hpp:150
::fcl::Matrix3f Matrix3
Definition: BackwardCompatibility.hpp:149
Definition: BulletCollisionDetector.cpp:65