DART  6.7.3
FCLTypes.hpp
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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)
47  static dart::collision::fcl::Vector3 convertVector3(const Eigen::Vector3d& _vec);
48 #endif
50  static Eigen::Vector3d convertVector3(const dart::collision::fcl::Vector3& _vec);
51 
53  static dart::collision::fcl::Matrix3 convertMatrix3x3(const Eigen::Matrix3d& _R);
54 
56  static dart::collision::fcl::Transform3 convertTransform(const Eigen::Isometry3d& _T);
57 };
58 
59 } // namespace collision
60 } // namespace dart
61 
62 #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:69
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:57
::fcl::Vec3f Vector3
Definition: BackwardCompatibility.hpp:140
::fcl::Transform3f Transform3
Definition: BackwardCompatibility.hpp:142
::fcl::Matrix3f Matrix3
Definition: BackwardCompatibility.hpp:141
Definition: BulletCollisionDetector.cpp:63