FCLTypes.hpp

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#ifndef DART_COLLISION_FCL_FCLTTYPES_HPP_
#define DART_COLLISION_FCL_FCLTTYPES_HPP_
 
#include <Eigen/Dense>
#include "dart/collision/fcl/BackwardCompatibility.hpp"
 
namespace dart {
namespace collision {
 
class FCLTypes
{
public:
#if !FCL_VERSION_AT_LEAST(0,6,0)
  static dart::collision::fcl::Vector3 convertVector3(const Eigen::Vector3d& _vec);
#endif
  static Eigen::Vector3d convertVector3(const dart::collision::fcl::Vector3& _vec);
 
  static dart::collision::fcl::Matrix3 convertMatrix3x3(const Eigen::Matrix3d& _R);
 
  static dart::collision::fcl::Transform3 convertTransform(const Eigen::Isometry3d& _T);
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_FCL_FCLTTYPES_HPP_