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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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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Joseph Mirabel */ |
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#ifndef COAL_TRAVERSAL_DETAILS_TRAVERSAL_H |
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#define COAL_TRAVERSAL_DETAILS_TRAVERSAL_H |
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/// @cond INTERNAL |
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namespace coal { |
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enum { RelativeTransformationIsIdentity = 1 }; |
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namespace details { |
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template <bool enabled> |
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struct COAL_DLLAPI RelativeTransformation { |
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RelativeTransformation() : R(Matrix3s::Identity()) {} |
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const Matrix3s& _R() const { return R; } |
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const Vec3s& _T() const { return T; } |
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Matrix3s R; |
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Vec3s T; |
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}; |
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template <> |
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struct COAL_DLLAPI RelativeTransformation<false> { |
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static const Matrix3s& _R() { |
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COAL_THROW_PRETTY("should never reach this point", std::logic_error); |
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} |
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static const Vec3s& _T() { |
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COAL_THROW_PRETTY("should never reach this point", std::logic_error); |
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} |
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}; |
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} // namespace details |
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} // namespace coal |
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/// @endcond |
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#endif |
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