Line |
Branch |
Exec |
Source |
1 |
|
|
/* |
2 |
|
|
* Software License Agreement (BSD License) |
3 |
|
|
* |
4 |
|
|
* Copyright (c) 2019, LAAS CNRS |
5 |
|
|
* All rights reserved. |
6 |
|
|
* |
7 |
|
|
* Redistribution and use in source and binary forms, with or without |
8 |
|
|
* modification, are permitted provided that the following conditions |
9 |
|
|
* are met: |
10 |
|
|
* |
11 |
|
|
* * Redistributions of source code must retain the above copyright |
12 |
|
|
* notice, this list of conditions and the following disclaimer. |
13 |
|
|
* * Redistributions in binary form must reproduce the above |
14 |
|
|
* copyright notice, this list of conditions and the following |
15 |
|
|
* disclaimer in the documentation and/or other materials provided |
16 |
|
|
* with the distribution. |
17 |
|
|
* * Neither the name of Open Source Robotics Foundation nor the names of its |
18 |
|
|
* contributors may be used to endorse or promote products derived |
19 |
|
|
* from this software without specific prior written permission. |
20 |
|
|
* |
21 |
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
22 |
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
23 |
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
24 |
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
25 |
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
26 |
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
27 |
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
28 |
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
29 |
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
30 |
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
31 |
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
32 |
|
|
* POSSIBILITY OF SUCH DAMAGE. |
33 |
|
|
*/ |
34 |
|
|
|
35 |
|
|
/** \author Joseph Mirabel */ |
36 |
|
|
|
37 |
|
|
#ifndef COAL_TRAVERSAL_DETAILS_TRAVERSAL_H |
38 |
|
|
#define COAL_TRAVERSAL_DETAILS_TRAVERSAL_H |
39 |
|
|
|
40 |
|
|
/// @cond INTERNAL |
41 |
|
|
|
42 |
|
|
namespace coal { |
43 |
|
|
|
44 |
|
|
enum { RelativeTransformationIsIdentity = 1 }; |
45 |
|
|
|
46 |
|
|
namespace details { |
47 |
|
|
template <bool enabled> |
48 |
|
|
struct COAL_DLLAPI RelativeTransformation { |
49 |
1/2
✓ Branch 2 taken 17860 times.
✗ Branch 3 not taken.
|
17860 |
RelativeTransformation() : R(Matrix3s::Identity()) {} |
50 |
|
|
|
51 |
|
2004523 |
const Matrix3s& _R() const { return R; } |
52 |
|
2004523 |
const Vec3s& _T() const { return T; } |
53 |
|
|
|
54 |
|
|
Matrix3s R; |
55 |
|
|
Vec3s T; |
56 |
|
|
}; |
57 |
|
|
|
58 |
|
|
template <> |
59 |
|
|
struct COAL_DLLAPI RelativeTransformation<false> { |
60 |
|
|
static const Matrix3s& _R() { |
61 |
|
|
COAL_THROW_PRETTY("should never reach this point", std::logic_error); |
62 |
|
|
} |
63 |
|
|
static const Vec3s& _T() { |
64 |
|
|
COAL_THROW_PRETTY("should never reach this point", std::logic_error); |
65 |
|
|
} |
66 |
|
|
}; |
67 |
|
|
} // namespace details |
68 |
|
|
|
69 |
|
|
} // namespace coal |
70 |
|
|
|
71 |
|
|
/// @endcond |
72 |
|
|
|
73 |
|
|
#endif |
74 |
|
|
|