GCC Code Coverage Report
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File: include/hpp/fcl/collision_utility.h Lines: 0 2 0.0 %
Date: 2024-02-09 12:57:42 Branches: 0 0 - %

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// Copyright (c) 2017 CNRS
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// Copyright (c) 2022 INRIA
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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//
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// This file is part of hpp-fcl.
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// hpp-fcl is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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//
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// hpp-fcl is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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// General Lesser Public License for more details.  You should have
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// received a copy of the GNU Lesser General Public License along with
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// hpp-fcl. If not, see <http://www.gnu.org/licenses/>.
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#ifndef HPP_FCL_COLLISION_UTILITY_H
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#define HPP_FCL_COLLISION_UTILITY_H
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#include <hpp/fcl/collision_object.h>
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namespace hpp {
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namespace fcl {
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HPP_FCL_DLLAPI CollisionGeometry* extract(const CollisionGeometry* model,
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                                          const Transform3f& pose,
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                                          const AABB& aabb);
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/**
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 * \brief Returns the name associated to a NODE_TYPE
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 */
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inline const char* get_node_type_name(NODE_TYPE node_type) {
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  static const char* node_type_name_all[] = {
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      "BV_UNKNOWN",     "BV_AABB",       "BV_OBB",      "BV_RSS",
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      "BV_kIOS",        "BV_OBBRSS",     "BV_KDOP16",   "BV_KDOP18",
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      "BV_KDOP24",      "GEOM_BOX",      "GEOM_SPHERE", "GEOM_CAPSULE",
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      "GEOM_CONE",      "GEOM_CYLINDER", "GEOM_CONVEX", "GEOM_PLANE",
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      "GEOM_HALFSPACE", "GEOM_TRIANGLE", "GEOM_OCTREE", "GEOM_ELLIPSOID",
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      "HF_AABB",        "HF_OBBRSS",     "NODE_COUNT"};
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  return node_type_name_all[node_type];
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}
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/**
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 * \brief Returns the name associated to a OBJECT_TYPE
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 */
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inline const char* get_object_type_name(OBJECT_TYPE object_type) {
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  static const char* object_type_name_all[] = {
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      "OT_UNKNOWN", "OT_BVH", "OT_GEOM", "OT_OCTREE", "OT_HFIELD", "OT_COUNT"};
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  return object_type_name_all[object_type];
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}
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}  // namespace fcl
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}  // namespace hpp
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#endif  // FCL_COLLISION_UTILITY_H