| Directory: | ./ |
|---|---|
| File: | include/pinocchio/collision/fcl-pinocchio-conversions.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 3 | 3 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2024 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_collision_fcl_convertion_hpp__ | ||
| 6 | #define __pinocchio_collision_fcl_convertion_hpp__ | ||
| 7 | |||
| 8 | #include <hpp/fcl/math/transform.h> | ||
| 9 | #include "pinocchio/spatial/se3.hpp" | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | template<typename Scalar> | ||
| 14 | 142 | inline hpp::fcl::Transform3f toFclTransform3f(const SE3Tpl<Scalar> & m) | |
| 15 | { | ||
| 16 |
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142 | SE3Tpl<double, 0> m_ = m.template cast<double>(); |
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284 | return hpp::fcl::Transform3f(m_.rotation(), m_.translation()); |
| 18 | } | ||
| 19 | |||
| 20 | inline SE3 toPinocchioSE3(const hpp::fcl::Transform3f & tf) | ||
| 21 | { | ||
| 22 | typedef SE3::Scalar Scalar; | ||
| 23 | return SE3(tf.getRotation().cast<Scalar>(), tf.getTranslation().cast<Scalar>()); | ||
| 24 | } | ||
| 25 | |||
| 26 | } // namespace pinocchio | ||
| 27 | |||
| 28 | #endif // ifndef __pinocchio_collision_fcl_convertion_hpp__ | ||
| 29 |