Directory: | ./ |
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File: | include/pinocchio/collision/fcl-pinocchio-conversions.hpp |
Date: | 2024-08-27 18:20:05 |
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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>(); |
17 |
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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 |