GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/pinocchio/spatial/fcl-pinocchio-conversions.hpp Lines: 2 2 100.0 %
Date: 2024-01-23 21:41:47 Branches: 0 0 - %

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//
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// Copyright (c) 2015-2016 CNRS
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//
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#ifndef __pinocchio_fcl_convertion_hpp__
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#define __pinocchio_fcl_convertion_hpp__
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#include <hpp/fcl/math/transform.h>
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#include "pinocchio/spatial/se3.hpp"
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namespace pinocchio
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{
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  inline hpp::fcl::Transform3f toFclTransform3f(const SE3 & m)
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  {
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    return hpp::fcl::Transform3f(m.rotation(), m.translation());
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  }
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  inline SE3 toPinocchioSE3(const hpp::fcl::Transform3f & tf)
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  {
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    return SE3(tf.getRotation(), tf.getTranslation());
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  }
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} // namespace pinocchio
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#endif // ifndef __pinocchio_fcl_convertion_hpp__