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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__ |