data_types.h

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#ifndef HPP_FCL_DATA_TYPES_H
#define HPP_FCL_DATA_TYPES_H

#include <cstddef>
#include <boost/cstdint.hpp>

#include <Eigen/Core>
#include <Eigen/Geometry>


namespace hpp
{

#ifdef HPP_FCL_HAVE_OCTOMAP
  #define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
    (OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
    (OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
    OCTOMAP_PATCH_VERSION >= z))))

  #define OCTOMAP_VERSION_AT_MOST(x,y,z) \
    (OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
    (OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
    OCTOMAP_PATCH_VERSION <= z))))
#endif // HPP_FCL_HAVE_OCTOMAP
}

namespace hpp
{
namespace fcl
{
typedef double FCL_REAL;
typedef boost::uint64_t FCL_INT64;
typedef boost::int64_t FCL_UINT64;
typedef boost::uint32_t FCL_UINT32;
typedef boost::int32_t FCL_INT32;
typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;

class Triangle
{
public:
  typedef std::size_t index_type;
  typedef int size_type;

  Triangle() {}

  Triangle(index_type p1, index_type p2, index_type p3)
  {
    set(p1, p2, p3);
  }

  inline void set(index_type p1, index_type p2, index_type p3)
  {
    vids[0] = p1; vids[1] = p2; vids[2] = p3;
  }

  inline index_type operator[](int i) const { return vids[i]; }

  inline index_type& operator[](int i) { return vids[i]; }

  static inline size_type size() { return 3; }

private:
  index_type vids[3];
};

}

} // namespace hpp


#endif