traversal.h

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#ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
#define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H


namespace hpp
{
namespace fcl
{

enum {
  RelativeTransformationIsIdentity = 1
};

namespace details
{
  template <bool enabled>
  struct RelativeTransformation
  {
    RelativeTransformation () : R (Matrix3f::Identity()) {}

    const Matrix3f& _R () const { return R; }
    const Vec3f   & _T () const { return T; }

    Matrix3f R;
    Vec3f T;
  };

  template <>
  struct RelativeTransformation <false>
  {
    static const Matrix3f& _R () { throw std::logic_error ("should never reach this point"); }
    static const Vec3f   & _T () { throw std::logic_error ("should never reach this point"); }
  };
} // namespace details

}

} // namespace hpp


#endif