From e2b7d16f0d270607374cd082efe8a47c5895e9c0 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 14 Jun 2016 13:15:43 +0200
Subject: [PATCH] Make Quaternion3f(w,x,y,z) and Quaternion3f(w, Vec(x,y,z))
public
---
include/hpp/fcl/math/transform.h | 32 ++++++++++++++++----------------
1 file changed, 16 insertions(+), 16 deletions(-)
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index a11dc55c..53c07a9c 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -132,6 +132,22 @@ public:
data (other.derived())
{}
+ Quaternion3f(FCL_REAL w, FCL_REAL x, FCL_REAL y, FCL_REAL z)
+ {
+ data[W] = w;
+ data[X] = x;
+ data[Y] = y;
+ data[Z] = z;
+ }
+
+ template<typename Derived>
+ Quaternion3f(FCL_REAL _w, const Eigen::MatrixBase<Derived>& _vec)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3);
+ w() = _w;
+ vec().noalias() = _vec;
+ }
+
/// @brief Whether the rotation is identity
bool isIdentity() const
{
@@ -251,22 +267,6 @@ public:
private:
- Quaternion3f(FCL_REAL w, FCL_REAL x, FCL_REAL y, FCL_REAL z)
- {
- data[W] = w;
- data[X] = x;
- data[Y] = y;
- data[Z] = z;
- }
-
- template<typename Derived>
- Quaternion3f(FCL_REAL _w, const Eigen::MatrixBase<Derived>& _vec)
- {
- EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3);
- w() = _w;
- vec().noalias() = _vec;
- }
-
FCL_REAL operator [] (std::size_t i) const
{
return data[i];
--
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