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vec_3f.h 2.66 KiB
/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 */

/** \author Jia Pan */

#ifndef FCL_VEC_3F_H
#define FCL_VEC_3F_H

#include <hpp/fcl/config-fcl.hh>
#include <hpp/fcl/data_types.h>

#if FCL_USE_NATIVE_EIGEN
# include <hpp/fcl/eigen/vec_3fx.h>
#else
# include <hpp/fcl/math/vec_3fx.h>
#endif

#if FCL_HAVE_EIGEN
# if ! FCL_USE_NATIVE_EIGEN
#  include <hpp/fcl/eigen/math_details.h>
# endif
#elif FCL_HAVE_SSE
# include <hpp/fcl/simd/math_simd_details.h>
#else
# include <hpp/fcl/math/math_details.h>
#endif

#include <cmath>
#include <iostream>
#include <limits>


namespace fcl
{

#if FCL_HAVE_EIGEN
# if FCL_USE_NATIVE_EIGEN
  typedef Vec3fX<FCL_REAL> Vec3f;
# else
  typedef Vec3fX<details::eigen_v3<FCL_REAL> > Vec3f;
# endif
#elif FCL_HAVE_SSE
  typedef Vec3fX<details::sse_meta_f4> Vec3f;
#else
  typedef Vec3fX<details::Vec3Data<FCL_REAL> > Vec3f;
#endif

static inline std::ostream& operator << (std::ostream& o, const Vec3f& v)
{
  o << "(" << v[0] << " " << v[1] << " " << v[2] << ")";
  return o;
}

}


#endif