From a48e934b80239e2538181452506385b3899366d0 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 13 Apr 2019 11:24:43 +0200
Subject: [PATCH] Add Converter from AABB to OBBRSS
---
include/hpp/fcl/BV/BV.h | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/include/hpp/fcl/BV/BV.h b/include/hpp/fcl/BV/BV.h
index 5e3f9993..d88aa1fc 100644
--- a/include/hpp/fcl/BV/BV.h
+++ b/include/hpp/fcl/BV/BV.h
@@ -281,6 +281,17 @@ public:
}
};
+template<>
+class Converter<AABB, OBBRSS>
+{
+public:
+ static void convert(const AABB& bv1, const Transform3f& tf1, OBBRSS& bv2)
+ {
+ Converter<AABB, OBB>::convert(bv1, tf1, bv2.obb);
+ Converter<AABB, RSS>::convert(bv1, tf1, bv2.rss);
+ }
+};
+
}
/// @endcond
--
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