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Guilhem Saurel
pinocchio
Commits
b3180dc5
Commit
b3180dc5
authored
May 22, 2017
by
Justin Carpentier
Committed by
GitHub
May 22, 2017
Browse files
Merge pull request #387 from jmirabel/devel
Update to last changes in hpp-fcl
parents
f7a67855
6a67e242
Changes
2
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Inline
Side-by-side
src/spatial/fcl-pinocchio-conversions.hpp
View file @
b3180dc5
...
...
@@ -24,6 +24,18 @@
namespace
se3
{
#if FCL_HAVE_EIGEN
// TODO When not supporting the version of hpp-fcl (v0.5) not using plain eigen types
// the following functions can be removed because
// - fcl::Matrix3f = Eigen::Matrix3d
// - fcl::Vec3f = Eigen::Vector3d
// Currently, they are mandatory to support both v0.5 with FCL_HAVE_EIGEN and
// future version
inline
fcl
::
Matrix3f
toFclMatrix3f
(
Eigen
::
Matrix3d
const
&
mat
)
{
return
mat
;
}
inline
Eigen
::
Matrix3d
toMatrix3d
(
fcl
::
Matrix3f
const
&
mat
)
{
return
mat
;
}
inline
fcl
::
Vec3f
toFclVec3f
(
Eigen
::
Vector3d
const
&
vec
)
{
return
vec
;
}
inline
Eigen
::
Vector3d
toVector3d
(
fcl
::
Vec3f
const
&
vec
)
{
return
vec
;
}
#else // FCL_HAVE_EIGEN
inline
fcl
::
Matrix3f
toFclMatrix3f
(
const
Eigen
::
Matrix3d
&
mat
)
{
return
fcl
::
Matrix3f
(
mat
(
0
,
0
),
mat
(
0
,
1
),
mat
(
0
,
2
),
...
...
@@ -50,6 +62,7 @@ namespace se3
{
return
Eigen
::
Vector3d
(
vec
[
0
],
vec
[
1
],
vec
[
2
]);
}
#endif // FCL_HAVE_EIGEN
inline
fcl
::
Transform3f
toFclTransform3f
(
const
SE3
&
m
)
{
...
...
unittest/geom.cpp
View file @
b3180dc5
...
...
@@ -156,13 +156,13 @@ BOOST_AUTO_TEST_CASE ( simple_boxes )
model
.
appendBodyToJoint
(
idx
,
Inertia
::
Random
(),
SE3
::
Identity
());
model
.
addBodyFrame
(
"planar2_body"
,
idx
,
SE3
::
Identity
());
boost
::
shared_ptr
<
fcl
::
Box
>
sample
(
new
fcl
::
Box
(
1
));
boost
::
shared_ptr
<
fcl
::
Box
>
sample
(
new
fcl
::
Box
(
1
,
1
,
1
));
geomModel
.
addGeometryObject
(
GeometryObject
(
"ff1_collision_object"
,
model
.
getBodyId
(
"planar1_body"
),
0
,
sample
,
SE3
::
Identity
(),
""
,
Eigen
::
Vector3d
::
Ones
()),
model
,
true
);
boost
::
shared_ptr
<
fcl
::
Box
>
sample2
(
new
fcl
::
Box
(
1
));
boost
::
shared_ptr
<
fcl
::
Box
>
sample2
(
new
fcl
::
Box
(
1
,
1
,
1
));
geomModel
.
addGeometryObject
(
GeometryObject
(
"ff2_collision_object"
,
model
.
getBodyId
(
"planar2_body"
),
0
,
sample2
,
SE3
::
Identity
(),
""
,
Eigen
::
Vector3d
::
Ones
()),
...
...
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