Update to changes in hpp-fcl (handle FCL_HAVE_EIGEN flags)

include/hpp/model/fcl-to-eigen.hh

@@ -20,9 +20,12 @@
 #ifndef HPP_MODEL_FCL_TO_EIGEN_HH
 # define HPP_MODEL_FCL_TO_EIGEN_HH
 
+# include <hpp/fcl/config-fcl.hh>
 # include <hpp/fcl/math/transform.h>
 # include <hpp/model/fwd.hh>
 
+# if ! FCL_HAVE_EIGEN
+
 inline hpp::model::matrix_t operator* (const hpp::model::matrix_t& m1,
 				       const fcl::Matrix3f& m2)
 {
@@ -60,7 +63,7 @@ inline hpp::model::matrix_t operator* (const fcl::Matrix3f& m1,
 namespace hpp {
   namespace model {
     inline void toEigen (const hpp::model::vector3_t& v,
-			 Eigen::Matrix <value_type, 3, 1>& res)
+                         Eigen::Matrix <value_type, 3, 1>& res)
     {
       res [0] = v [0]; res [1] = v [1]; res [2] = v [2];
     }
@@ -81,4 +84,20 @@ namespace hpp {
   } // namespace model
 } // namespace hpp
 
+# else
+
+namespace hpp {
+  namespace model {
+    /// For compatibility only
+    template <typename Derived>
+    inline void toEigen (const Eigen::MatrixBase<Derived>& v,
+			 Eigen::Ref<matrix_t> res)
+    {
+      res = v.derived();
+    }
+  } // namespace model
+} // namespace hpp
+
+# endif
+
 #endif // HPP_MODEL_FCL_TO_EIGEN_HH

tests/test-configuration.cc

@@ -35,6 +35,7 @@ using boost::test_tools::output_test_stream;
 #include <hpp/util/debug.hh>
 #include <hpp/model/configuration.hh>
 #include <hpp/model/object-factory.hh>
+#include <hpp/model/fcl-to-eigen.hh>
 
 using hpp::model::vector_t;
 using hpp::model::vectorIn_t;
@@ -231,3 +232,21 @@ BOOST_AUTO_TEST_CASE(interpolate)
         );
   }
 }
+
+BOOST_AUTO_TEST_CASE(toEigenFunction)
+{
+  // Compilation check only.
+
+  using namespace hpp::model;
+  vector3_t fcl_v;
+  matrix3_t fcl_m;
+  fcl_v.setValue (1);
+  fcl_m.setValue (3);
+
+  vector_t eigen_v(3);
+  matrix_t eigen_m(3,3);
+
+  toEigen (fcl_v, eigen_v);
+  toEigen (fcl_m, eigen_m);
+  toEigen (fcl_v, eigen_m.col(0));
+}