Commit d2ef256e authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Add a method to convert fcl::Vec3f into fixed size eigen vector.

parent f7967e37
......@@ -32,7 +32,7 @@ inline hpp::model::matrix_t operator* (const hpp::model::matrix_t& m1,
for (std::size_t i=0; i<rows; ++i) {
for (std::size_t k=0; k<3; ++k) {
result (i, k) = 0;
for (std::size_t j=0; j<3; ++j) {
for (std::size_t j=0; j<3; ++j) {
result (i, k) += m1 (i,j) * m2 (j, k);
}
}
......@@ -42,12 +42,18 @@ inline hpp::model::matrix_t operator* (const hpp::model::matrix_t& m1,
namespace hpp {
namespace model {
inline void toEigen (const hpp::model::vector3_t& v,
Eigen::Matrix <value_type, 3, 1>& res)
{
res [0] = v [0]; res [1] = v [1]; res [2] = v [2];
}
inline void toEigen (const hpp::model::vector3_t& v,
hpp::model::vectorOut_t res)
{
res [0] = v [0]; res [1] = v [1]; res [2] = v [2];
}
inline void toEigen (const hpp::model::matrix3_t& m,
hpp::model::matrixOut_t res)
{
......
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