[Geometry] Clean FCL conversion tools

src/spatial/fcl-pinocchio-conversions.hpp

 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2016 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -18,10 +18,8 @@
 #ifndef __se3_fcl_convertion_hpp__
 #define __se3_fcl_convertion_hpp__
 
-#include <Eigen/Geometry>
-
+#include <hpp/fcl/math/transform.h>
 #include "pinocchio/spatial/se3.hpp"
-# include <hpp/fcl/math/transform.h>
 
 namespace se3
 {
@@ -45,27 +43,24 @@ namespace se3
 
   inline fcl::Vec3f toFclVec3f(const Eigen::Vector3d & vec)
   {
-    return fcl::Vec3f( vec(0),vec(1), vec(2));
+    return fcl::Vec3f(vec(0),vec(1),vec(2));
   }
 
   inline Eigen::Vector3d toVector3d(const fcl::Vec3f & vec)
   {
-    Eigen::Vector3d res;
-    res << vec[0],vec[1], vec[2];
-    return res;
+    return Eigen::Vector3d(vec[0],vec[1],vec[2]);
   }
 
-  inline fcl::Transform3f toFclTransform3f(const se3::SE3 & m)
+  inline fcl::Transform3f toFclTransform3f(const SE3 & m)
   {
     return fcl::Transform3f(toFclMatrix3f(m.rotation()), toFclVec3f(m.translation()));
   }
 
-  inline se3::SE3 toPinocchioSE3(const fcl::Transform3f & tf)
+  inline SE3 toPinocchioSE3(const fcl::Transform3f & tf)
   {
-    return se3::SE3(toMatrix3d(tf.getRotation()), toVector3d(tf.getTranslation()));
+    return SE3(toMatrix3d(tf.getRotation()), toVector3d(tf.getTranslation()));
   }
 
 } // namespace se3
 
 #endif // ifndef __se3_fcl_convertion_hpp__
-