From 327dc143db15b67d0d852553fc87c898c2c2887f Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 7 Sep 2016 13:07:47 +0200
Subject: [PATCH] [C++][Minor] Moved code from fcl.hpp to fcl.hxx to improve
readibility.
---
src/multibody/fcl.hpp | 36 ++++++++++--------------------------
src/multibody/fcl.hxx | 22 ++++++++++++++++++++++
2 files changed, 32 insertions(+), 26 deletions(-)
diff --git a/src/multibody/fcl.hpp b/src/multibody/fcl.hpp
index b564c5319..3517532c4 100644
--- a/src/multibody/fcl.hpp
+++ b/src/multibody/fcl.hpp
@@ -44,26 +44,10 @@ namespace se3
typedef std::pair<GeomIndex, GeomIndex> Base;
- ///
- /// \brief Default constructor of a collision pair from two collision object indexes.
- /// The indexes must be ordered such that co1 < co2. If not, the constructor reverts the indexes.
- ///
- /// \param[in] co1 Index of the first collision object
- /// \param[in] co2 Index of the second collision object
- ///
- CollisionPair(const GeomIndex co1, const GeomIndex co2) : Base(co1,co2)
- {
- assert(co1 != co2 && "The index of collision objects must not be equal.");
- }
-
- bool operator== (const CollisionPair& rhs) const
- {
- return (first == rhs.first && second == rhs.second)
- || (first == rhs.second && second == rhs.first);
- }
-
- void disp(std::ostream & os) const { os << "collision pair (" << first << "," << second << ")\n"; }
- friend std::ostream & operator << (std::ostream & os, const CollisionPair & X);
+ CollisionPair(const GeomIndex co1, const GeomIndex co2);
+ bool operator == (const CollisionPair& rhs) const;
+ void disp (std::ostream & os) const;
+ friend std::ostream & operator << (std::ostream & os,const CollisionPair & X);
}; // struct CollisionPair
@@ -136,12 +120,12 @@ struct GeometryObject
GeometryObject & operator=(const GeometryObject & other)
{
- name = other.name;
- parentFrame = other.parentFrame;
- parentJoint = other.parentJoint;
- collision_geometry = other.collision_geometry;
- placement = other.placement;
- mesh_path = other.mesh_path;
+ name = other.name;
+ parentFrame = other.parentFrame;
+ parentJoint = other.parentJoint;
+ collision_geometry = other.collision_geometry;
+ placement = other.placement;
+ mesh_path = other.mesh_path;
return *this;
}
diff --git a/src/multibody/fcl.hxx b/src/multibody/fcl.hxx
index 7451bd073..0769099b5 100644
--- a/src/multibody/fcl.hxx
+++ b/src/multibody/fcl.hxx
@@ -25,6 +25,28 @@
namespace se3
{
+ ///
+ /// \brief Default constructor of a collision pair from two collision object indexes.
+ /// The indexes must be ordered such that co1 < co2. If not, the constructor reverts the indexes.
+ ///
+ /// \param[in] co1 Index of the first collision object
+ /// \param[in] co2 Index of the second collision object
+ ///
+ inline CollisionPair::CollisionPair(const GeomIndex co1, const GeomIndex co2)
+ : Base(co1,co2)
+ {
+ assert(co1 != co2 && "The index of collision objects must not be equal.");
+ }
+
+ inline bool CollisionPair::operator== (const CollisionPair& rhs) const
+ {
+ return (first == rhs.first && second == rhs.second)
+ || (first == rhs.second && second == rhs.first );
+ }
+
+ inline void CollisionPair::disp(std::ostream & os) const
+ { os << "collision pair (" << first << "," << second << ")\n"; }
+
inline std::ostream & operator << (std::ostream & os, const CollisionPair & X)
{
X.disp(os); return os;
--
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