amino  1.0-beta2
Lightweight Robot Utility Library
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scene_fcl.h
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37 
38 #ifndef AMINO_RX_SCENE_FCL_H
39 #define AMINO_RX_SCENE_FCL_H
40 
46 /* Utility */
47 #ifdef __cplusplus
48 
49 #include <fcl/math/transform.h>
50 
51 namespace amino {
52 namespace fcl {
53 
54 
55 static inline ::fcl::Transform3f
56 qutr2fcltf( const double E[7] )
57 {
58  const double *q = E + AA_TF_QUTR_Q;
59  const double *v = E + AA_TF_QUTR_V;
60  return ::fcl::Transform3f(::fcl::Quaternion3f( q[AA_TF_QUAT_W],
61  q[AA_TF_QUAT_X],
62  q[AA_TF_QUAT_Y],
63  q[AA_TF_QUAT_Z]),
64  ::fcl::Vec3f(v[0], v[1], v[2]));
65 }
66 
67 
68 } /* namespace fcl */
69 } /* namespace amino */
70 
71 
72 #endif /* __cplusplus */
73 
74 #endif /*AMINO_RX_SCENE_FCL_H*/
#define AA_TF_QUAT_Z
Index of quaternion vector z.
Definition: tf.h:210
#define AA_TF_QUTR_Q
Index of quaternion-translation quaternion part.
Definition: tf.h:1297
#define AA_TF_QUAT_Y
Index of quaternion vector y.
Definition: tf.h:208
amino namespace
Definition: amino.hpp:60
#define AA_TF_QUAT_X
Index of quaternion vector x.
Definition: tf.h:206
#define AA_TF_QUTR_V
Offset of translation part in quaternion-translation representation.
Definition: tf.h:1303
#define AA_TF_QUAT_W
Index of quaternion scalar part.
Definition: tf.h:212