scene_fcl.h

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/* -*- mode: C++; c-basic-offset: 4; -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2015, Rice University
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ntd@rice.edu>
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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#ifndef AMINO_RX_SCENE_FCL_H
#define AMINO_RX_SCENE_FCL_H
 
/* Utility */
#ifdef __cplusplus
 
// #include <fcl/math/transform.h>
 
#include "amino/tf.hpp"
#include "amino/eigen_compat.hpp"
 
namespace amino {
namespace fcl {
 
typedef double fcl_scalar;
 
typedef ::fcl::CollisionGeometry<fcl_scalar> CollisionGeometry ;
typedef ::fcl::CollisionObject<fcl_scalar> CollisionObject ;
typedef ::fcl::Vector3<fcl_scalar> Vec3;
typedef ::fcl::OBBRSS<fcl_scalar> OBBRSS;
 
typedef ::fcl::Box<fcl_scalar> Box;
typedef ::fcl::Sphere<fcl_scalar> Sphere;
typedef ::fcl::Cylinder<fcl_scalar> Cylinder;
 
typedef ::fcl::CollisionRequest<fcl_scalar> CollisionRequest;
typedef ::fcl::CollisionResult<fcl_scalar> CollisionResult;
typedef ::fcl::Contact<fcl_scalar> Contact;
typedef ::fcl::BroadPhaseCollisionManager<fcl_scalar> BroadPhaseCollisionManager;
typedef ::fcl::DynamicAABBTreeCollisionManager<fcl_scalar> DynamicAABBTreeCollisionManager;
 
typedef ::fcl::DistanceRequest<fcl_scalar> DistanceRequest;
typedef ::fcl::DistanceResult<fcl_scalar> DistanceResult;
 
 
 
static inline ::fcl::Transform3<::amino::fcl::fcl_scalar>
qutr2fcltf( const double E[7] )
{
    const double *q = E + AA_TF_QUTR_Q;
    const double *v = E + AA_TF_QUTR_V;
 
    ::amino::QuatTran oE = QuatTran::from_qv(E);
    ::fcl::Transform3<::amino::fcl::fcl_scalar> result;
    ::amino::conv(&oE, &result);
    return result;
 
 
    // return ::fcl::Transform3f(::fcl::Quaternionf( q[AA_TF_QUAT_W],
    //                                                q[AA_TF_QUAT_X],
    //                                                q[AA_TF_QUAT_Y],
    //                                                q[AA_TF_QUAT_Z]),
    //                           ::fcl::Vec3f(v[0], v[1], v[2]));
}
 
 
 
} /* namespace fcl */
} /* namespace amino */
 
 
#endif /* __cplusplus */
 
#endif /*AMINO_RX_SCENE_FCL_H*/