pinocchio  2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
fcl-pinocchio-conversions.hpp
1 //
2 // Copyright (c) 2015-2016 CNRS
3 //
4 
5 #ifndef __pinocchio_fcl_convertion_hpp__
6 #define __pinocchio_fcl_convertion_hpp__
7 
8 #include <hpp/fcl/math/transform.h>
9 #include "pinocchio/spatial/se3.hpp"
10 
11 namespace pinocchio
12 {
13  inline hpp::fcl::Transform3f toFclTransform3f(const SE3 & m)
14  {
15  return hpp::fcl::Transform3f(m.rotation(), m.translation());
16  }
17 
18  inline SE3 toPinocchioSE3(const hpp::fcl::Transform3f & tf)
19  {
20  return SE3(tf.getRotation(), tf.getTranslation());
21  }
22 
23 } // namespace pinocchio
24 
25 #endif // ifndef __pinocchio_fcl_convertion_hpp__
Main pinocchio namespace.
Definition: treeview.dox:24