5 #ifndef __pinocchio_fcl_convertion_hpp__
6 #define __pinocchio_fcl_convertion_hpp__
8 #include <hpp/fcl/math/transform.h>
9 #include "pinocchio/spatial/se3.hpp"
13 inline hpp::fcl::Transform3f toFclTransform3f(
const SE3 & m)
15 return hpp::fcl::Transform3f(m.rotation(), m.translation());
18 inline SE3 toPinocchioSE3(
const hpp::fcl::Transform3f & tf)
20 return SE3(tf.getRotation(), tf.getTranslation());
25 #endif // ifndef __pinocchio_fcl_convertion_hpp__