fcl-pinocchio-conversions.hpp

//
// Copyright (c) 2015-2024 CNRS INRIA
//

#ifndef __pinocchio_collision_fcl_convertion_hpp__
#define __pinocchio_collision_fcl_convertion_hpp__

#include <hpp/fcl/math/transform.h>
#include "pinocchio/spatial/se3.hpp"

namespace pinocchio
{
 template<typename Scalar>
 inline hpp::fcl::Transform3f toFclTransform3f(const SE3Tpl<Scalar> & m)
 {
 SE3Tpl<double, 0> m_ = m.template cast<double>();
 return hpp::fcl::Transform3f(m_.rotation(), m_.translation());
 }

 inline SE3 toPinocchioSE3(const hpp::fcl::Transform3f & tf)
 {
 typedef SE3::Scalar Scalar;
 return SE3(tf.getRotation().cast<Scalar>(), tf.getTranslation().cast<Scalar>());
 }

} // namespace pinocchio

#endif // ifndef __pinocchio_collision_fcl_convertion_hpp__