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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#ifndef AMINO_RX_SCENE_FCL_H
#define AMINO_RX_SCENE_FCL_H

/* Utility */
#ifdef __cplusplus

#include <fcl/math/transform.h>

namespace amino {
namespace fcl {


static inline ::fcl::Transform3f
qutr2fcltf( const double E[7] )
{
    const double *q = E + AA_TF_QUTR_Q;
    const double *v = E + AA_TF_QUTR_V;
    return ::fcl::Transform3f(::fcl::Quaternion3f( 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*/