Commit 5ef010b2 authored by Lucile Remigy's avatar Lucile Remigy
Browse files

modif, encapsulate octree

parent c7564e61
...@@ -18,8 +18,6 @@ namespace hpp ...@@ -18,8 +18,6 @@ namespace hpp
namespace fcl namespace fcl
{ {
#ifdef HPP_FCL_HAVE_OCTOMAP
// TraversalTraitsCollision for collision_func_matrix.cpp // TraversalTraitsCollision for collision_func_matrix.cpp
template <typename TypeA, typename TypeB> template <typename TypeA, typename TypeB>
...@@ -27,6 +25,8 @@ struct TraversalTraitsCollision ...@@ -27,6 +25,8 @@ struct TraversalTraitsCollision
{ {
}; };
#ifdef HPP_FCL_HAVE_OCTOMAP
template <typename T_SH> template <typename T_SH>
struct TraversalTraitsCollision <T_SH, OcTree> struct TraversalTraitsCollision <T_SH, OcTree>
{ {
...@@ -57,6 +57,8 @@ struct TraversalTraitsCollision <BVHModel<T_BVH>, OcTree> ...@@ -57,6 +57,8 @@ struct TraversalTraitsCollision <BVHModel<T_BVH>, OcTree>
typedef MeshOcTreeCollisionTraversalNode<T_BVH> CollisionTraversal_t; typedef MeshOcTreeCollisionTraversalNode<T_BVH> CollisionTraversal_t;
}; };
#endif
// TraversalTraitsDistance for distance_func_matrix.cpp // TraversalTraitsDistance for distance_func_matrix.cpp
template <typename TypeA, typename TypeB> template <typename TypeA, typename TypeB>
...@@ -64,6 +66,8 @@ struct TraversalTraitsDistance ...@@ -64,6 +66,8 @@ struct TraversalTraitsDistance
{ {
}; };
#ifdef HPP_FCL_HAVE_OCTOMAP
template <typename T_SH> template <typename T_SH>
struct TraversalTraitsDistance <T_SH, OcTree> struct TraversalTraitsDistance <T_SH, OcTree>
{ {
......
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