Commit ff8b2c31 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Make Eigen a required dependency and add fcl::Vec3fX::derived() (same

for Matrix3fX
parent 0ca44f58
......@@ -48,13 +48,10 @@ setup_project()
set(FCL_HAVE_SSE FALSE CACHE BOOL "Enable SSE vectorization")
add_optional_dependency("eigen3 >= 3.0.0")
set(FCL_HAVE_EIGEN ${EIGEN3_FOUND} CACHE BOOL "Use eigen matrix type when possible")
if (EIGEN3_FOUND)
if (FCL_HAVE_EIGEN)
include_directories(${EIGEN3_INCLUDE_DIRS})
endif (FCL_HAVE_EIGEN)
endif (EIGEN3_FOUND)
# add_optional_dependency("eigen3 >= 3.0.0")
add_required_dependency("eigen3 >= 3.0.0")
set(FCL_HAVE_EIGEN TRUE CACHE BOOL "Use eigen matrix type when possible")
include_directories(${EIGEN3_INCLUDE_DIRS})
# Required dependencies
add_required_dependency("ccd >= 1.4")
......
......@@ -39,6 +39,7 @@
#define FCL_MATRIX_3FX_H
#include <hpp/fcl/math/vec_3f.h>
#include <Eigen/Core>
namespace fcl
{
......@@ -50,6 +51,7 @@ class Matrix3fX
public:
typedef typename T::meta_type U;
typedef typename T::vector_type S;
typedef Eigen::Matrix<U, 3, 3> EigenType;
T data;
Matrix3fX() {}
......@@ -75,6 +77,15 @@ public:
return Vec3fX<S>(data.getRow(i));
}
inline EigenType derived() const
{
EigenType ret;
for(int i = 0; i < 3; ++i)
for(int j = 0; j < 3; ++j)
ret(i,j) = data(i,j);
return ret;
}
inline U operator () (size_t i, size_t j) const
{
return data(i, j);
......
......@@ -45,6 +45,7 @@
#include <iostream>
#include <limits>
#include <Eigen/Core>
namespace fcl
{
......@@ -55,6 +56,7 @@ class Vec3fX
{
public:
typedef typename T::meta_type U;
typedef Eigen::Matrix<U, 3, 1> EigenType;
/// @brief interval vector3 data
T data;
......@@ -71,6 +73,11 @@ public:
/// @brief create vector using the internal data type
Vec3fX(const T& data_) : data(data_) {}
inline EigenType derived() const
{
return EigenType (data[0],data[1],data[2]);
}
inline U operator [] (size_t i) const { return data[i]; }
inline U& operator [] (size_t i) { return data[i]; }
......
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