vec_3f.h 2.53 KB
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/*
 * Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *   * Neither the name of Open Source Robotics Foundation nor the names of its
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

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#ifndef HPP_FCL_VEC_3F_H
#define HPP_FCL_VEC_3F_H
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#include <hpp/fcl/data_types.h>
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#include <Eigen/Core>
#include <Eigen/Geometry>
#include <hpp/fcl/math/tools.h>
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#include <cmath>
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#include <iostream>
#include <limits>

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namespace hpp
{
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namespace fcl
{
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  typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
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}

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#ifdef HPP_FCL_HAVE_OCTOMAP
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  #define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
    (OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
    (OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
    OCTOMAP_PATCH_VERSION >= z))))

  #define OCTOMAP_VERSION_AT_MOST(x,y,z) \
    (OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
    (OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
    OCTOMAP_PATCH_VERSION <= z))))
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#endif // HPP_FCL_HAVE_OCTOMAP
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} // namespace hpp

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#endif