/*
 * Copyright (c) 2011-2019, The DART development contributors
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#ifndef DART_COLLISION_FCL_FCLTTYPES_HPP_
#define DART_COLLISION_FCL_FCLTTYPES_HPP_

#include <Eigen/Dense>
#include "dart/collision/fcl/BackwardCompatibility.hpp"

namespace dart {
namespace collision {

class FCLTypes
{
public:
#if !FCL_VERSION_AT_LEAST(0, 6, 0)
  /// Convert Eigen vector3 type to FCL vector3 type
  static dart::collision::fcl::Vector3 convertVector3(
      const Eigen::Vector3d& _vec);
#endif
  /// Convert FCL vector3 type to Eigen vector3 type
  static Eigen::Vector3d convertVector3(
      const dart::collision::fcl::Vector3& _vec);

  /// Convert FCL matrix3x3 type to Eigen matrix3x3 type
  static dart::collision::fcl::Matrix3 convertMatrix3x3(
      const Eigen::Matrix3d& _R);

  /// Convert FCL transformation type to Eigen transformation type
  static dart::collision::fcl::Transform3 convertTransform(
      const Eigen::Isometry3d& _T);
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_FCL_FCLTTYPES_HPP_
