/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019, LAAS CNRS
 *  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.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     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 Joseph Mirabel */

#ifndef COAL_TRAVERSAL_DETAILS_TRAVERSAL_H
#define COAL_TRAVERSAL_DETAILS_TRAVERSAL_H

/// @cond INTERNAL

namespace coal {

enum { RelativeTransformationIsIdentity = 1 };

namespace details {
template <bool enabled>
struct COAL_DLLAPI RelativeTransformation {
  RelativeTransformation() : R(Matrix3s::Identity()) {}

  const Matrix3s& _R() const { return R; }
  const Vec3s& _T() const { return T; }

  Matrix3s R;
  Vec3s T;
};

template <>
struct COAL_DLLAPI RelativeTransformation<false> {
  static const Matrix3s& _R() {
    COAL_THROW_PRETTY("should never reach this point", std::logic_error);
  }
  static const Vec3s& _T() {
    COAL_THROW_PRETTY("should never reach this point", std::logic_error);
  }
};
}  // namespace details

}  // namespace coal

/// @endcond

#endif
