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/** \author Jia Pan */

#ifndef FCL_MATH_BV_UTILITY_H
#define FCL_MATH_BV_UTILITY_H

#include "fcl/common/types.h"

/** \brief Main namespace */
namespace fcl
{

/// @brief Compute a bounding volume that fits a set of n points.
template <typename BV>
FCL_EXPORT
void fit(const Vector3<typename BV::S>* const ps, int n, BV& bv);

/// @brief Convert a bounding volume of type BV1 in configuration tf1 to
/// bounding volume of type BV2 in identity configuration.
template <typename BV1, typename BV2>
FCL_EXPORT
void convertBV(
    const BV1& bv1, const Transform3<typename BV1::S>& tf1, BV2& bv2);

} // namespace fcl

#include "fcl/math/bv/utility-inl.h"

#endif
