text: //
  // Copyright (c) 2017-2021 CNRS INRIA
  //
  
  #include "pinocchio/bindings/python/fwd.hpp"
  #include "pinocchio/bindings/python/multibody/fcl/transform.hpp"
  #include "pinocchio/bindings/python/serialization/serialization.hpp"
  
  #define HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
    #include <hpp/fcl/serialization/BVH_model.h>
  #undef HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION
  
  namespace pinocchio
  {
    namespace python
    {
      void exposeFCL()
      {
        namespace bp = boost::python;
        bp::import("hppfcl");
        
        using namespace ::hpp::fcl;
        
        // Register implicit conversion SE3 <=> ::hpp::fcl::Transform3f
        bp::implicitly_convertible< SE3,Transform3f >();
        bp::implicitly_convertible< Transform3f,SE3 >();
        
        // Expose serialization of basic geometries to binary buffers
        serialize< BVHModel<OBB> >();
        serialize< BVHModel<RSS> >();
        serialize< BVHModel<OBBRSS> >();
      }
      
    } // namespace python
  } // namespace pinocchio
  