fcl::ScrewMotion< BV > Class Template Reference

#include <motion.h>

Inheritance diagram for fcl::ScrewMotion< BV >:

List of all members.

Public Member Functions
template<>
FCL_REAL	computeMotionBound (const RSS &bv, const Vec3f &n) const
FCL_REAL	computeMotionBound (const BV &bv, const Vec3f &n) const
	Compute the motion bound for a bounding volume along a given direction n For general BV, not implemented so return trivial 0.
FCL_REAL	computeMotionBound (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &n) const
	Compute the motion bound for a triangle, given the closest direction n between two query objects.
template<>
FCL_REAL	computeMotionBound (const RSS &bv, const Vec3f &n) const
void	getCurrentRotation (Matrix3f &R) const
void	getCurrentTransform (Matrix3f &R, Vec3f &T) const
	Get the rotation and translation in current step.
void	getCurrentTransform (Transform3f &tf_) const
void	getCurrentTranslation (Vec3f &T) const
bool	integrate (double dt)
	Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.
	ScrewMotion ()
	ScrewMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation.
	ScrewMotion (const Transform3f &tf1_, const Transform3f &tf2_)
	Construct motion from the initial transform and goal transform.
Protected Member Functions
Quaternion3f	absoluteRotation (FCL_REAL dt) const
void	computeScrewParameter ()
Quaternion3f	deltaRotation (FCL_REAL dt) const
Protected Attributes
FCL_REAL	angular_vel
	angular velocity
Vec3f	axis
	screw axis
FCL_REAL	linear_vel
	linear velocity along the axis
Vec3f	p
	A point on the axis S.
Transform3f	tf
	The transformation at current time t.
Transform3f	tf1
	The transformation at time 0.
Transform3f	tf2
	The transformation at time 1.

---

Detailed Description

template<typename BV>
class fcl::ScrewMotion< BV >

Definition at line 316 of file motion.h.

---

Constructor & Destructor Documentation

template<typename BV >

fcl::ScrewMotion< BV >::ScrewMotion

(

)

[inline]

Default transformations are all identities

Default angular velocity is zero

Default reference point is local zero point

Default linear velocity is zero

Definition at line 320 of file motion.h.

template<typename BV >

fcl::ScrewMotion< BV >::ScrewMotion	(	const Matrix3f &	R1,
		const Vec3f &	T1,
		const Matrix3f &	R2,
		const Vec3f &	T2
	)		[inline]

Construct motion from the initial rotation/translation and goal rotation/translation.

Definition at line 333 of file motion.h.

template<typename BV >

fcl::ScrewMotion< BV >::ScrewMotion	(	const Transform3f &	tf1_,
		const Transform3f &	tf2_
	)		[inline]

Construct motion from the initial transform and goal transform.

Definition at line 342 of file motion.h.

---

Member Function Documentation

template<typename BV >

Quaternion3f fcl::ScrewMotion< BV >::absoluteRotation

(

FCL_REAL

dt

)

const [inline, protected]

Definition at line 443 of file motion.h.

template<>

FCL_REAL fcl::ScrewMotion< RSS >::computeMotionBound	(	const RSS &	bv,
		const Vec3f &	n
	)		const

Definition at line 65 of file motion.cpp.

template<typename BV >

FCL_REAL fcl::ScrewMotion< BV >::computeMotionBound	(	const BV &	bv,
		const Vec3f &	n
	)		const [inline, virtual]

Compute the motion bound for a bounding volume along a given direction n For general BV, not implemented so return trivial 0.

Implements fcl::MotionBase< BV >.

Definition at line 368 of file motion.h.

template<typename BV >

FCL_REAL fcl::ScrewMotion< BV >::computeMotionBound	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c,
		const Vec3f &	n
	)		const [inline, virtual]

Compute the motion bound for a triangle, given the closest direction n between two query objects.

Implements fcl::MotionBase< BV >.

Definition at line 370 of file motion.h.

template<>

FCL_REAL fcl::ScrewMotion< RSS >::computeMotionBound	(	const RSS &	bv,
		const Vec3f &	n
	)		const

template<typename BV >

void fcl::ScrewMotion< BV >::computeScrewParameter

(

)

[inline, protected]

Definition at line 411 of file motion.h.

template<typename BV >

Quaternion3f fcl::ScrewMotion< BV >::deltaRotation

(

FCL_REAL

dt

)

const [inline, protected]

Definition at line 436 of file motion.h.

template<typename BV >

void fcl::ScrewMotion< BV >::getCurrentRotation

(

Matrix3f &

R

)

const [inline, virtual]

Implements fcl::MotionBase< BV >.

Definition at line 395 of file motion.h.

template<typename BV >

void fcl::ScrewMotion< BV >::getCurrentTransform	(	Matrix3f &	R,
		Vec3f &	T
	)		const [inline, virtual]

Get the rotation and translation in current step.

Implements fcl::MotionBase< BV >.

Definition at line 389 of file motion.h.

template<typename BV >

void fcl::ScrewMotion< BV >::getCurrentTransform

(

Transform3f &

tf_

)

const [inline, virtual]

Implements fcl::MotionBase< BV >.

Definition at line 405 of file motion.h.

template<typename BV >

void fcl::ScrewMotion< BV >::getCurrentTranslation

(

Vec3f &

T

)

const [inline, virtual]

Implements fcl::MotionBase< BV >.

Definition at line 400 of file motion.h.

template<typename BV >

bool fcl::ScrewMotion< BV >::integrate

(

double

dt

)

[inline, virtual]

Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.

Implements fcl::MotionBase< BV >.

Definition at line 353 of file motion.h.

---

Member Data Documentation

template<typename BV >

FCL_REAL fcl::ScrewMotion< BV >::angular_vel [protected]

angular velocity

Definition at line 468 of file motion.h.

template<typename BV >

Vec3f fcl::ScrewMotion< BV >::axis [protected]

screw axis

Definition at line 459 of file motion.h.

template<typename BV >

FCL_REAL fcl::ScrewMotion< BV >::linear_vel [protected]

linear velocity along the axis

Definition at line 465 of file motion.h.

template<typename BV >

Vec3f fcl::ScrewMotion< BV >::p [protected]

A point on the axis S.

Definition at line 462 of file motion.h.

template<typename BV >

Transform3f fcl::ScrewMotion< BV >::tf [protected]

The transformation at current time t.

Definition at line 456 of file motion.h.

template<typename BV >

Transform3f fcl::ScrewMotion< BV >::tf1 [protected]

The transformation at time 0.

Definition at line 450 of file motion.h.

template<typename BV >

Transform3f fcl::ScrewMotion< BV >::tf2 [protected]

The transformation at time 1.

Definition at line 453 of file motion.h.

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The documentation for this class was generated from the following file:

• motion.h