00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00037 #ifndef FCL_CCD_TAYLOR_MATRIX_H 00038 #define FCL_CCD_TAYLOR_MATRIX_H 00039 00040 00041 #include "fcl/math/matrix_3f.h" 00042 #include "fcl/ccd/taylor_vector.h" 00043 #include "fcl/ccd/interval_matrix.h" 00044 00045 namespace fcl 00046 { 00047 00048 struct TMatrix3 00049 { 00050 TVector3 v_[3]; 00051 00052 TMatrix3(); 00053 TMatrix3(const boost::shared_ptr<TimeInterval>& time_interval); 00054 TMatrix3(TaylorModel m[3][3]); 00055 TMatrix3(const TVector3& v1, const TVector3& v2, const TVector3& v3); 00056 TMatrix3(const Matrix3f& m, const boost::shared_ptr<TimeInterval>& time_interval); 00057 00058 TVector3 getColumn(size_t i) const; 00059 const TVector3& getRow(size_t i) const; 00060 00061 const TaylorModel& operator () (size_t i, size_t j) const; 00062 TaylorModel& operator () (size_t i, size_t j); 00063 00064 TVector3 operator * (const Vec3f& v) const; 00065 TVector3 operator * (const TVector3& v) const; 00066 TMatrix3 operator * (const Matrix3f& m) const; 00067 TMatrix3 operator * (const TMatrix3& m) const; 00068 TMatrix3 operator * (const TaylorModel& d) const; 00069 TMatrix3 operator * (FCL_REAL d) const; 00070 00071 TMatrix3& operator *= (const Matrix3f& m); 00072 TMatrix3& operator *= (const TMatrix3& m); 00073 TMatrix3& operator *= (const TaylorModel& d); 00074 TMatrix3& operator *= (FCL_REAL d); 00075 00076 TMatrix3 operator + (const TMatrix3& m) const; 00077 TMatrix3& operator += (const TMatrix3& m); 00078 00079 TMatrix3 operator - (const TMatrix3& m) const; 00080 TMatrix3& operator -= (const TMatrix3& m); 00081 00082 IMatrix3 getBound() const; 00083 void print() const; 00084 void setIdentity(); 00085 void setZero(); 00086 FCL_REAL diameter() const; 00087 00088 void setTimeInterval(const boost::shared_ptr<TimeInterval>& time_interval); 00089 00090 TMatrix3& rotationConstrain(); 00091 }; 00092 00093 TMatrix3 rotationConstrain(const TMatrix3& m); 00094 00095 } 00096 00097 #endif
