taylor_model.h

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#ifndef FCL_CCD_TAYLOR_MODEL_H
#define FCL_CCD_TAYLOR_MODEL_H

#include "fcl/ccd/interval.h"
#include <boost/shared_ptr.hpp>

namespace fcl
{

struct TimeInterval
{
  Interval t_; // [t1, t2]
  Interval t2_; // [t1, t2]^2
  Interval t3_; // [t1, t2]^3
  Interval t4_; // [t1, t2]^4
  Interval t5_; // [t1, t2]^5
  Interval t6_; // [t1, t2]^6
};

struct TaylorModel
{
  boost::shared_ptr<TimeInterval> time_interval_;

  FCL_REAL coeffs_[4];

  Interval r_;

  void setTimeInterval(FCL_REAL l, FCL_REAL r);
  void setTimeInterval(const boost::shared_ptr<TimeInterval> time_interval)
  {
    time_interval_ = time_interval;
  }

  TaylorModel();
  TaylorModel(const boost::shared_ptr<TimeInterval>& time_interval);
  TaylorModel(FCL_REAL coeff, const boost::shared_ptr<TimeInterval>& time_interval);
  TaylorModel(FCL_REAL coeffs[3], const Interval& r, const boost::shared_ptr<TimeInterval>& time_interval);
  TaylorModel(FCL_REAL c0, FCL_REAL c1, FCL_REAL c2, FCL_REAL c3, const Interval& r, const boost::shared_ptr<TimeInterval>& time_interval);

  TaylorModel operator + (const TaylorModel& other) const;
  TaylorModel& operator += (const TaylorModel& other);

  TaylorModel operator - (const TaylorModel& other) const;
  TaylorModel& operator -= (const TaylorModel& other);

  TaylorModel operator + (FCL_REAL d) const;
  TaylorModel& operator += (FCL_REAL d);

  TaylorModel operator * (const TaylorModel& other) const;
  TaylorModel operator * (FCL_REAL d) const;
  TaylorModel& operator *= (const TaylorModel& other);
  TaylorModel& operator *= (FCL_REAL d);

  TaylorModel operator - () const;

  void print() const;

  Interval getBound() const;
  Interval getBound(FCL_REAL l, FCL_REAL r) const;

  Interval getTightBound() const;
  Interval getTightBound(FCL_REAL l, FCL_REAL r) const;

  Interval getBound(FCL_REAL t) const;

  void setZero();
};

void generateTaylorModelForCosFunc(TaylorModel& tm, FCL_REAL w, FCL_REAL q0);
void generateTaylorModelForSinFunc(TaylorModel& tm, FCL_REAL w, FCL_REAL q0);
void generateTaylorModelForLinearFunc(TaylorModel& tm, FCL_REAL p, FCL_REAL v);

}

#endif