Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref. More...

#include <bv_motion_bound_visitor.h>

Public Member Functions
S	computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const
	Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor. More...

S	computeMotionBound (const TriangleMotionBoundVisitor< S > &mb_visitor) const
	Compute the motion bound for a triangle along a given direction n, which is defined in the visitor. More...

const Vector3< S > &	getAngularAxis () const

S	getAngularVelocity () const

void	getCurrentTransform (Transform3< S > &tf_) const
	Get the rotation and translation in current step. More...

const Vector3< S > &	getLinearVelocity () const

const Vector3< S > &	getReferencePoint () const

void	getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const

bool	integrate (S dt) const
	Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision. More...

	InterpMotion ()
	Default transformations are all identities. More...

	InterpMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation. More...

	InterpMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2, const Vector3< S > &O)
	Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center. More...

	InterpMotion (const Transform3< S > &tf1_, const Transform3< S > &tf2_)

	InterpMotion (const Transform3< S > &tf1_, const Transform3< S > &tf2_, const Vector3< S > &O)

Protected Member Functions
Quaternion< S >	absoluteRotation (S dt) const

void	computeVelocity ()

Quaternion< S >	deltaRotation (S dt) const

Protected Attributes
Vector3< S >	angular_axis
	Angular velocity axis. More...

S	angular_vel
	Angular speed. More...

Vector3< S >	linear_vel
	Linear velocity. More...

Vector3< S >	reference_p
	Reference point for the motion (in the object's local frame) More...

Transform3< S >	tf
	The transformation at current time t. More...

Transform3< S >	tf1
	The transformation at time 0. More...

Transform3< S >	tf2
	The transformation at time 1. More...

Detailed Description

template<typename S>
class fcl::InterpMotion< S >

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref.

Definition at line 54 of file bv_motion_bound_visitor.h.

Constructor & Destructor Documentation

◆ InterpMotion() [1/5]

template<typename S >

fcl::InterpMotion< S >::InterpMotion

Default transformations are all identities.

Definition at line 52 of file interp_motion-inl.h.

◆ InterpMotion() [2/5]

template<typename S >

fcl::InterpMotion< S >::InterpMotion	(	const Matrix3< S > &	R1,
		const Vector3< S > &	T1,
		const Matrix3< S > &	R2,
		const Vector3< S > &	T2
	)

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

Definition at line 65 of file interp_motion-inl.h.

◆ InterpMotion() [3/5]

template<typename S >

fcl::InterpMotion< S >::InterpMotion	(	const Transform3< S > &	tf1_,
		const Transform3< S > &	tf2_
	)

Definition at line 86 of file interp_motion-inl.h.

◆ InterpMotion() [4/5]

template<typename S >

fcl::InterpMotion< S >::InterpMotion	(	const Matrix3< S > &	R1,
		const Vector3< S > &	T1,
		const Matrix3< S > &	R2,
		const Vector3< S > &	T2,
		const Vector3< S > &	O
	)

Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center.

Definition at line 96 of file interp_motion-inl.h.

◆ InterpMotion() [5/5]

template<typename S >

fcl::InterpMotion< S >::InterpMotion	(	const Transform3< S > &	tf1_,
		const Transform3< S > &	tf2_,
		const Vector3< S > &	O
	)

Definition at line 121 of file interp_motion-inl.h.

Member Function Documentation

◆ absoluteRotation()

template<typename S >

Quaternion< S > fcl::InterpMotion< S >::absoluteRotation ( S dt ) const

protected

Definition at line 215 of file interp_motion-inl.h.

◆ computeMotionBound() [1/2]

template<typename S >

S fcl::InterpMotion< S >::computeMotionBound ( const BVMotionBoundVisitor< S > & mb_visitor ) const

Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor.

Definition at line 142 of file interp_motion-inl.h.

◆ computeMotionBound() [2/2]

template<typename S >

S fcl::InterpMotion< S >::computeMotionBound ( const TriangleMotionBoundVisitor< S > & mb_visitor ) const

Compute the motion bound for a triangle along a given direction n, which is defined in the visitor.

Definition at line 149 of file interp_motion-inl.h.

◆ computeVelocity()

template<typename S >

void fcl::InterpMotion< S >::computeVelocity

protected

Definition at line 191 of file interp_motion-inl.h.

◆ deltaRotation()

template<typename S >

Quaternion< S > fcl::InterpMotion< S >::deltaRotation ( S dt ) const

protected

Definition at line 208 of file interp_motion-inl.h.

◆ getAngularAxis()

template<typename S >

const Vector3< S > & fcl::InterpMotion< S >::getAngularAxis

Definition at line 230 of file interp_motion-inl.h.

◆ getAngularVelocity()

template<typename S >

S fcl::InterpMotion< S >::getAngularVelocity

Definition at line 237 of file interp_motion-inl.h.

◆ getCurrentTransform()

template<typename S >

void fcl::InterpMotion< S >::getCurrentTransform ( Transform3< S > & tf_ ) const

Get the rotation and translation in current step.

Definition at line 156 of file interp_motion-inl.h.

◆ getLinearVelocity()

template<typename S >

const Vector3< S > & fcl::InterpMotion< S >::getLinearVelocity

Definition at line 244 of file interp_motion-inl.h.

◆ getReferencePoint()

template<typename S >

const Vector3< S > & fcl::InterpMotion< S >::getReferencePoint

Definition at line 223 of file interp_motion-inl.h.

◆ getTaylorModel()

template<typename S >

void fcl::InterpMotion< S >::getTaylorModel	(	TMatrix3< S > &	tm,
		TVector3< S > &	tv
	)		const

Definition at line 163 of file interp_motion-inl.h.

◆ integrate()

template<typename S >

bool fcl::InterpMotion< S >::integrate ( S dt ) const

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

Definition at line 130 of file interp_motion-inl.h.

Member Data Documentation

◆ angular_axis

template<typename S >

Vector3<S> fcl::InterpMotion< S >::angular_axis

protected

Angular velocity axis.

Definition at line 116 of file interp_motion.h.

◆ angular_vel

template<typename S >

S fcl::InterpMotion< S >::angular_vel

protected

Angular speed.

Definition at line 113 of file interp_motion.h.

◆ linear_vel

template<typename S >

Vector3<S> fcl::InterpMotion< S >::linear_vel

protected

Linear velocity.

Definition at line 110 of file interp_motion.h.

◆ reference_p

template<typename S >

Vector3<S> fcl::InterpMotion< S >::reference_p

protected

Reference point for the motion (in the object's local frame)

Definition at line 119 of file interp_motion.h.

◆ tf

template<typename S >

Transform3<S> fcl::InterpMotion< S >::tf

mutableprotected

The transformation at current time t.

Definition at line 107 of file interp_motion.h.

◆ tf1

template<typename S >

Transform3<S> fcl::InterpMotion< S >::tf1

protected

The transformation at time 0.

Definition at line 101 of file interp_motion.h.

◆ tf2

template<typename S >

Transform3<S> fcl::InterpMotion< S >::tf2

protected

The transformation at time 1.

Definition at line 104 of file interp_motion.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename S> class fcl::InterpMotion< S >

Constructor & Destructor Documentation

◆ InterpMotion() [1/5]

◆ InterpMotion() [2/5]

◆ InterpMotion() [3/5]

◆ InterpMotion() [4/5]

◆ InterpMotion() [5/5]

Member Function Documentation

◆ absoluteRotation()

◆ computeMotionBound() [1/2]

◆ computeMotionBound() [2/2]

◆ computeVelocity()

◆ deltaRotation()

◆ getAngularAxis()

◆ getAngularVelocity()

◆ getCurrentTransform()

◆ getLinearVelocity()

◆ getReferencePoint()

◆ getTaylorModel()

◆ integrate()

Member Data Documentation

◆ angular_axis

◆ angular_vel

◆ linear_vel

◆ reference_p

◆ tf

◆ tf1

◆ tf2

template<typename S>
class fcl::InterpMotion< S >