Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
fcl::SplineMotion< S > Class Template Reference

#include <bv_motion_bound_visitor.h>

Public Member Functions

S computeDWMax () const
 
S computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const override
 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 override
 Compute the motion bound for a triangle along a given direction n, which is defined in the visitor. More...
 
S computeTBound (const Vector3< S > &n) const
 
S getCurrentTime () const
 
void getCurrentTransform (Transform3< S > &tf_) const override
 Get the rotation and translation in current step. More...
 
void getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const override
 
bool integrate (S dt) const override
 Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision. More...
 
 SplineMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2)
 
 SplineMotion (const Transform3< S > &tf1, const Transform3< S > &tf2)
 
 SplineMotion (const Vector3< S > &Td0, const Vector3< S > &Td1, const Vector3< S > &Td2, const Vector3< S > &Td3, const Vector3< S > &Rd0, const Vector3< S > &Rd1, const Vector3< S > &Rd2, const Vector3< S > &Rd3)
 Construct motion from 4 deBoor points. More...
 

Protected Member Functions

void computeSplineParameter ()
 
S getWeight0 (S t) const
 
S getWeight1 (S t) const
 
S getWeight2 (S t) const
 
S getWeight3 (S t) const
 

Protected Attributes

Vector3< S > RA
 
Vector3< S > RB
 
Vector3< S > RC
 
Vector3< S > Rd [4]
 
S Rd0Rd0
 
S Rd0Rd1
 
S Rd0Rd2
 
S Rd0Rd3
 
S Rd1Rd1
 
S Rd1Rd2
 
S Rd1Rd3
 
S Rd2Rd2
 
S Rd2Rd3
 
S Rd3Rd3
 
Vector3< S > TA
 
Vector3< S > TB
 
Vector3< S > TC
 
Vector3< S > Td [4]
 
Transform3< S > tf
 
S tf_t
 The time related with tf. More...
 

Detailed Description

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

Definition at line 48 of file bv_motion_bound_visitor.h.

Constructor & Destructor Documentation

◆ SplineMotion() [1/3]

template<typename S >
fcl::SplineMotion< S >::SplineMotion ( const Vector3< S > &  Td0,
const Vector3< S > &  Td1,
const Vector3< S > &  Td2,
const Vector3< S > &  Td3,
const Vector3< S > &  Rd0,
const Vector3< S > &  Rd1,
const Vector3< S > &  Rd2,
const Vector3< S > &  Rd3 
)

Construct motion from 4 deBoor points.

Definition at line 54 of file spline_motion-inl.h.

◆ SplineMotion() [2/3]

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

Definition at line 94 of file spline_motion-inl.h.

◆ SplineMotion() [3/3]

template<typename S >
fcl::SplineMotion< S >::SplineMotion ( const Transform3< S > &  tf1,
const Transform3< S > &  tf2 
)

Definition at line 109 of file spline_motion-inl.h.

Member Function Documentation

◆ computeDWMax()

template<typename S >
S fcl::SplineMotion< S >::computeDWMax

Definition at line 300 of file spline_motion-inl.h.

◆ computeMotionBound() [1/2]

template<typename S >
S fcl::SplineMotion< S >::computeMotionBound ( const BVMotionBoundVisitor< S > &  mb_visitor) const
override

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 spline_motion-inl.h.

◆ computeMotionBound() [2/2]

template<typename S >
S fcl::SplineMotion< S >::computeMotionBound ( const TriangleMotionBoundVisitor< S > &  mb_visitor) const
override

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

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

◆ computeSplineParameter()

template<typename S >
void fcl::SplineMotion< S >::computeSplineParameter
protected

Definition at line 243 of file spline_motion-inl.h.

◆ computeTBound()

template<typename S >
S fcl::SplineMotion< S >::computeTBound ( const Vector3< S > &  n) const

Definition at line 250 of file spline_motion-inl.h.

◆ getCurrentTime()

template<typename S >
S fcl::SplineMotion< S >::getCurrentTime

Definition at line 370 of file spline_motion-inl.h.

◆ getCurrentTransform()

template<typename S >
void fcl::SplineMotion< S >::getCurrentTransform ( Transform3< S > &  tf_) const
override

Get the rotation and translation in current step.

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

◆ getTaylorModel()

template<typename S >
void fcl::SplineMotion< S >::getTaylorModel ( TMatrix3< S > &  tm,
TVector3< S > &  tv 
) const
override
  1. compute M(1/2)
  2. compute M'(1/2)

3.1. compute M''(1/2)

not correct, should fix

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

◆ getWeight0()

template<typename S >
S fcl::SplineMotion< S >::getWeight0 ( S  t) const
protected

Definition at line 377 of file spline_motion-inl.h.

◆ getWeight1()

template<typename S >
S fcl::SplineMotion< S >::getWeight1 ( S  t) const
protected

Definition at line 384 of file spline_motion-inl.h.

◆ getWeight2()

template<typename S >
S fcl::SplineMotion< S >::getWeight2 ( S  t) const
protected

Definition at line 391 of file spline_motion-inl.h.

◆ getWeight3()

template<typename S >
S fcl::SplineMotion< S >::getWeight3 ( S  t) const
protected

Definition at line 398 of file spline_motion-inl.h.

◆ integrate()

template<typename S >
bool fcl::SplineMotion< S >::integrate ( S  dt) const
override

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 121 of file spline_motion-inl.h.

Member Data Documentation

◆ RA

template<typename S >
Vector3<S> fcl::SplineMotion< S >::RA
protected

Definition at line 94 of file spline_motion.h.

◆ RB

template<typename S >
Vector3<S> fcl::SplineMotion< S >::RB
protected

Definition at line 94 of file spline_motion.h.

◆ RC

template<typename S >
Vector3<S> fcl::SplineMotion< S >::RC
protected

Definition at line 94 of file spline_motion.h.

◆ Rd

template<typename S >
Vector3<S> fcl::SplineMotion< S >::Rd[4]
protected

Definition at line 91 of file spline_motion.h.

◆ Rd0Rd0

template<typename S >
S fcl::SplineMotion< S >::Rd0Rd0
protected

Definition at line 96 of file spline_motion.h.

◆ Rd0Rd1

template<typename S >
S fcl::SplineMotion< S >::Rd0Rd1
protected

Definition at line 96 of file spline_motion.h.

◆ Rd0Rd2

template<typename S >
S fcl::SplineMotion< S >::Rd0Rd2
protected

Definition at line 96 of file spline_motion.h.

◆ Rd0Rd3

template<typename S >
S fcl::SplineMotion< S >::Rd0Rd3
protected

Definition at line 96 of file spline_motion.h.

◆ Rd1Rd1

template<typename S >
S fcl::SplineMotion< S >::Rd1Rd1
protected

Definition at line 96 of file spline_motion.h.

◆ Rd1Rd2

template<typename S >
S fcl::SplineMotion< S >::Rd1Rd2
protected

Definition at line 96 of file spline_motion.h.

◆ Rd1Rd3

template<typename S >
S fcl::SplineMotion< S >::Rd1Rd3
protected

Definition at line 96 of file spline_motion.h.

◆ Rd2Rd2

template<typename S >
S fcl::SplineMotion< S >::Rd2Rd2
protected

Definition at line 96 of file spline_motion.h.

◆ Rd2Rd3

template<typename S >
S fcl::SplineMotion< S >::Rd2Rd3
protected

Definition at line 96 of file spline_motion.h.

◆ Rd3Rd3

template<typename S >
S fcl::SplineMotion< S >::Rd3Rd3
protected

Definition at line 96 of file spline_motion.h.

◆ TA

template<typename S >
Vector3<S> fcl::SplineMotion< S >::TA
protected

Definition at line 93 of file spline_motion.h.

◆ TB

template<typename S >
Vector3<S> fcl::SplineMotion< S >::TB
protected

Definition at line 93 of file spline_motion.h.

◆ TC

template<typename S >
Vector3<S> fcl::SplineMotion< S >::TC
protected

Definition at line 93 of file spline_motion.h.

◆ Td

template<typename S >
Vector3<S> fcl::SplineMotion< S >::Td[4]
protected

Definition at line 90 of file spline_motion.h.

◆ tf

template<typename S >
Transform3<S> fcl::SplineMotion< S >::tf
mutableprotected

Definition at line 98 of file spline_motion.h.

◆ tf_t

template<typename S >
S fcl::SplineMotion< S >::tf_t
mutableprotected

The time related with tf.

Definition at line 101 of file spline_motion.h.

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

fcl
Author(s):
autogenerated on Fri Mar 14 2025 02:38:19