interp_motion.h

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#ifndef FCL_CCD_INTERPMOTION_H
#define FCL_CCD_INTERPMOTION_H
 
#include <iostream>
#include <vector>
#include "fcl/math/geometry.h"
#include "fcl/math/motion/motion_base.h"
#include "fcl/math/motion/bv_motion_bound_visitor.h"
#include "fcl/math/motion/triangle_motion_bound_visitor.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT InterpMotion : public MotionBase<S>
{
public:
  InterpMotion();
 
  InterpMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
               const Matrix3<S>& R2, const Vector3<S>& T2);
 
  InterpMotion(const Transform3<S>& tf1_, const Transform3<S>& tf2_);
 
  InterpMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
               const Matrix3<S>& R2, const Vector3<S>& T2,
               const Vector3<S>& O);
 
  InterpMotion(const Transform3<S>& tf1_, const Transform3<S>& tf2_, const Vector3<S>& O);
 
  bool integrate(S dt) const;
 
  S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const;
 
  S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const;
 
  void getCurrentTransform(Transform3<S>& tf_) const;
 
  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const;
 
protected:
 
  void computeVelocity();
 
  Quaternion<S> deltaRotation(S dt) const;
  
  Quaternion<S> absoluteRotation(S dt) const;
  
  Transform3<S> tf1;
 
  Transform3<S> tf2;
 
  mutable Transform3<S> tf;
 
  Vector3<S> linear_vel;
 
  S angular_vel;
 
  Vector3<S> angular_axis;
 
  Vector3<S> reference_p;
 
public:
  const Vector3<S>& getReferencePoint() const;
 
  const Vector3<S>& getAngularAxis() const;
 
  S getAngularVelocity() const;
 
  const Vector3<S>& getLinearVelocity() const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace fcl
 
#include "fcl/math/motion/interp_motion-inl.h"
 
#endif