screw_motion.h

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#ifndef FCL_CCD_SCREWMOTION_H
#define FCL_CCD_SCREWMOTION_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 ScrewMotion : public MotionBase<S>
{
public:
  ScrewMotion();
 
  ScrewMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
              const Matrix3<S>& R2, const Vector3<S>& T2);
 
  ScrewMotion(const Transform3<S>& tf1_,
              const Transform3<S>& tf2_);
 
  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 computeScrewParameter();
 
  Quaternion<S> deltaRotation(S dt) const;
 
  Quaternion<S> absoluteRotation(S dt) const;
 
  Transform3<S> tf1;
 
  Transform3<S> tf2;
 
  mutable Transform3<S> tf;
 
  Vector3<S> axis;
 
  Vector3<S> p;
 
  S linear_vel;
 
  S angular_vel;
 
public:
 
  S getLinearVelocity() const;
 
  S getAngularVelocity() const;
 
  const Vector3<S>& getAxis() const;
 
  const Vector3<S>& getAxisOrigin() const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace fcl
 
#include "fcl/math/motion/screw_motion-inl.h"
 
#endif