taylor_model.h

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// This code is based on code developed by Stephane Redon at UNC and Inria for
// the CATCH library: http://graphics.ewha.ac.kr/CATCH/
 
#ifndef FCL_CCD_TAYLOR_MODEL_H
#define FCL_CCD_TAYLOR_MODEL_H
 
#include <memory>
#include <iostream>
#include "fcl/math/constants.h"
#include "fcl/math/motion/taylor_model/interval.h"
#include "fcl/math/motion/taylor_model/time_interval.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT TaylorModel
{
  std::shared_ptr<TimeInterval<S>> time_interval_;
 
  S coeffs_[4];
 
  Interval<S> r_;
 
public:
 
  void setTimeInterval(S l, S r);
  
  void setTimeInterval(const std::shared_ptr<TimeInterval<S>>& time_interval);
 
  const std::shared_ptr<TimeInterval<S>>& getTimeInterval() const;
 
  S coeff(std::size_t i) const;
  S& coeff(std::size_t i);
  const Interval<S>& remainder() const;
  Interval<S>& remainder();
  
  TaylorModel();
  TaylorModel(const std::shared_ptr<TimeInterval<S>>& time_interval);
  TaylorModel(S coeff, const std::shared_ptr<TimeInterval<S>>& time_interval);
  TaylorModel(S coeffs[3], const Interval<S>& r, const std::shared_ptr<TimeInterval<S>>& time_interval);
  TaylorModel(S c0, S c1, S c2, S c3, const Interval<S>& r, const std::shared_ptr<TimeInterval<S>>& 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 + (S d) const;
  TaylorModel& operator += (S d);
 
  TaylorModel operator - (S d) const;
  TaylorModel& operator -= (S d);
 
  TaylorModel operator * (const TaylorModel& other) const;
  TaylorModel operator * (S d) const;
  TaylorModel& operator *= (const TaylorModel& other);
  TaylorModel& operator *= (S d);
 
  TaylorModel operator - () const;
 
  void print() const;
 
  Interval<S> getBound() const;
  Interval<S> getBound(S l, S r) const;
 
  Interval<S> getTightBound() const;
  Interval<S> getTightBound(S l, S r) const;
 
  Interval<S> getBound(S t) const;
 
  void setZero();
};
 
template <typename S>
FCL_EXPORT
TaylorModel<S> operator * (S d, const TaylorModel<S>& a);
 
template <typename S>
FCL_EXPORT
TaylorModel<S> operator + (S d, const TaylorModel<S>& a);
 
template <typename S>
FCL_EXPORT
TaylorModel<S> operator - (S d, const TaylorModel<S>& a);
 
template <typename S>
FCL_EXPORT
void generateTaylorModelForCosFunc(TaylorModel<S>& tm, S w, S q0);
 
template <typename S>
FCL_EXPORT
void generateTaylorModelForSinFunc(TaylorModel<S>& tm, S w, S q0);
 
template <typename S>
FCL_EXPORT
void generateTaylorModelForLinearFunc(TaylorModel<S>& tm, S p, S v);
 
} // namespace fcl
 
#include "fcl/math/motion/taylor_model/taylor_model-inl.h"
 
#endif