taylor_vector.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_VECTOR_H
#define FCL_CCD_TAYLOR_VECTOR_H
 
#include "fcl/math/motion/taylor_model/interval_vector.h"
#include "fcl/math/motion/taylor_model/taylor_model.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT TVector3
{
  TaylorModel<S> i_[3];
 
public:
  
  TVector3();
  TVector3(const std::shared_ptr<TimeInterval<S>>& time_interval);
  TVector3(TaylorModel<S> v[3]);
  TVector3(const TaylorModel<S>& v0, const TaylorModel<S>& v1, const TaylorModel<S>& v2);
  TVector3(const Vector3<S>& v, const std::shared_ptr<TimeInterval<S>>& time_interval);
  
  TVector3 operator + (const TVector3& other) const;
  TVector3& operator += (const TVector3& other);
 
  TVector3 operator + (const Vector3<S>& other) const;
  TVector3& operator += (const Vector3<S>& other);
 
  TVector3 operator - (const TVector3& other) const;
  TVector3& operator -= (const TVector3& other);
 
  TVector3 operator - (const Vector3<S>& other) const;
  TVector3& operator -= (const Vector3<S>& other);
 
  TVector3 operator - () const;
 
  TVector3 operator * (const TaylorModel<S>& d) const;
  TVector3& operator *= (const TaylorModel<S>& d);
  TVector3 operator * (S d) const;
  TVector3& operator *= (S d);
 
  const TaylorModel<S>& operator [] (size_t i) const;
  TaylorModel<S>& operator [] (size_t i);
 
  TaylorModel<S> dot(const TVector3& other) const;
  TVector3 cross(const TVector3& other) const;
  TaylorModel<S> dot(const Vector3<S>& other) const;
  TVector3 cross(const Vector3<S>& other) const;
 
  IVector3<S> getBound() const;
  IVector3<S> getBound(S l, S r) const;
  IVector3<S> getBound(S t) const;
 
  IVector3<S> getTightBound() const;
  IVector3<S> getTightBound(S l, S r) const;
 
  void print() const;
  S volumn() const;
  void setZero();
 
  TaylorModel<S> squareLength() const;
 
  void setTimeInterval(const std::shared_ptr<TimeInterval<S>>& time_interval);
  void setTimeInterval(S l, S r);
 
  const std::shared_ptr<TimeInterval<S>>& getTimeInterval() const;
};
 
template <typename S>
FCL_EXPORT
void generateTVector3ForLinearFunc(TVector3<S>& v, const Vector3<S>& position, const Vector3<S>& velocity);
 
template <typename S>
FCL_EXPORT
TVector3<S> operator * (const Vector3<S>& v, const TaylorModel<S>& a);
 
template <typename S>
FCL_EXPORT
TVector3<S> operator + (const Vector3<S>& v1, const TVector3<S>& v2);
 
template <typename S>
FCL_EXPORT
TVector3<S> operator - (const Vector3<S>& v1, const TVector3<S>& v2);
 
} // namespace fcl
 
#include "fcl/math/motion/taylor_model/taylor_vector-inl.h"
 
#endif