time_interval-inl.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_TIMEINTERVAL_INL_H
#define FCL_CCD_TIMEINTERVAL_INL_H
 
#include "fcl/math/motion/taylor_model/time_interval.h"
 
namespace fcl
{
 
//==============================================================================
extern template
struct TimeInterval<double>;
 
//==============================================================================
template <typename S>
TimeInterval<S>::TimeInterval()
{
  // Do nothing
}
 
//==============================================================================
template <typename S>
TimeInterval<S>::TimeInterval(S l, S r)
{
  setValue(l, r);
}
 
//==============================================================================
template <typename S>
void TimeInterval<S>::setValue(S l, S r)
{
  t_.setValue(l, r);
  t2_.setValue(l * t_[0], r * t_[1]);
  t3_.setValue(l * t2_[0], r * t2_[1]);
  t4_.setValue(l * t3_[0], r * t3_[1]);
  t5_.setValue(l * t4_[0], r * t4_[1]);
  t6_.setValue(l * t5_[0], r * t5_[1]);
}
 
} // namespace fcl
 
#endif