#include <bv_motion_bound_visitor.h>

Public Member Functions
S	computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const
	Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor. More...

S	computeMotionBound (const TriangleMotionBoundVisitor< S > &mb_visitor) const
	Compute the motion bound for a triangle along a given direction n, which is defined in the visitor. More...

S	getAngularVelocity () const

const Vector3< S > &	getAxis () const

const Vector3< S > &	getAxisOrigin () const

void	getCurrentTransform (Transform3< S > &tf_) const
	Get the rotation and translation in current step. More...

S	getLinearVelocity () const

void	getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const

bool	integrate (S dt) const
	Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision. More...

	ScrewMotion ()
	Default transformations are all identities. More...

	ScrewMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation. More...

	ScrewMotion (const Transform3< S > &tf1_, const Transform3< S > &tf2_)
	Construct motion from the initial transform and goal transform. More...

Protected Member Functions
Quaternion< S >	absoluteRotation (S dt) const

void	computeScrewParameter ()

Quaternion< S >	deltaRotation (S dt) const

Protected Attributes
S	angular_vel
	angular velocity More...

Vector3< S >	axis
	screw axis More...

S	linear_vel
	linear velocity along the axis More...

Vector3< S >	p
	A point on the axis. More...

Transform3< S >	tf
	The transformation at current time t. More...

Transform3< S >	tf1
	The transformation at time 0. More...

Transform3< S >	tf2
	The transformation at time 1. More...

Detailed Description

template<typename S>
class fcl::ScrewMotion< S >

Definition at line 51 of file bv_motion_bound_visitor.h.

Constructor & Destructor Documentation

◆ ScrewMotion() [1/3]

template<typename S >

fcl::ScrewMotion< S >::ScrewMotion

Default transformations are all identities.

Definition at line 52 of file screw_motion-inl.h.

◆ ScrewMotion() [2/3]

template<typename S >

fcl::ScrewMotion< S >::ScrewMotion	(	const Matrix3< S > &	R1,
		const Vector3< S > &	T1,
		const Matrix3< S > &	R2,
		const Vector3< S > &	T2
	)

Construct motion from the initial rotation/translation and goal rotation/translation.

Definition at line 66 of file screw_motion-inl.h.

◆ ScrewMotion() [3/3]

template<typename S >

fcl::ScrewMotion< S >::ScrewMotion	(	const Transform3< S > &	tf1_,
		const Transform3< S > &	tf2_
	)

Construct motion from the initial transform and goal transform.

Definition at line 86 of file screw_motion-inl.h.

Member Function Documentation

◆ absoluteRotation()

template<typename S >

Quaternion< S > fcl::ScrewMotion< S >::absoluteRotation ( S dt ) const

protected

Definition at line 196 of file screw_motion-inl.h.

◆ computeMotionBound() [1/2]

template<typename S >

S fcl::ScrewMotion< S >::computeMotionBound ( const BVMotionBoundVisitor< S > & mb_visitor ) const

Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor.

Definition at line 109 of file screw_motion-inl.h.

◆ computeMotionBound() [2/2]

template<typename S >

S fcl::ScrewMotion< S >::computeMotionBound ( const TriangleMotionBoundVisitor< S > & mb_visitor ) const

Compute the motion bound for a triangle along a given direction n, which is defined in the visitor.

Definition at line 117 of file screw_motion-inl.h.

◆ computeScrewParameter()

template<typename S >

void fcl::ScrewMotion< S >::computeScrewParameter

protected

Definition at line 159 of file screw_motion-inl.h.

◆ deltaRotation()

template<typename S >

Quaternion< S > fcl::ScrewMotion< S >::deltaRotation ( S dt ) const

protected

Definition at line 189 of file screw_motion-inl.h.

◆ getAngularVelocity()

template<typename S >

S fcl::ScrewMotion< S >::getAngularVelocity

Definition at line 212 of file screw_motion-inl.h.

◆ getAxis()

template<typename S >

const Vector3< S > & fcl::ScrewMotion< S >::getAxis

Definition at line 219 of file screw_motion-inl.h.

◆ getAxisOrigin()

template<typename S >

const Vector3< S > & fcl::ScrewMotion< S >::getAxisOrigin

Definition at line 226 of file screw_motion-inl.h.

◆ getCurrentTransform()

template<typename S >

void fcl::ScrewMotion< S >::getCurrentTransform ( Transform3< S > & tf_ ) const

Get the rotation and translation in current step.

Definition at line 125 of file screw_motion-inl.h.

◆ getLinearVelocity()

template<typename S >

S fcl::ScrewMotion< S >::getLinearVelocity

Definition at line 205 of file screw_motion-inl.h.

◆ getTaylorModel()

template<typename S >

void fcl::ScrewMotion< S >::getTaylorModel	(	TMatrix3< S > &	tm,
		TVector3< S > &	tv
	)		const

Definition at line 132 of file screw_motion-inl.h.

◆ integrate()

template<typename S >

bool fcl::ScrewMotion< S >::integrate ( S dt ) const

Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.

Definition at line 95 of file screw_motion-inl.h.

Member Data Documentation

◆ angular_vel

template<typename S >

S fcl::ScrewMotion< S >::angular_vel

protected

angular velocity

Definition at line 107 of file screw_motion.h.

◆ axis

template<typename S >

Vector3<S> fcl::ScrewMotion< S >::axis

protected

screw axis

Definition at line 98 of file screw_motion.h.

◆ linear_vel

template<typename S >

S fcl::ScrewMotion< S >::linear_vel

protected

linear velocity along the axis

Definition at line 104 of file screw_motion.h.

◆ p

template<typename S >

Vector3<S> fcl::ScrewMotion< S >::p

protected

A point on the axis.

Definition at line 101 of file screw_motion.h.

◆ tf

template<typename S >

Transform3<S> fcl::ScrewMotion< S >::tf

mutableprotected

The transformation at current time t.

Definition at line 95 of file screw_motion.h.

◆ tf1

template<typename S >

Transform3<S> fcl::ScrewMotion< S >::tf1

protected

The transformation at time 0.

Definition at line 89 of file screw_motion.h.

◆ tf2

template<typename S >

Transform3<S> fcl::ScrewMotion< S >::tf2

protected

The transformation at time 1.

Definition at line 92 of file screw_motion.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename S> class fcl::ScrewMotion< S >

Constructor & Destructor Documentation

◆ ScrewMotion() [1/3]

◆ ScrewMotion() [2/3]

◆ ScrewMotion() [3/3]

Member Function Documentation

◆ absoluteRotation()

◆ computeMotionBound() [1/2]

◆ computeMotionBound() [2/2]

◆ computeScrewParameter()

◆ deltaRotation()

◆ getAngularVelocity()

◆ getAxis()

◆ getAxisOrigin()

◆ getCurrentTransform()

◆ getLinearVelocity()

◆ getTaylorModel()

◆ integrate()

Member Data Documentation

◆ angular_vel

◆ axis

◆ linear_vel

◆ p

◆ tf

◆ tf1

◆ tf2

template<typename S>
class fcl::ScrewMotion< S >