motion_base-inl.h
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35 
38 #ifndef FCL_CCD_MOTION_BASE_INL_H
39 #define FCL_CCD_MOTION_BASE_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT MotionBase<double>;
49 
50 //==============================================================================
51 template <typename S>
53  : time_interval_(std::shared_ptr<TimeInterval<S>>(new TimeInterval<S>(0, 1)))
54 {
55  // Do nothing
56 }
57 
58 //==============================================================================
59 template <typename S>
61 
62 //==============================================================================
63 template <typename S>
65 {
66  Transform3<S> tf;
67  getCurrentTransform(tf);
68  R = tf.linear();
69  T = tf.translation();
70 }
71 
72 //==============================================================================
73 template <typename S>
75 {
76  Transform3<S> tf;
77  getCurrentTransform(tf);
78  Q = tf.linear();
79  T = tf.translation();
80 }
81 
82 //==============================================================================
83 template <typename S>
85 {
86  Transform3<S> tf;
87  getCurrentTransform(tf);
88  R = tf.linear();
89 }
90 
91 //==============================================================================
92 template <typename S>
94 {
95  Transform3<S> tf;
96  getCurrentTransform(tf);
97  Q = tf.linear();
98 }
99 
100 //==============================================================================
101 template <typename S>
103 {
104  Transform3<S> tf;
105  getCurrentTransform(tf);
106  T = tf.translation();
107 }
108 
109 //==============================================================================
110 template <typename S>
111 const std::shared_ptr<TimeInterval<S> >&MotionBase<S>::getTimeInterval() const
112 {
113  return time_interval_;
114 }
115 
116 } // namespace fcl
117 
118 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::MotionBase::getCurrentRotation
void getCurrentRotation(Matrix3< S > &R) const
Definition: motion_base-inl.h:84
fcl::Quaternion
Eigen::Quaternion< S > Quaternion
Definition: types.h:88
motion_base.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::MotionBase< double >
template class FCL_EXPORT MotionBase< double >
fcl::MotionBase::getTimeInterval
const std::shared_ptr< TimeInterval< S > > & getTimeInterval() const
Definition: motion_base-inl.h:111
fcl::MotionBase::~MotionBase
virtual ~MotionBase()
Definition: motion_base-inl.h:60
fcl::TimeInterval
Definition: time_interval.h:50
fcl::MotionBase::MotionBase
MotionBase()
Definition: motion_base-inl.h:52
fcl::MotionBase::getCurrentTransform
void getCurrentTransform(Matrix3< S > &R, Vector3< S > &T) const
Get the rotation and translation in current step.
Definition: motion_base-inl.h:64
fcl::MotionBase::getCurrentTranslation
void getCurrentTranslation(Vector3< S > &T) const
Definition: motion_base-inl.h:102
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:48