fcl::TriangleMotionBoundVisitorVisitImpl< S, InterpMotion< S > > Struct Template Reference

Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...

`#include <triangle_motion_bound_visitor-inl.h>`

Static Public Member Functions

static S run (const TriangleMotionBoundVisitor< S > &visitor, const InterpMotion< S > &motion)

Detailed Description

template<typename S> struct fcl::TriangleMotionBoundVisitorVisitImpl< S, InterpMotion< S > >

Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame)

Definition at line 157 of file triangle_motion_bound_visitor-inl.h.

◆ run()

template<typename S >
 static S fcl::TriangleMotionBoundVisitorVisitImpl< S, InterpMotion< S > >::run ( const TriangleMotionBoundVisitor< S > & visitor, const InterpMotion< S > & motion )
inlinestatic

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

The documentation for this struct was generated from the following file:

fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:50