taylor_vector.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 // This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
38 #ifndef FCL_CCD_TAYLOR_VECTOR_H
39 #define FCL_CCD_TAYLOR_VECTOR_H
40 
43 
44 namespace fcl
45 {
46 
47 template <typename S>
48 class FCL_EXPORT TVector3
49 {
51 
52 public:
53 
54  TVector3();
55  TVector3(const std::shared_ptr<TimeInterval<S>>& time_interval);
57  TVector3(const TaylorModel<S>& v0, const TaylorModel<S>& v1, const TaylorModel<S>& v2);
58  TVector3(const Vector3<S>& v, const std::shared_ptr<TimeInterval<S>>& time_interval);
59 
60  TVector3 operator + (const TVector3& other) const;
61  TVector3& operator += (const TVector3& other);
62 
63  TVector3 operator + (const Vector3<S>& other) const;
64  TVector3& operator += (const Vector3<S>& other);
65 
66  TVector3 operator - (const TVector3& other) const;
67  TVector3& operator -= (const TVector3& other);
68 
69  TVector3 operator - (const Vector3<S>& other) const;
70  TVector3& operator -= (const Vector3<S>& other);
71 
72  TVector3 operator - () const;
73 
74  TVector3 operator * (const TaylorModel<S>& d) const;
75  TVector3& operator *= (const TaylorModel<S>& d);
76  TVector3 operator * (S d) const;
77  TVector3& operator *= (S d);
78 
79  const TaylorModel<S>& operator [] (size_t i) const;
80  TaylorModel<S>& operator [] (size_t i);
81 
82  TaylorModel<S> dot(const TVector3& other) const;
83  TVector3 cross(const TVector3& other) const;
84  TaylorModel<S> dot(const Vector3<S>& other) const;
85  TVector3 cross(const Vector3<S>& other) const;
86 
87  IVector3<S> getBound() const;
88  IVector3<S> getBound(S l, S r) const;
89  IVector3<S> getBound(S t) const;
90 
91  IVector3<S> getTightBound() const;
92  IVector3<S> getTightBound(S l, S r) const;
93 
94  void print() const;
95  S volumn() const;
96  void setZero();
97 
98  TaylorModel<S> squareLength() const;
99 
100  void setTimeInterval(const std::shared_ptr<TimeInterval<S>>& time_interval);
101  void setTimeInterval(S l, S r);
102 
103  const std::shared_ptr<TimeInterval<S>>& getTimeInterval() const;
104 };
105 
106 template <typename S>
107 FCL_EXPORT
108 void generateTVector3ForLinearFunc(TVector3<S>& v, const Vector3<S>& position, const Vector3<S>& velocity);
109 
110 template <typename S>
111 FCL_EXPORT
113 
114 template <typename S>
115 FCL_EXPORT
116 TVector3<S> operator + (const Vector3<S>& v1, const TVector3<S>& v2);
117 
118 template <typename S>
119 FCL_EXPORT
120 TVector3<S> operator - (const Vector3<S>& v1, const TVector3<S>& v2);
121 
122 } // namespace fcl
123 
125 
126 #endif
fcl::operator-
template TMatrix3< double > operator-(const Matrix3< double > &m1, const TMatrix3< double > &m2)
fcl::generateTVector3ForLinearFunc
template void generateTVector3ForLinearFunc(TVector3< double > &v, const Vector3< double > &position, const Vector3< double > &velocity)
taylor_vector-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::TimeInterval
Definition: time_interval.h:50
r
S r
Definition: test_sphere_box.cpp:171
interval_vector.h
fcl::operator*
template TMatrix3< double > operator*(const Matrix3< double > &m, const TaylorModel< double > &a)
fcl::TaylorModel
TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a t...
Definition: taylor_model.h:58
fcl::TVector3
Definition: taylor_vector.h:48
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
taylor_model.h
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)
fcl::IVector3
Definition: interval_vector.h:47


fcl
Author(s):
autogenerated on Sat Sep 11 2021 02:37:42