#include <motion.h>

Inheritance diagram for fcl::SplineMotion< BV >:

Public Member Functions
template<>
FCL_REAL	computeMotionBound (const RSS &bv, const Vec3f &n) const
FCL_REAL	computeMotionBound (const BV &bv, const Vec3f &n) const
	Compute the motion bound for a bounding volume along a given direction n For general BV, not implemented so return trivial 0.
FCL_REAL	computeMotionBound (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &n) const
	Compute the motion bound for a triangle, given the closest direction n between two query objects.
void	getCurrentRotation (Matrix3f &R) const
void	getCurrentTransform (Matrix3f &R, Vec3f &T) const
	Get the rotation and translation in current step.
void	getCurrentTransform (Transform3f &tf_) const
void	getCurrentTranslation (Vec3f &T) const
bool	integrate (double dt)
	Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.
	SplineMotion (const Vec3f &Td0, const Vec3f &Td1, const Vec3f &Td2, const Vec3f &Td3, const Vec3f &Rd0, const Vec3f &Rd1, const Vec3f &Rd2, const Vec3f &Rd3)
	Construct motion from 4 deBoor points.
Protected Member Functions
FCL_REAL	computeDWMax () const
void	computeSplineParameter ()
FCL_REAL	computeTBound (const Vec3f &n) const
FCL_REAL	getWeight0 (FCL_REAL t) const
FCL_REAL	getWeight1 (FCL_REAL t) const
FCL_REAL	getWeight2 (FCL_REAL t) const
FCL_REAL	getWeight3 (FCL_REAL t) const
Protected Attributes
Vec3f	RA
Vec3f	RB
Vec3f	RC
Vec3f	Rd [4]
FCL_REAL	Rd0Rd0
FCL_REAL	Rd0Rd1
FCL_REAL	Rd0Rd2
FCL_REAL	Rd0Rd3
FCL_REAL	Rd1Rd1
FCL_REAL	Rd1Rd2
FCL_REAL	Rd1Rd3
FCL_REAL	Rd2Rd2
FCL_REAL	Rd2Rd3
FCL_REAL	Rd3Rd3
Vec3f	TA
Vec3f	TB
Vec3f	TC
Vec3f	Td [4]
Transform3f	tf
	The transformation at current time t.
FCL_REAL	tf_t
	The time related with tf.

Detailed Description

template<typename BV>
class fcl::SplineMotion< BV >

Definition at line 51 of file motion.h.

Constructor & Destructor Documentation

template<typename BV >

fcl::SplineMotion< BV >::SplineMotion	(	const Vec3f &	Td0,
		const Vec3f &	Td1,
		const Vec3f &	Td2,
		const Vec3f &	Td3,
		const Vec3f &	Rd0,
		const Vec3f &	Rd1,
		const Vec3f &	Rd2,
		const Vec3f &	Rd3
	)		`[inline]`

Construct motion from 4 deBoor points.

Definition at line 55 of file motion.h.

Member Function Documentation

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::computeDWMax ( ) const [inline, protected]

Definition at line 233 of file motion.h.

template<>

FCL_REAL fcl::SplineMotion< RSS >::computeMotionBound	(	const RSS &	bv,
		const Vec3f &	n
	)		const

Definition at line 88 of file motion.cpp.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::computeMotionBound	(	const BV &	bv,
		const Vec3f &	n
	)		const `[inline, virtual]`

Compute the motion bound for a bounding volume along a given direction n For general BV, not implemented so return trivial 0.

Implements fcl::MotionBase< BV >.

Definition at line 115 of file motion.h.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::computeMotionBound	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c,
		const Vec3f &	n
	)		const `[inline, virtual]`

Compute the motion bound for a triangle, given the closest direction n between two query objects.

Implements fcl::MotionBase< BV >.

Definition at line 117 of file motion.h.

template<typename BV >

void fcl::SplineMotion< BV >::computeSplineParameter ( ) [inline, protected]

Definition at line 160 of file motion.h.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::computeTBound ( const Vec3f & n ) const [inline, protected]

Definition at line 185 of file motion.h.

template<typename BV >

void fcl::SplineMotion< BV >::getCurrentRotation ( Matrix3f & R ) const [inline, virtual]

Implements fcl::MotionBase< BV >.

Definition at line 144 of file motion.h.

template<typename BV >

void fcl::SplineMotion< BV >::getCurrentTransform	(	Matrix3f &	R,
		Vec3f &	T
	)		const `[inline, virtual]`

Get the rotation and translation in current step.

Implements fcl::MotionBase< BV >.

Definition at line 138 of file motion.h.

template<typename BV >

void fcl::SplineMotion< BV >::getCurrentTransform ( Transform3f & tf_ ) const [inline, virtual]

Implements fcl::MotionBase< BV >.

Definition at line 154 of file motion.h.

template<typename BV >

void fcl::SplineMotion< BV >::getCurrentTranslation ( Vec3f & T ) const [inline, virtual]

Implements fcl::MotionBase< BV >.

Definition at line 149 of file motion.h.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::getWeight0 ( FCL_REAL t ) const [inline, protected]

Definition at line 165 of file motion.h.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::getWeight1 ( FCL_REAL t ) const [inline, protected]

Definition at line 170 of file motion.h.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::getWeight2 ( FCL_REAL t ) const [inline, protected]

Definition at line 175 of file motion.h.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::getWeight3 ( FCL_REAL t ) const [inline, protected]

Definition at line 180 of file motion.h.

template<typename BV >

bool fcl::SplineMotion< BV >::integrate ( double dt ) [inline, virtual]

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

Implements fcl::MotionBase< BV >.

Definition at line 93 of file motion.h.

Member Data Documentation

template<typename BV >

Vec3f fcl::SplineMotion< BV >::RA [protected]

Definition at line 305 of file motion.h.

template<typename BV >

Vec3f fcl::SplineMotion< BV >::RB [protected]

Definition at line 305 of file motion.h.

template<typename BV >

Vec3f fcl::SplineMotion< BV >::RC [protected]

Definition at line 305 of file motion.h.

template<typename BV >

Vec3f fcl::SplineMotion< BV >::Rd[4] [protected]

Definition at line 302 of file motion.h.

template<typename BV >

FCL_REAL fcl::SplineMotion< BV >::Rd0Rd0 [protected]