translation_motion.h
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35 
38 #ifndef FCL_CCD_TRANSLATIONMOTION_H
39 #define FCL_CCD_TRANSLATIONMOTION_H
40 
44 
45 namespace fcl
46 {
47 
48 template <typename S>
49 class FCL_EXPORT TranslationMotion : public MotionBase<S>
50 {
51 public:
53  TranslationMotion(const Transform3<S>& tf1, const Transform3<S>& tf2);
54 
55  TranslationMotion(
56  const Matrix3<S>& R, const Vector3<S>& T1, const Vector3<S>& T2);
57 
58  bool integrate(S dt) const override;
59 
60  S computeMotionBound(
61  const BVMotionBoundVisitor<S>& mb_visitor) const override;
62 
63  S computeMotionBound(
64  const TriangleMotionBoundVisitor<S>& mb_visitor) const override;
65 
66  void getCurrentTransform(Transform3<S>& tf_) const override;
67 
68  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const override;
69 
70  Vector3<S> getVelocity() const;
71 
72  private:
75  Vector3<S> trans_start, trans_range;
76 
77  mutable Transform3<S> tf;
78 
79 public:
80  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 };
82 
85 
86 } // namespace fcl
87 
89 
90 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
translation_motion-inl.h
fcl::TranslationMotion::rot
Quaternion< S > rot
initial and goal transforms
Definition: translation_motion.h:74
fcl::Quaternion
Eigen::Quaternion< S > Quaternion
Definition: types.h:88
motion_base.h
fcl::TranslationMotion
Definition: bv_motion_bound_visitor.h:57
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
triangle_motion_bound_visitor.h
fcl::TranslationMotion::tf
Transform3< S > tf
Definition: translation_motion.h:77
fcl::TranslationMotion::trans_start
Vector3< S > trans_start
Definition: translation_motion.h:75
bv_motion_bound_visitor.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:49