Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref. More...

#include <motion.h>

Inheritance diagram for fcl::InterpMotion< BV >:

[legend]

List of all members.

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 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)
template<>
FCL_REAL	computeMotionBound (const RSS &bv, const Vec3f &n) const
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.
	InterpMotion ()
	Default transformations are all identities.
	InterpMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation.
	InterpMotion (const Transform3f &tf1_, const Transform3f &tf2_)
	InterpMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2, const Vec3f &O)
	Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center.
	InterpMotion (const Transform3f &tf1_, const Transform3f &tf2_, const Vec3f &O)
Protected Member Functions
Quaternion3f	absoluteRotation (FCL_REAL dt) const
void	computeVelocity ()
Quaternion3f	deltaRotation (FCL_REAL dt) const
Protected Attributes
Vec3f	angular_axis
	Angular velocity axis.
FCL_REAL	angular_vel
	Angular speed.
Vec3f	linear_vel
	Linear velocity.
Vec3f	reference_p
	Reference point for the motion (in the object's local frame)
Transform3f	tf
	The transformation at current time t.
Transform3f	tf1
	The transformation at time 0.
Transform3f	tf2
	The transformation at time 1.

Detailed Description

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

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref.

Definition at line 489 of file motion.h.

Constructor & Destructor Documentation

template<typename BV >

fcl::InterpMotion< BV >::InterpMotion ( ) [inline]

Default transformations are all identities.

Default angular velocity is zero

Default reference point is local zero point

Default linear velocity is zero

Definition at line 493 of file motion.h.

template<typename BV >

fcl::InterpMotion< BV >::InterpMotion	(	const Matrix3f &	R1,
		const Vec3f &	T1,
		const Matrix3f &	R2,
		const Vec3f &	T2
	)		`[inline]`

Construct motion from the initial rotation/translation and goal rotation/translation.

Compute the velocities for the motion

Definition at line 505 of file motion.h.

template<typename BV >

fcl::InterpMotion< BV >::InterpMotion	(	const Transform3f &	tf1_,
		const Transform3f &	tf2_
	)		`[inline]`

Compute the velocities for the motion

Definition at line 515 of file motion.h.

template<typename BV >

fcl::InterpMotion< BV >::InterpMotion	(	const Matrix3f &	R1,
		const Vec3f &	T1,
		const Matrix3f &	R2,
		const Vec3f &	T2,
		const Vec3f &	O
	)		`[inline]`

Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center.

Compute the velocities for the motion

Definition at line 525 of file motion.h.

template<typename BV >

fcl::InterpMotion< BV >::InterpMotion	(	const Transform3f &	tf1_,
		const Transform3f &	tf2_,
		const Vec3f &	O
	)		`[inline]`

Definition at line 536 of file motion.h.

Member Function Documentation

template<typename BV >

Quaternion3f fcl::InterpMotion< BV >::absoluteRotation ( FCL_REAL dt ) const [inline, protected]

Definition at line 629 of file motion.h.

template<>

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

Definition at line 44 of file motion.cpp.

template<typename BV >

FCL_REAL fcl::InterpMotion< 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 560 of file motion.h.

template<typename BV >

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

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)

Implements fcl::MotionBase< BV >.

Definition at line 567 of file motion.h.

template<>