motion_base.h
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00001 /*
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00034 
00038 #ifndef FCL_CCD_MOTION_BASE_H
00039 #define FCL_CCD_MOTION_BASE_H
00040 
00041 
00042 #include "fcl/math/transform.h"
00043 #include "fcl/BV/RSS.h"
00044 
00045 namespace fcl
00046 {
00047 
00048 template<typename BV>
00049 class MotionBase
00050 {
00051 public:
00052   virtual ~MotionBase() {}
00053 
00055   virtual bool integrate(double dt) = 0;
00056 
00058   virtual FCL_REAL computeMotionBound(const BV& bv, const Vec3f& n) const = 0;
00059 
00061   virtual FCL_REAL computeMotionBound(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& n) const = 0;
00062 
00064   virtual void getCurrentTransform(Matrix3f& R, Vec3f& T) const = 0;
00065 
00066   virtual void getCurrentRotation(Matrix3f& R) const = 0;
00067 
00068   virtual void getCurrentTranslation(Vec3f& T) const = 0;
00069 
00070   virtual void getCurrentTransform(Transform3f& tf) const = 0;
00071 };
00072 
00073 
00074 }
00075 
00076 #endif
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:30