taylor_matrix.h
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00001 /*
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00034 
00037 #ifndef FCL_CCD_TAYLOR_MATRIX_H
00038 #define FCL_CCD_TAYLOR_MATRIX_H
00039 
00040 
00041 #include "fcl/math/matrix_3f.h"
00042 #include "fcl/ccd/taylor_vector.h"
00043 #include "fcl/ccd/interval_matrix.h"
00044 
00045 namespace fcl
00046 {
00047 
00048 struct TMatrix3
00049 {
00050   TVector3 v_[3];
00051 
00052   TMatrix3();
00053   TMatrix3(const boost::shared_ptr<TimeInterval>& time_interval);
00054   TMatrix3(TaylorModel m[3][3]);
00055   TMatrix3(const TVector3& v1, const TVector3& v2, const TVector3& v3);
00056   TMatrix3(const Matrix3f& m, const boost::shared_ptr<TimeInterval>& time_interval);
00057 
00058   TVector3 getColumn(size_t i) const;
00059   const TVector3& getRow(size_t i) const;
00060 
00061   const TaylorModel& operator () (size_t i, size_t j) const;
00062   TaylorModel& operator () (size_t i, size_t j);
00063 
00064   TVector3 operator * (const Vec3f& v) const;
00065   TVector3 operator * (const TVector3& v) const;
00066   TMatrix3 operator * (const Matrix3f& m) const;
00067   TMatrix3 operator * (const TMatrix3& m) const;
00068   TMatrix3 operator * (const TaylorModel& d) const;
00069   TMatrix3 operator * (FCL_REAL d) const;
00070 
00071   TMatrix3& operator *= (const Matrix3f& m);
00072   TMatrix3& operator *= (const TMatrix3& m);
00073   TMatrix3& operator *= (const TaylorModel& d);
00074   TMatrix3& operator *= (FCL_REAL d);
00075 
00076   TMatrix3 operator + (const TMatrix3& m) const;
00077   TMatrix3& operator += (const TMatrix3& m);
00078 
00079   TMatrix3 operator - (const TMatrix3& m) const;
00080   TMatrix3& operator -= (const TMatrix3& m);
00081 
00082   IMatrix3 getBound() const;
00083   void print() const;
00084   void setIdentity();
00085   void setZero();
00086   FCL_REAL diameter() const;
00087 
00088   void setTimeInterval(const boost::shared_ptr<TimeInterval>& time_interval);
00089 
00090   TMatrix3& rotationConstrain();
00091 };
00092 
00093 TMatrix3 rotationConstrain(const TMatrix3& m);
00094 
00095 }
00096 
00097 #endif
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:30