time_interval.h

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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
#ifndef FCL_CCD_TIMEINTERVAL_H
#define FCL_CCD_TIMEINTERVAL_H
 
#include <memory>
#include <iostream>
#include "fcl/math/constants.h"
#include "fcl/math/motion/taylor_model/interval.h"
 
namespace fcl
{
 
template <typename S>
struct FCL_EXPORT TimeInterval
{
  Interval<S> t_; // [t1, t2]
  Interval<S> t2_; // [t1, t2]^2
  Interval<S> t3_; // [t1, t2]^3
  Interval<S> t4_; // [t1, t2]^4
  Interval<S> t5_; // [t1, t2]^5
  Interval<S> t6_; // [t1, t2]^6
 
  TimeInterval();
 
  TimeInterval(S l, S r);
 
  void setValue(S l, S r);
};
 
} // namespace fcl
 
#include "fcl/math/motion/taylor_model/time_interval-inl.h"
 
#endif