translation_motion.h

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#ifndef FCL_CCD_TRANSLATIONMOTION_H
#define FCL_CCD_TRANSLATIONMOTION_H
 
#include "fcl/math/motion/motion_base.h"
#include "fcl/math/motion/bv_motion_bound_visitor.h"
#include "fcl/math/motion/triangle_motion_bound_visitor.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT TranslationMotion : public MotionBase<S>
{
public:
  TranslationMotion(const Transform3<S>& tf1, const Transform3<S>& tf2);
 
  TranslationMotion(
      const Matrix3<S>& R, const Vector3<S>& T1, const Vector3<S>& T2);
 
  bool integrate(S dt) const override;
 
  S computeMotionBound(
      const BVMotionBoundVisitor<S>& mb_visitor) const override;
 
  S computeMotionBound(
      const TriangleMotionBoundVisitor<S>& mb_visitor) const override;
 
  void getCurrentTransform(Transform3<S>& tf_) const override;
 
  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const override;
 
  Vector3<S> getVelocity() const;
 
 private:
  Quaternion<S> rot;
  Vector3<S> trans_start, trans_range;
 
  mutable Transform3<S> tf;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
using TranslationMotionf = TranslationMotion<float>;
using TranslationMotiond = TranslationMotion<double>;
 
} // namespace fcl
 
#include "fcl/math/motion/translation_motion-inl.h"
 
#endif