#include <bv_motion_bound_visitor.h>
Public Member Functions | |
| S | computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const override |
| Compute the motion bound for a bounding volume, given the closest direction n between two query objects. More... | |
| S | computeMotionBound (const TriangleMotionBoundVisitor< S > &mb_visitor) const override |
| Compute the motion bound for a triangle, given the closest direction n between two query objects. More... | |
| void | getCurrentTransform (Transform3< S > &tf_) const override |
| void | getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const override |
| Vector3< S > | getVelocity () const |
| bool | integrate (S dt) const override |
| Integrate the motion from 0 to dt. More... | |
| TranslationMotion (const Transform3< S > &tf1, const Transform3< S > &tf2) | |
| Construct motion from intial and goal transform. More... | |
| TranslationMotion (const Matrix3< S > &R, const Vector3< S > &T1, const Vector3< S > &T2) | |
 Public Member Functions inherited from fcl::MotionBase< S > | |
| void | getCurrentRotation (Matrix3< S > &R) const |
| void | getCurrentRotation (Quaternion< S > &Q) const |
| void | getCurrentTransform (Matrix3< S > &R, Vector3< S > &T) const |
| Get the rotation and translation in current step. More... | |
| void | getCurrentTransform (Quaternion< S > &Q, Vector3< S > &T) const |
| void | getCurrentTranslation (Vector3< S > &T) const |
| const std::shared_ptr< TimeInterval< S > > & | getTimeInterval () const |
| MotionBase () | |
| virtual | ~MotionBase () |
Private Attributes | |
| Quaternion< S > | rot |
| initial and goal transforms More... | |
| Transform3< S > | tf |
| Vector3< S > | trans_range |
| Vector3< S > | trans_start |
Additional Inherited Members | |
| Protected Attributes inherited from fcl::MotionBase< S > | |
| std::shared_ptr< TimeInterval< S > > | time_interval_ |
Detailed Description
template<typename S>
class fcl::TranslationMotion< S >
Definition at line 57 of file bv_motion_bound_visitor.h.
Constructor & Destructor Documentation
◆ TranslationMotion() [1/2]
| fcl::TranslationMotion< S >::TranslationMotion | ( | const Transform3< S > & | tf1, |
| const Transform3< S > & | tf2 | ||
| ) |
Construct motion from intial and goal transform.
Definition at line 54 of file translation_motion-inl.h.
◆ TranslationMotion() [2/2]
| fcl::TranslationMotion< S >::TranslationMotion | ( | const Matrix3< S > & | R, |
| const Vector3< S > & | T1, | ||
| const Vector3< S > & | T2 | ||
| ) |
Definition at line 67 of file translation_motion-inl.h.
Member Function Documentation
◆ computeMotionBound() [1/2]
|
overridevirtual |
Compute the motion bound for a bounding volume, given the closest direction n between two query objects.
Implements fcl::MotionBase< S >.
Definition at line 93 of file translation_motion-inl.h.
◆ computeMotionBound() [2/2]
|
overridevirtual |
Compute the motion bound for a triangle, given the closest direction n between two query objects.
Implements fcl::MotionBase< S >.
Definition at line 101 of file translation_motion-inl.h.
◆ getCurrentTransform()
|
overridevirtual |
Implements fcl::MotionBase< S >.
Definition at line 109 of file translation_motion-inl.h.
◆ getTaylorModel()
|
overridevirtual |
Implements fcl::MotionBase< S >.
Definition at line 116 of file translation_motion-inl.h.
◆ getVelocity()
| Vector3< S > fcl::TranslationMotion< S >::getVelocity | ( | ) | const |
Definition at line 127 of file translation_motion-inl.h.
◆ integrate()
|
overridevirtual |
Integrate the motion from 0 to dt.
Implements fcl::MotionBase< S >.
Definition at line 80 of file translation_motion-inl.h.
Member Data Documentation
◆ rot
|
private |
initial and goal transforms
Definition at line 74 of file translation_motion.h.
◆ tf
|
mutableprivate |
Definition at line 77 of file translation_motion.h.
◆ trans_range
|
private |
Definition at line 75 of file translation_motion.h.
◆ trans_start
|
private |
Definition at line 75 of file translation_motion.h.
The documentation for this class was generated from the following files: