motion_base-inl.h

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#ifndef FCL_CCD_MOTION_BASE_INL_H
#define FCL_CCD_MOTION_BASE_INL_H

#include "fcl/math/motion/motion_base.h"

namespace fcl
{

//==============================================================================
extern template
class FCL_EXPORT MotionBase<double>;

//==============================================================================
template <typename S>
MotionBase<S>::MotionBase()
  : time_interval_(std::shared_ptr<TimeInterval<S>>(new TimeInterval<S>(0, 1)))
{
  // Do nothing
}

//==============================================================================
template <typename S>
MotionBase<S>::~MotionBase() {}

//==============================================================================
template <typename S>
void MotionBase<S>::getCurrentTransform(Matrix3<S>& R, Vector3<S>& T) const
{
  Transform3<S> tf;
  getCurrentTransform(tf);
  R = tf.linear();
  T = tf.translation();
}

//==============================================================================
template <typename S>
void MotionBase<S>::getCurrentTransform(Quaternion<S>& Q, Vector3<S>& T) const
{
  Transform3<S> tf;
  getCurrentTransform(tf);
  Q = tf.linear();
  T = tf.translation();
}

//==============================================================================
template <typename S>
void MotionBase<S>::getCurrentRotation(Matrix3<S>& R) const
{
  Transform3<S> tf;
  getCurrentTransform(tf);
  R = tf.linear();
}

//==============================================================================
template <typename S>
void MotionBase<S>::getCurrentRotation(Quaternion<S>& Q) const
{
  Transform3<S> tf;
  getCurrentTransform(tf);
  Q = tf.linear();
}

//==============================================================================
template <typename S>
void MotionBase<S>::getCurrentTranslation(Vector3<S>& T) const
{
  Transform3<S> tf;
  getCurrentTransform(tf);
  T = tf.translation();
}

//==============================================================================
template <typename S>
const std::shared_ptr<TimeInterval<S> >&MotionBase<S>::getTimeInterval() const
{
  return time_interval_;
}

} // namespace fcl

#endif