fcl::SplineMotion< S > Class Template Reference

`#include <bv_motion_bound_visitor.h>`

## Public Member Functions

computeDWMax () const

computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const override
Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor. More...

computeMotionBound (const TriangleMotionBoundVisitor< S > &mb_visitor) const override
Compute the motion bound for a triangle along a given direction n, which is defined in the visitor. More...

computeTBound (const Vector3< S > &n) const

getCurrentTime () const

void getCurrentTransform (Transform3< S > &tf_) const override
Get the rotation and translation in current step. More...

void getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const override

bool integrate (S dt) const override
Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision. More...

SplineMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2)

SplineMotion (const Transform3< S > &tf1, const Transform3< S > &tf2)

SplineMotion (const Vector3< S > &Td0, const Vector3< S > &Td1, const Vector3< S > &Td2, const Vector3< S > &Td3, const Vector3< S > &Rd0, const Vector3< S > &Rd1, const Vector3< S > &Rd2, const Vector3< S > &Rd3)
Construct motion from 4 deBoor points. More...

## Protected Member Functions

void computeSplineParameter ()

getWeight0 (S t) const

getWeight1 (S t) const

getWeight2 (S t) const

getWeight3 (S t) const

## Protected Attributes

Vector3< S > RA

Vector3< S > RB

Vector3< S > RC

Vector3< S > Rd 

Rd0Rd0

Rd0Rd1

Rd0Rd2

Rd0Rd3

Rd1Rd1

Rd1Rd2

Rd1Rd3

Rd2Rd2

Rd2Rd3

Rd3Rd3

Vector3< S > TA

Vector3< S > TB

Vector3< S > TC

Vector3< S > Td 

Transform3< S > tf

tf_t
The time related with tf. More...

## Detailed Description

### template<typename S> class fcl::SplineMotion< S >

Definition at line 48 of file bv_motion_bound_visitor.h.

## ◆ SplineMotion() [1/3]

template<typename S >
 fcl::SplineMotion< S >::SplineMotion ( const Vector3< S > & Td0, const Vector3< S > & Td1, const Vector3< S > & Td2, const Vector3< S > & Td3, const Vector3< S > & Rd0, const Vector3< S > & Rd1, const Vector3< S > & Rd2, const Vector3< S > & Rd3 )

Construct motion from 4 deBoor points.

Definition at line 54 of file spline_motion-inl.h.

## ◆ SplineMotion() [2/3]

template<typename S >
 fcl::SplineMotion< S >::SplineMotion ( const Matrix3< S > & R1, const Vector3< S > & T1, const Matrix3< S > & R2, const Vector3< S > & T2 )

Definition at line 94 of file spline_motion-inl.h.

## ◆ SplineMotion() [3/3]

template<typename S >
 fcl::SplineMotion< S >::SplineMotion ( const Transform3< S > & tf1, const Transform3< S > & tf2 )

Definition at line 109 of file spline_motion-inl.h.

## ◆ computeDWMax()

template<typename S >
 S fcl::SplineMotion< S >::computeDWMax

Definition at line 300 of file spline_motion-inl.h.

## ◆ computeMotionBound() [1/2]

template<typename S >
 S fcl::SplineMotion< S >::computeMotionBound ( const BVMotionBoundVisitor< S > & mb_visitor ) const
override

Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor.

Definition at line 142 of file spline_motion-inl.h.

## ◆ computeMotionBound() [2/2]

template<typename S >
 S fcl::SplineMotion< S >::computeMotionBound ( const TriangleMotionBoundVisitor< S > & mb_visitor ) const
override

Compute the motion bound for a triangle along a given direction n, which is defined in the visitor.

Definition at line 149 of file spline_motion-inl.h.

## ◆ computeSplineParameter()

template<typename S >
 void fcl::SplineMotion< S >::computeSplineParameter
protected

Definition at line 243 of file spline_motion-inl.h.

## ◆ computeTBound()

template<typename S >
 S fcl::SplineMotion< S >::computeTBound ( const Vector3< S > & n ) const

Definition at line 250 of file spline_motion-inl.h.

## ◆ getCurrentTime()

template<typename S >
 S fcl::SplineMotion< S >::getCurrentTime

Definition at line 370 of file spline_motion-inl.h.

## ◆ getCurrentTransform()

template<typename S >
 void fcl::SplineMotion< S >::getCurrentTransform ( Transform3< S > & tf_ ) const
override

Get the rotation and translation in current step.

Definition at line 156 of file spline_motion-inl.h.

## ◆ getTaylorModel()

template<typename S >
 void fcl::SplineMotion< S >::getTaylorModel ( TMatrix3< S > & tm, TVector3< S > & tv ) const
override
1. compute M(1/2)
2. compute M'(1/2)

3.1. compute M''(1/2)

not correct, should fix

Definition at line 163 of file spline_motion-inl.h.

## ◆ getWeight0()

template<typename S >
 S fcl::SplineMotion< S >::getWeight0 ( S t ) const
protected

Definition at line 377 of file spline_motion-inl.h.

## ◆ getWeight1()

template<typename S >
 S fcl::SplineMotion< S >::getWeight1 ( S t ) const
protected

Definition at line 384 of file spline_motion-inl.h.

## ◆ getWeight2()

template<typename S >
 S fcl::SplineMotion< S >::getWeight2 ( S t ) const
protected

Definition at line 391 of file spline_motion-inl.h.

## ◆ getWeight3()

template<typename S >
 S fcl::SplineMotion< S >::getWeight3 ( S t ) const
protected

Definition at line 398 of file spline_motion-inl.h.

## ◆ integrate()

template<typename S >
 bool fcl::SplineMotion< S >::integrate ( S dt ) const
override

Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.

Definition at line 121 of file spline_motion-inl.h.

## ◆ RA

template<typename S >
 Vector3 fcl::SplineMotion< S >::RA
protected

Definition at line 94 of file spline_motion.h.

## ◆ RB

template<typename S >
 Vector3 fcl::SplineMotion< S >::RB
protected

Definition at line 94 of file spline_motion.h.

## ◆ RC

template<typename S >
 Vector3 fcl::SplineMotion< S >::RC
protected

Definition at line 94 of file spline_motion.h.

## ◆ Rd

template<typename S >
 Vector3 fcl::SplineMotion< S >::Rd
protected

Definition at line 91 of file spline_motion.h.

## ◆ Rd0Rd0

template<typename S >
 S fcl::SplineMotion< S >::Rd0Rd0
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd0Rd1

template<typename S >
 S fcl::SplineMotion< S >::Rd0Rd1
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd0Rd2

template<typename S >
 S fcl::SplineMotion< S >::Rd0Rd2
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd0Rd3

template<typename S >
 S fcl::SplineMotion< S >::Rd0Rd3
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd1Rd1

template<typename S >
 S fcl::SplineMotion< S >::Rd1Rd1
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd1Rd2

template<typename S >
 S fcl::SplineMotion< S >::Rd1Rd2
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd1Rd3

template<typename S >
 S fcl::SplineMotion< S >::Rd1Rd3
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd2Rd2

template<typename S >
 S fcl::SplineMotion< S >::Rd2Rd2
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd2Rd3

template<typename S >
 S fcl::SplineMotion< S >::Rd2Rd3
protected

Definition at line 96 of file spline_motion.h.

## ◆ Rd3Rd3

template<typename S >
 S fcl::SplineMotion< S >::Rd3Rd3
protected

Definition at line 96 of file spline_motion.h.

## ◆ TA

template<typename S >
 Vector3 fcl::SplineMotion< S >::TA
protected

Definition at line 93 of file spline_motion.h.

## ◆ TB

template<typename S >
 Vector3 fcl::SplineMotion< S >::TB
protected

Definition at line 93 of file spline_motion.h.

## ◆ TC

template<typename S >
 Vector3 fcl::SplineMotion< S >::TC
protected

Definition at line 93 of file spline_motion.h.

## ◆ Td

template<typename S >
 Vector3 fcl::SplineMotion< S >::Td
protected

Definition at line 90 of file spline_motion.h.

## ◆ tf

template<typename S >
 Transform3 fcl::SplineMotion< S >::tf
mutableprotected

Definition at line 98 of file spline_motion.h.

## ◆ tf_t

template<typename S >
 S fcl::SplineMotion< S >::tf_t
mutableprotected

The time related with tf.

Definition at line 101 of file spline_motion.h.

The documentation for this class was generated from the following files:

fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:02