interp_motion.h
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35 
38 #ifndef FCL_CCD_INTERPMOTION_H
39 #define FCL_CCD_INTERPMOTION_H
40 
41 #include <iostream>
42 #include <vector>
43 #include "fcl/math/geometry.h"
47 
48 namespace fcl
49 {
50 
57 template <typename S>
58 class FCL_EXPORT InterpMotion : public MotionBase<S>
59 {
60 public:
62  InterpMotion();
63 
65  InterpMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
66  const Matrix3<S>& R2, const Vector3<S>& T2);
67 
68  InterpMotion(const Transform3<S>& tf1_, const Transform3<S>& tf2_);
69 
71  InterpMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
72  const Matrix3<S>& R2, const Vector3<S>& T2,
73  const Vector3<S>& O);
74 
75  InterpMotion(const Transform3<S>& tf1_, const Transform3<S>& tf2_, const Vector3<S>& O);
76 
79  bool integrate(double dt) const;
80 
82  S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const;
83 
85  S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const;
86 
88  void getCurrentTransform(Transform3<S>& tf_) const;
89 
90  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const;
91 
92 protected:
93 
94  void computeVelocity();
95 
96  Quaternion<S> deltaRotation(S dt) const;
97 
98  Quaternion<S> absoluteRotation(S dt) const;
99 
102 
105 
107  mutable Transform3<S> tf;
108 
111 
114 
117 
120 
121 public:
122  const Vector3<S>& getReferencePoint() const;
123 
124  const Vector3<S>& getAngularAxis() const;
125 
126  S getAngularVelocity() const;
127 
128  const Vector3<S>& getLinearVelocity() const;
129 
130  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
131 };
132 
133 } // namespace fcl
134 
136 
137 #endif
fcl::InterpMotion::angular_vel
S angular_vel
Angular speed.
Definition: interp_motion.h:113
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
geometry.h
fcl::InterpMotion::tf2
Transform3< S > tf2
The transformation at time 1.
Definition: interp_motion.h:104
fcl::InterpMotion::tf1
Transform3< S > tf1
The transformation at time 0.
Definition: interp_motion.h:101
motion_base.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
triangle_motion_bound_visitor.h
fcl::InterpMotion::angular_axis
Vector3< S > angular_axis
Angular velocity axis.
Definition: interp_motion.h:116
fcl::InterpMotion::tf
Transform3< S > tf
The transformation at current time t.
Definition: interp_motion.h:107
interp_motion-inl.h
fcl::InterpMotion::linear_vel
Vector3< S > linear_vel
Linear velocity.
Definition: interp_motion.h:110
bv_motion_bound_visitor.h
fcl::InterpMotion::reference_p
Vector3< S > reference_p
Reference point for the motion (in the object's local frame)
Definition: interp_motion.h:119
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Fri Jun 11 2021 02:38:03