interval_matrix.h
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35 // This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
38 #ifndef FCL_CCD_INTERVAL_MATRIX_H
39 #define FCL_CCD_INTERVAL_MATRIX_H
40 
43 
44 namespace fcl
45 {
46 
47 template <typename S>
48 struct FCL_EXPORT IMatrix3
49 {
50  IVector3<S> v_[3];
51 
52  IMatrix3();
53  IMatrix3(S v);
54  IMatrix3(const Matrix3<S>& m);
55  IMatrix3(S m[3][3][2]);
56  IMatrix3(S m[3][3]);
57  IMatrix3(Interval<S> m[3][3]);
58  IMatrix3(const IVector3<S>& v1, const IVector3<S>& v2, const IVector3<S>& v3);
59 
60  void setIdentity();
61 
62  IVector3<S> getColumn(size_t i) const;
63  const IVector3<S>& getRow(size_t i) const;
64 
65  Vector3<S> getColumnLow(size_t i) const;
66  Vector3<S> getRowLow(size_t i) const;
67 
68  Vector3<S> getColumnHigh(size_t i) const;
69  Vector3<S> getRowHigh(size_t i) const;
70 
71  Matrix3<S> getLow() const;
72  Matrix3<S> getHigh() const;
73 
74  const Interval<S>& operator () (size_t i, size_t j) const;
75 
76  Interval<S>& operator () (size_t i, size_t j);
77 
78  IMatrix3 operator + (const IMatrix3& m) const;
79  IMatrix3& operator += (const IMatrix3& m);
80 
81  IMatrix3 operator - (const IMatrix3& m) const;
82  IMatrix3& operator -= (const IMatrix3& m);
83 
84  IVector3<S> operator * (const Vector3<S>& v) const;
85  IVector3<S> operator * (const IVector3<S>& v) const;
86  IMatrix3 operator * (const IMatrix3& m) const;
87  IMatrix3 operator * (const Matrix3<S>& m) const;
88 
89  IMatrix3& operator *= (const IMatrix3& m);
90  IMatrix3& operator *= (const Matrix3<S>& m);
91 
93 
94  void print() const;
95 };
96 
97 template <typename S>
98 FCL_EXPORT
100 
101 } // namespace fcl
102 
104 
105 #endif
fcl::operator-
template TMatrix3< double > operator-(const Matrix3< double > &m1, const TMatrix3< double > &m2)
interval.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::rotationConstrain
template IMatrix3< double > rotationConstrain(const IMatrix3< double > &m)
interval_vector.h
fcl::operator*
template TMatrix3< double > operator*(const Matrix3< double > &m, const TaylorModel< double > &a)
fcl::Interval
Interval class for [a, b].
Definition: interval.h:50
interval_matrix-inl.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::IMatrix3
Definition: interval_matrix.h:48
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)
fcl::IVector3
Definition: interval_vector.h:47


fcl
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autogenerated on Fri Apr 2 2021 02:38:00