motion_base.h
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35 
38 #ifndef FCL_CCD_MOTION_BASE_H
39 #define FCL_CCD_MOTION_BASE_H
40 
43 #include "fcl/math/bv/RSS.h"
44 
45 namespace fcl
46 {
47 
48 template <typename S>
49 class BVMotionBoundVisitor;
50 
51 template <typename S>
53 
54 template <typename S>
55 class MotionBase
56 {
57 public:
58  MotionBase();
59 
60  virtual ~MotionBase();
61 
63  virtual bool integrate(S dt) const = 0;
64 
66  virtual S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const = 0;
67 
69  virtual S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const = 0;
70 
72  void getCurrentTransform(Matrix3<S>& R, Vector3<S>& T) const;
73 
74  void getCurrentTransform(Quaternion<S>& Q, Vector3<S>& T) const;
75 
76  void getCurrentRotation(Matrix3<S>& R) const;
77 
78  void getCurrentRotation(Quaternion<S>& Q) const;
79 
80  void getCurrentTranslation(Vector3<S>& T) const;
81 
82  virtual void getCurrentTransform(Transform3<S>& tf) const = 0;
83 
84  virtual void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const = 0;
85 
86  const std::shared_ptr<TimeInterval<S>>& getTimeInterval() const;
87 protected:
88 
89  std::shared_ptr<TimeInterval<S>> time_interval_;
90 
91 };
92 
95 
96 template <typename S>
97 using MotionBasePtr = std::shared_ptr<MotionBase<S>>;
98 
99 } // namespace fcl
100 
102 
103 #endif
fcl::TriangleMotionBoundVisitor
Definition: motion_base.h:52
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
taylor_vector.h
fcl::MotionBase::getTaylorModel
virtual void getTaylorModel(TMatrix3< S > &tm, TVector3< S > &tv) const =0
fcl::MotionBase::getCurrentRotation
void getCurrentRotation(Matrix3< S > &R) const
Definition: motion_base-inl.h:84
fcl::Quaternion
Eigen::Quaternion< S > Quaternion
Definition: types.h:88
fcl::MotionBasePtr
std::shared_ptr< MotionBase< S > > MotionBasePtr
Definition: motion_base.h:97
fcl::MotionBase::computeMotionBound
virtual S computeMotionBound(const BVMotionBoundVisitor< S > &mb_visitor) const =0
Compute the motion bound for a bounding volume, given the closest direction n between two query objec...
fcl::MotionBase::integrate
virtual bool integrate(S dt) const =0
Integrate the motion from 0 to dt.
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::MotionBase
Definition: bv_motion_bound_visitor.h:45
fcl::MotionBase::getTimeInterval
const std::shared_ptr< TimeInterval< S > > & getTimeInterval() const
Definition: motion_base-inl.h:111
fcl::MotionBase::~MotionBase
virtual ~MotionBase()
Definition: motion_base-inl.h:60
fcl::BVMotionBoundVisitor
Compute the motion bound for a bounding volume, given the closest direction n between two query objec...
Definition: bv_motion_bound_visitor.h:62
fcl::MotionBase::MotionBase
MotionBase()
Definition: motion_base-inl.h:52
fcl::TMatrix3
Definition: taylor_matrix.h:48
fcl::TVector3
Definition: taylor_vector.h:48
fcl::MotionBase::time_interval_
std::shared_ptr< TimeInterval< S > > time_interval_
Definition: motion_base.h:89
fcl::MotionBase::getCurrentTransform
void getCurrentTransform(Matrix3< S > &R, Vector3< S > &T) const
Get the rotation and translation in current step.
Definition: motion_base-inl.h:64
fcl::MotionBase::getCurrentTranslation
void getCurrentTranslation(Vector3< S > &T) const
Definition: motion_base-inl.h:102
RSS.h
taylor_matrix.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
motion_base-inl.h


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