motion_base.h

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#ifndef FCL_CCD_MOTION_BASE_H
#define FCL_CCD_MOTION_BASE_H
 
#include "fcl/math/motion/taylor_model/taylor_matrix.h"
#include "fcl/math/motion/taylor_model/taylor_vector.h"
#include "fcl/math/bv/RSS.h"
 
namespace fcl
{
 
template <typename S>
class BVMotionBoundVisitor;
 
template <typename S>
class TriangleMotionBoundVisitor;
 
template <typename S>
class MotionBase
{
public:
  MotionBase();
  
  virtual ~MotionBase();
 
  virtual bool integrate(S dt) const = 0;
 
  virtual S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const = 0;
 
  virtual S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const = 0;
 
  void getCurrentTransform(Matrix3<S>& R, Vector3<S>& T) const;
 
  void getCurrentTransform(Quaternion<S>& Q, Vector3<S>& T) const;
 
  void getCurrentRotation(Matrix3<S>& R) const;
 
  void getCurrentRotation(Quaternion<S>& Q) const;
 
  void getCurrentTranslation(Vector3<S>& T) const;
 
  virtual void getCurrentTransform(Transform3<S>& tf) const = 0;
 
  virtual void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const = 0;
 
  const std::shared_ptr<TimeInterval<S>>& getTimeInterval() const;
protected:
 
  std::shared_ptr<TimeInterval<S>> time_interval_;
  
};
 
using MotionBasef = MotionBase<float>;
using MotionBased = MotionBase<double>;
 
template <typename S>
using MotionBasePtr = std::shared_ptr<MotionBase<S>>;
 
} // namespace fcl
 
#include "fcl/math/motion/motion_base-inl.h"
 
#endif