screw_motion.h
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35 
38 #ifndef FCL_CCD_SCREWMOTION_H
39 #define FCL_CCD_SCREWMOTION_H
40 
41 #include <iostream>
42 #include <vector>
43 #include "fcl/math/geometry.h"
47 
48 namespace fcl
49 {
50 
51 template <typename S>
52 class FCL_EXPORT ScrewMotion : public MotionBase<S>
53 {
54 public:
56  ScrewMotion();
57 
59  ScrewMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
60  const Matrix3<S>& R2, const Vector3<S>& T2);
61 
63  ScrewMotion(const Transform3<S>& tf1_,
64  const Transform3<S>& tf2_);
65 
68  bool integrate(double dt) const;
69 
71  S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const;
72 
74  S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const;
75 
77  void getCurrentTransform(Transform3<S>& tf_) const;
78 
79  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const;
80 
81 protected:
82  void computeScrewParameter();
83 
84  Quaternion<S> deltaRotation(S dt) const;
85 
86  Quaternion<S> absoluteRotation(S dt) const;
87 
90 
93 
95  mutable Transform3<S> tf;
96 
99 
102 
105 
108 
109 public:
110 
111  S getLinearVelocity() const;
112 
113  S getAngularVelocity() const;
114 
115  const Vector3<S>& getAxis() const;
116 
117  const Vector3<S>& getAxisOrigin() const;
118 
119  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
120 };
121 
122 } // namespace fcl
123 
125 
126 #endif
fcl::ScrewMotion::axis
Vector3< S > axis
screw axis
Definition: screw_motion.h:98
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::ScrewMotion::tf2
Transform3< S > tf2
The transformation at time 1.
Definition: screw_motion.h:92
screw_motion-inl.h
geometry.h
fcl::ScrewMotion::linear_vel
S linear_vel
linear velocity along the axis
Definition: screw_motion.h:104
motion_base.h
fcl::ScrewMotion::tf
Transform3< S > tf
The transformation at current time t.
Definition: screw_motion.h:95
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
triangle_motion_bound_visitor.h
fcl::ScrewMotion::tf1
Transform3< S > tf1
The transformation at time 0.
Definition: screw_motion.h:89
fcl::ScrewMotion::angular_vel
S angular_vel
angular velocity
Definition: screw_motion.h:107
fcl::ScrewMotion::p
Vector3< S > p
A point on the axis.
Definition: screw_motion.h:101
bv_motion_bound_visitor.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Wed Mar 2 2022 00:15:31