spline_motion.h
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35 
38 #ifndef FCL_CCD_SPLINEMOTION_H
39 #define FCL_CCD_SPLINEMOTION_H
40 
41 #include <iostream>
42 #include <vector>
43 #include "fcl/math/geometry.h"
48 
49 namespace fcl
50 {
51 
52 template <typename S>
53 class FCL_EXPORT SplineMotion : public MotionBase<S>
54 {
55 public:
57  SplineMotion(const Vector3<S>& Td0, const Vector3<S>& Td1, const Vector3<S>& Td2, const Vector3<S>& Td3,
58  const Vector3<S>& Rd0, const Vector3<S>& Rd1, const Vector3<S>& Rd2, const Vector3<S>& Rd3);
59 
60  // @brief Construct motion from initial and goal transform
61  SplineMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
62  const Matrix3<S>& R2, const Vector3<S>& T2);
63 
64  SplineMotion(const Transform3<S>& tf1,
65  const Transform3<S>& tf2);
66 
69  bool integrate(S dt) const override;
70 
72  S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const override;
73 
75  S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const override;
76 
78  void getCurrentTransform(Transform3<S>& tf_) const override;
79 
80  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const override;
81 
82 protected:
83  void computeSplineParameter();
84 
85  S getWeight0(S t) const;
86  S getWeight1(S t) const;
87  S getWeight2(S t) const;
88  S getWeight3(S t) const;
89 
90  Vector3<S> Td[4];
91  Vector3<S> Rd[4];
92 
93  Vector3<S> TA, TB, TC;
94  Vector3<S> RA, RB, RC;
95 
96  S Rd0Rd0, Rd0Rd1, Rd0Rd2, Rd0Rd3, Rd1Rd1, Rd1Rd2, Rd1Rd3, Rd2Rd2, Rd2Rd3, Rd3Rd3;
98  mutable Transform3<S> tf;
99 
101  mutable S tf_t;
102 
103 public:
104  S computeTBound(const Vector3<S>& n) const;
105 
106  S computeDWMax() const;
107 
108  S getCurrentTime() const;
109 
110  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
111 };
112 
113 } // namespace fcl
114 
116 
117 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
geometry.h
fcl::SplineMotion::Rd3Rd3
S Rd3Rd3
Definition: spline_motion.h:96
motion_base.h
spline_motion-inl.h
polysolver.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
triangle_motion_bound_visitor.h
fcl::SplineMotion::RC
Vector3< S > RC
Definition: spline_motion.h:94
fcl::SplineMotion::TC
Vector3< S > TC
Definition: spline_motion.h:93
fcl::SplineMotion::tf_t
S tf_t
The time related with tf.
Definition: spline_motion.h:101
bv_motion_bound_visitor.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::SplineMotion::tf
Transform3< S > tf
Definition: spline_motion.h:98


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autogenerated on Wed Mar 2 2022 00:15:31