fcl::TBVMotionBoundVisitorVisitImpl< S, RSS< S >, ScrewMotion< S > > Struct Template Reference

Compute the motion bound for a bounding volume along a given direction n according to mu < |v * n| + ||w x n||(r + max(||ci*||)) where ||ci*|| = ||R0(ci) x w||. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...

#include <tbv_motion_bound_visitor-inl.h>

Static Public Member Functions
static S	run (const TBVMotionBoundVisitor< RSS< S >> &visitor, const ScrewMotion< S > &motion)

Detailed Description

template<typename S>
struct fcl::TBVMotionBoundVisitorVisitImpl< S, RSS< S >, ScrewMotion< S > >

Compute the motion bound for a bounding volume along a given direction n according to mu < |v * n| + ||w x n||(r + max(||ci*||)) where ||ci*|| = ||R0(ci) x w||. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame)

Definition at line 187 of file tbv_motion_bound_visitor-inl.h.

Member Function Documentation

run()

template<typename S >

static S fcl::TBVMotionBoundVisitorVisitImpl< S, RSS< S >, ScrewMotion< S > >::run ( const TBVMotionBoundVisitor< RSS< S >> &  visitor, const ScrewMotion< S > &  motion  )

inlinestatic

Definition at line 189 of file tbv_motion_bound_visitor-inl.h.

---

The documentation for this struct was generated from the following file:

• tbv_motion_bound_visitor-inl.h