fcl::TriangleMotionBoundVisitorVisitImpl< S, ScrewMotion< S > > Struct Template Reference

Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is 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 <triangle_motion_bound_visitor-inl.h>

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

Detailed Description

template<typename S>
struct fcl::TriangleMotionBoundVisitorVisitImpl< S, ScrewMotion< S > >

Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is 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 120 of file triangle_motion_bound_visitor-inl.h.

Member Function Documentation

run()

template<typename S >

static S fcl::TriangleMotionBoundVisitorVisitImpl< S, ScrewMotion< S > >::run ( const TriangleMotionBoundVisitor< S > &  visitor, const ScrewMotion< S > &  motion  )

inlinestatic

Definition at line 122 of file triangle_motion_bound_visitor-inl.h.

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

• triangle_motion_bound_visitor-inl.h