taylor_matrix.h
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35 // This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
38 #ifndef FCL_CCD_TAYLOR_MATRIX_H
39 #define FCL_CCD_TAYLOR_MATRIX_H
40 
43 
44 namespace fcl
45 {
46 
47 template <typename S>
48 class FCL_EXPORT TMatrix3
49 {
50  TVector3<S> v_[3];
51 
52 public:
53  TMatrix3();
54  TMatrix3(const std::shared_ptr<TimeInterval<S>>& time_interval);
55  TMatrix3(TaylorModel<S> m[3][3]);
56  TMatrix3(const TVector3<S>& v1, const TVector3<S>& v2, const TVector3<S>& v3);
57  TMatrix3(const Matrix3<S>& m, const std::shared_ptr<TimeInterval<S>>& time_interval);
58 
59  TVector3<S> getColumn(size_t i) const;
60  const TVector3<S>& getRow(size_t i) const;
61 
62  const TaylorModel<S>& operator () (size_t i, size_t j) const;
63  TaylorModel<S>& operator () (size_t i, size_t j);
64 
65  TVector3<S> operator * (const Vector3<S>& v) const;
66  TVector3<S> operator * (const TVector3<S>& v) const;
67  TMatrix3 operator * (const Matrix3<S>& m) const;
68  TMatrix3 operator * (const TMatrix3& m) const;
69  TMatrix3 operator * (const TaylorModel<S>& d) const;
70  TMatrix3 operator * (S d) const;
71 
72  TMatrix3& operator *= (const Matrix3<S>& m);
73  TMatrix3& operator *= (const TMatrix3& m);
74  TMatrix3& operator *= (const TaylorModel<S>& d);
75  TMatrix3& operator *= (S d);
76 
77  TMatrix3 operator + (const TMatrix3& m) const;
78  TMatrix3& operator += (const TMatrix3& m);
79  TMatrix3 operator + (const Matrix3<S>& m) const;
80  TMatrix3& operator += (const Matrix3<S>& m);
81 
82  TMatrix3 operator - (const TMatrix3& m) const;
83  TMatrix3& operator -= (const TMatrix3& m);
84  TMatrix3 operator - (const Matrix3<S>& m) const;
85  TMatrix3& operator -= (const Matrix3<S>& m);
86  TMatrix3 operator - () const;
87 
88  IMatrix3<S> getBound() const;
89  IMatrix3<S> getBound(S l, S r) const;
90  IMatrix3<S> getBound(S t) const;
91 
92  IMatrix3<S> getTightBound() const;
93  IMatrix3<S> getTightBound(S l, S r) const;
94 
95  void print() const;
96  void setIdentity();
97  void setZero();
98  S diameter() const;
99 
100  void setTimeInterval(const std::shared_ptr<TimeInterval<S>>& time_interval);
101  void setTimeInterval(S l, S r);
102 
103  const std::shared_ptr<TimeInterval<S>>& getTimeInterval() const;
104 
106 };
107 
108 template <typename S>
109 FCL_EXPORT
111 
112 template <typename S>
113 FCL_EXPORT
115 
116 template <typename S>
117 FCL_EXPORT
119 
120 template <typename S>
121 FCL_EXPORT
123 
124 template <typename S>
125 FCL_EXPORT
126 TMatrix3<S> operator * (S d, const TMatrix3<S>& m);
127 
128 template <typename S>
129 FCL_EXPORT
130 TMatrix3<S> operator + (const Matrix3<S>& m1, const TMatrix3<S>& m2);
131 
132 template <typename S>
133 FCL_EXPORT
134 TMatrix3<S> operator - (const Matrix3<S>& m1, const TMatrix3<S>& m2);
135 
136 } // namespace fcl
137 
139 
140 #endif
taylor_vector.h
fcl::operator-
template TMatrix3< double > operator-(const Matrix3< double > &m1, const TMatrix3< double > &m2)
taylor_matrix-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::TimeInterval
Definition: time_interval.h:50
fcl::rotationConstrain
template IMatrix3< double > rotationConstrain(const IMatrix3< double > &m)
r
S r
Definition: test_sphere_box.cpp:171
fcl::operator*
template TMatrix3< double > operator*(const Matrix3< double > &m, const TaylorModel< double > &a)
fcl::TaylorModel
TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a t...
Definition: taylor_model.h:58
fcl::TMatrix3
Definition: taylor_matrix.h:48
fcl::TVector3
Definition: taylor_vector.h:48
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::IMatrix3
Definition: interval_matrix.h:48
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)
interval_matrix.h


fcl
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autogenerated on Tue Jun 22 2021 07:27:52