triangle_motion_bound_visitor.h

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#ifndef FCL_CCD_TRIANGLEMOTIONBOUNDVISITOR_H
#define FCL_CCD_TRIANGLEMOTIONBOUNDVISITOR_H
 
#include "fcl/common/unused.h"
 
#include "fcl/math/motion/taylor_model/taylor_matrix.h"
#include "fcl/math/motion/taylor_model/taylor_vector.h"
#include "fcl/math/bv/RSS.h"
#include "fcl/math/motion/bv_motion_bound_visitor.h"
#include "fcl/math/motion/spline_motion.h"
#include "fcl/math/motion/screw_motion.h"
#include "fcl/math/motion/interp_motion.h"
#include "fcl/math/motion/translation_motion.h"
 
namespace fcl
{
 
template <typename S>
class MotionBase;
 
template <typename S>
class SplineMotion;
 
template <typename S>
class ScrewMotion;
 
template <typename S>
class InterpMotion;
 
template <typename S>
class TranslationMotion;
 
template <typename, typename>
struct TriangleMotionBoundVisitorVisitImpl;
 
template <typename S>
class FCL_EXPORT TriangleMotionBoundVisitor
{
public:
  TriangleMotionBoundVisitor(
      const Vector3<S>& a_, const Vector3<S>& b_,
      const Vector3<S>& c_, const Vector3<S>& n_);
 
  virtual S visit(const MotionBase<S>& motion) const { FCL_UNUSED(motion); return 0; }
  virtual S visit(const SplineMotion<S>& motion) const;
  virtual S visit(const ScrewMotion<S>& motion) const;
  virtual S visit(const InterpMotion<S>& motion) const;
  virtual S visit(const TranslationMotion<S>& motion) const;
 
protected:
  template <typename, typename>
  friend struct TriangleMotionBoundVisitorVisitImpl;
 
  friend struct TriangleMotionBoundVisitorVisitImpl<double, SplineMotion<double>>;
  friend struct TriangleMotionBoundVisitorVisitImpl<double, ScrewMotion<double>>;
  friend struct TriangleMotionBoundVisitorVisitImpl<double, InterpMotion<double>>;
  friend struct TriangleMotionBoundVisitorVisitImpl<double, TranslationMotion<double>>;
 
  Vector3<S> a, b, c, n;
};
 
} // namespace fcl
 
#include "fcl/math/motion/triangle_motion_bound_visitor-inl.h"
 
#endif