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38 #ifndef FCL_CCD_MOTION_BASE_H
39 #define FCL_CCD_MOTION_BASE_H
49 class BVMotionBoundVisitor;
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
virtual void getTaylorModel(TMatrix3< S > &tm, TVector3< S > &tv) const =0
void getCurrentRotation(Matrix3< S > &R) const
Eigen::Quaternion< S > Quaternion
std::shared_ptr< MotionBase< S > > MotionBasePtr
virtual S computeMotionBound(const BVMotionBoundVisitor< S > &mb_visitor) const =0
Compute the motion bound for a bounding volume, given the closest direction n between two query objec...
virtual bool integrate(S dt) const =0
Integrate the motion from 0 to dt.
Eigen::Matrix< S, 3, 1 > Vector3
Eigen::Matrix< S, 3, 3 > Matrix3
const std::shared_ptr< TimeInterval< S > > & getTimeInterval() const
Compute the motion bound for a bounding volume, given the closest direction n between two query objec...
std::shared_ptr< TimeInterval< S > > time_interval_
void getCurrentTransform(Matrix3< S > &R, Vector3< S > &T) const
Get the rotation and translation in current step.
void getCurrentTranslation(Vector3< S > &T) const
fcl
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autogenerated on Tue Dec 5 2023 03:40:48