tbv_motion_bound_visitor.h

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#ifndef FCL_CCD_TBVMOTIONBOUNDVISITOR_H
#define FCL_CCD_TBVMOTIONBOUNDVISITOR_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"

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 BV>
class TBVMotionBoundVisitor : public BVMotionBoundVisitor<typename BV::S>
{
public:
  using S = typename BV::S;

  TBVMotionBoundVisitor(const BV& bv_, const Vector3<S>& n_);

  virtual S visit(const MotionBase<S>& motion) const;
  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, typename>
  friend struct TBVMotionBoundVisitorVisitImpl;

  BV bv;
  Vector3<S> n;
};

} // namespace fcl

#include "fcl/math/motion/tbv_motion_bound_visitor-inl.h"

#endif