FCL  0.6.0
Flexible Collision Library
spline_motion.h
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35 
38 #ifndef FCL_CCD_SPLINEMOTION_H
39 #define FCL_CCD_SPLINEMOTION_H
40 
41 #include <iostream>
42 #include <vector>
43 #include "fcl/math/geometry.h"
44 #include "fcl/math/motion/motion_base.h"
45 #include "fcl/math/detail/polysolver.h"
46 #include "fcl/math/motion/bv_motion_bound_visitor.h"
47 #include "fcl/math/motion/triangle_motion_bound_visitor.h"
48 
49 namespace fcl
50 {
51 
52 template <typename S>
53 class SplineMotion : public MotionBase<S>
54 {
55 public:
57  SplineMotion(const Vector3<S>& Td0, const Vector3<S>& Td1, const Vector3<S>& Td2, const Vector3<S>& Td3,
58  const Vector3<S>& Rd0, const Vector3<S>& Rd1, const Vector3<S>& Rd2, const Vector3<S>& Rd3);
59 
60  // @brief Construct motion from initial and goal transform
61  SplineMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
62  const Matrix3<S>& R2, const Vector3<S>& T2);
63 
64  SplineMotion(const Transform3<S>& tf1,
65  const Transform3<S>& tf2);
66 
69  bool integrate(S dt) const override;
70 
72  S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const override;
73 
75  S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const override;
76 
78  void getCurrentTransform(Transform3<S>& tf_) const override;
79 
80  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const override;
81 
82 protected:
83  void computeSplineParameter();
84 
85  S getWeight0(S t) const;
86  S getWeight1(S t) const;
87  S getWeight2(S t) const;
88  S getWeight3(S t) const;
89 
90  Vector3<S> Td[4];
91  Vector3<S> Rd[4];
92 
93  Vector3<S> TA, TB, TC;
94  Vector3<S> RA, RB, RC;
95 
96  S Rd0Rd0, Rd0Rd1, Rd0Rd2, Rd0Rd3, Rd1Rd1, Rd1Rd2, Rd1Rd3, Rd2Rd2, Rd2Rd3, Rd3Rd3;
98  mutable Transform3<S> tf;
99 
101  mutable S tf_t;
102 
103 public:
104  S computeTBound(const Vector3<S>& n) const;
105 
106  S computeDWMax() const;
107 
108  S getCurrentTime() const;
109 
110  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
111 };
112 
113 } // namespace fcl
114 
115 #include "fcl/math/motion/spline_motion-inl.h"
116 
117 #endif
bool integrate(S dt) const override
Integrate the motion from 0 to dt We compute the current transformation from zero point instead of fr...
Definition: spline_motion-inl.h:110
S tf_t
The time related with tf.
Definition: spline_motion.h:101
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
S computeMotionBound(const BVMotionBoundVisitor< S > &mb_visitor) const override
Compute the motion bound for a bounding volume along a given direction n, which is defined in the vis...
Definition: spline_motion-inl.h:129
SplineMotion(const Vector3< S > &Td0, const Vector3< S > &Td1, const Vector3< S > &Td2, const Vector3< S > &Td3, const Vector3< S > &Rd0, const Vector3< S > &Rd1, const Vector3< S > &Rd2, const Vector3< S > &Rd3)
Construct motion from 4 deBoor points.
Definition: spline_motion-inl.h:52
void getCurrentTransform(Transform3< S > &tf_) const override
Get the rotation and translation in current step.
Definition: spline_motion-inl.h:143
void getTaylorModel(TMatrix3< S > &tm, TVector3< S > &tv) const override
Definition: spline_motion-inl.h:150