Inheritance diagram for fcl::ScrewMotion< S >:

Public Member Functions
	ScrewMotion ()
	Default transformations are all identities.

	ScrewMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation.

	ScrewMotion (const Transform3< S > &tf1_, const Transform3< S > &tf2_)
	Construct motion from the initial transform and goal transform.

bool	integrate (double dt) const
	Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.

S	computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const
	Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor.

S	computeMotionBound (const TriangleMotionBoundVisitor< S > &mb_visitor) const
	Compute the motion bound for a triangle along a given direction n, which is defined in the visitor.

void	getCurrentTransform (Transform3< S > &tf_) const
	Get the rotation and translation in current step.

void	getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const

S	getLinearVelocity () const

S	getAngularVelocity () const

const Vector3< S > &	getAxis () const

const Vector3< S > &	getAxisOrigin () const

Public Member Functions inherited from fcl::MotionBase< S >
virtual bool	integrate (S dt) const =0
	Integrate the motion from 0 to dt.

void	getCurrentTransform (Matrix3< S > &R, Vector3< S > &T) const
	Get the rotation and translation in current step.

void	getCurrentTransform (Quaternion< S > &Q, Vector3< S > &T) const

void	getCurrentRotation (Matrix3< S > &R) const

void	getCurrentRotation (Quaternion< S > &Q) const

void	getCurrentTranslation (Vector3< S > &T) const

const std::shared_ptr< TimeInterval< S > > &	getTimeInterval () const

Protected Member Functions
void	computeScrewParameter ()

Quaternion< S >	deltaRotation (S dt) const

Quaternion< S >	absoluteRotation (S dt) const

Protected Attributes
Transform3< S >	tf1
	The transformation at time 0.

Transform3< S >	tf2
	The transformation at time 1.

Transform3< S >	tf
	The transformation at current time t.

Vector3< S >	axis
	screw axis

Vector3< S >	p
	A point on the axis.

S	linear_vel
	linear velocity along the axis

S	angular_vel
	angular velocity

Protected Attributes inherited from fcl::MotionBase< S >
std::shared_ptr< TimeInterval< S > >	time_interval_

The documentation for this class was generated from the following files:

/home/js/dev/fcl/master/include/fcl/math/motion/bv_motion_bound_visitor.h
/home/js/dev/fcl/master/include/fcl/math/motion/screw_motion.h
/home/js/dev/fcl/master/include/fcl/math/motion/screw_motion-inl.h

Public Member Functions

Protected Member Functions

Protected Attributes