triangle_motion_bound_visitor.h

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#ifndef FCL_CCD_TRIANGLEMOTIONBOUNDVISITOR_H
#define FCL_CCD_TRIANGLEMOTIONBOUNDVISITOR_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 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 { 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