FCL  0.6.0
Flexible Collision Library
triangle_motion_bound_visitor.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_CCD_TRIANGLEMOTIONBOUNDVISITOR_H
39 #define FCL_CCD_TRIANGLEMOTIONBOUNDVISITOR_H
40 
41 #include "fcl/math/motion/taylor_model/taylor_matrix.h"
42 #include "fcl/math/motion/taylor_model/taylor_vector.h"
43 #include "fcl/math/bv/RSS.h"
44 #include "fcl/math/motion/bv_motion_bound_visitor.h"
45 #include "fcl/math/motion/spline_motion.h"
46 #include "fcl/math/motion/screw_motion.h"
47 #include "fcl/math/motion/interp_motion.h"
48 #include "fcl/math/motion/translation_motion.h"
49 
50 namespace fcl
51 {
52 
53 template <typename S>
54 class MotionBase;
55 
56 template <typename S>
57 class SplineMotion;
58 
59 template <typename S>
60 class ScrewMotion;
61 
62 template <typename S>
63 class InterpMotion;
64 
65 template <typename S>
66 class TranslationMotion;
67 
68 template <typename, typename>
69 struct TriangleMotionBoundVisitorVisitImpl;
70 
71 template <typename S>
72 class TriangleMotionBoundVisitor
73 {
74 public:
75  TriangleMotionBoundVisitor(
76  const Vector3<S>& a_, const Vector3<S>& b_,
77  const Vector3<S>& c_, const Vector3<S>& n_);
78 
79  virtual S visit(const MotionBase<S>& motion) const { return 0; }
80  virtual S visit(const SplineMotion<S>& motion) const;
81  virtual S visit(const ScrewMotion<S>& motion) const;
82  virtual S visit(const InterpMotion<S>& motion) const;
83  virtual S visit(const TranslationMotion<S>& motion) const;
84 
85 protected:
86  template <typename, typename>
87  friend struct TriangleMotionBoundVisitorVisitImpl;
88 
89  friend struct TriangleMotionBoundVisitorVisitImpl<double, SplineMotion<double>>;
90  friend struct TriangleMotionBoundVisitorVisitImpl<double, ScrewMotion<double>>;
91  friend struct TriangleMotionBoundVisitorVisitImpl<double, InterpMotion<double>>;
92  friend struct TriangleMotionBoundVisitorVisitImpl<double, TranslationMotion<double>>;
93 
94  Vector3<S> a, b, c, n;
95 };
96 
97 } // namespace fcl
98 
99 #include "fcl/math/motion/triangle_motion_bound_visitor-inl.h"
100 
101 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45