FCL  0.6.0 Flexible Collision Library
fcl::TranslationMotion< S > Class Template Reference
Inheritance diagram for fcl::TranslationMotion< S >:

## Public Member Functions

TranslationMotion (const Transform3< S > &tf1, const Transform3< S > &tf2)
Construct motion from intial and goal transform.

TranslationMotion (const Matrix3< S > &R, const Vector3< S > &T1, const Vector3< S > &T2)

bool integrate (S dt) const override
Integrate the motion from 0 to dt.

computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const override
Compute the motion bound for a bounding volume, given the closest direction n between two query objects.

computeMotionBound (const TriangleMotionBoundVisitor< S > &mb_visitor) const override
Compute the motion bound for a triangle, given the closest direction n between two query objects.

void getCurrentTransform (Transform3< S > &tf_) const override

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

Vector3< S > getVelocity () const

Public Member Functions inherited from fcl::MotionBase< S >
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