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

## Public Member Functions

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.

SplineMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2)

SplineMotion (const Transform3< S > &tf1, const Transform3< S > &tf2)

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

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 visitor.

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

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

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

computeTBound (const Vector3< S > &n) const

computeDWMax () const

getCurrentTime () 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

## Protected Member Functions

void computeSplineParameter ()

getWeight0 (S t) const

getWeight1 (S t) const

getWeight2 (S t) const

getWeight3 (S t) const

## Protected Attributes

Vector3< S > Td [4]

Vector3< S > Rd [4]

Vector3< S > TA

Vector3< S > TB

Vector3< S > TC

Vector3< S > RA

Vector3< S > RB

Vector3< S > RC

Rd0Rd0

Rd0Rd1

Rd0Rd2

Rd0Rd3

Rd1Rd1

Rd1Rd2

Rd1Rd3

Rd2Rd2

Rd2Rd3

Rd3Rd3

Transform3< S > tf

tf_t
The time related with tf.

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

## Member Function Documentation

template<typename S >
 void fcl::SplineMotion< S >::getTaylorModel ( TMatrix3< S > & tm, TVector3< S > & tv ) const
overridevirtual
1. compute M(1/2)
2. compute M'(1/2)

3.1. compute M''(1/2)

not correct, should fix

Implements fcl::MotionBase< S >.

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