FCL  0.6.0
Flexible Collision Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
fcl::SplineMotion< S > Class Template Reference
Inheritance diagram for fcl::SplineMotion< S >:
fcl::MotionBase< 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.
 
S 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.
 
S 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
 
S computeTBound (const Vector3< S > &n) const
 
S computeDWMax () const
 
S 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 ()
 
S getWeight0 (S t) const
 
S getWeight1 (S t) const
 
S getWeight2 (S t) const
 
S 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
 
S Rd0Rd0
 
S Rd0Rd1
 
S Rd0Rd2
 
S Rd0Rd3
 
S Rd1Rd1
 
S Rd1Rd2
 
S Rd1Rd3
 
S Rd2Rd2
 
S Rd2Rd3
 
S Rd3Rd3
 
Transform3< S > tf
 
S 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: