FCL  0.6.0
Flexible Collision Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
fcl::InterpMotion< S > Class Template Reference

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref. More...

#include <interp_motion.h>

Inheritance diagram for fcl::InterpMotion< S >:
fcl::MotionBase< S >

Public Member Functions

 InterpMotion ()
 Default transformations are all identities.
 
 InterpMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2)
 Construct motion from the initial rotation/translation and goal rotation/translation.
 
 InterpMotion (const Transform3< S > &tf1_, const Transform3< S > &tf2_)
 
 InterpMotion (const Matrix3< S > &R1, const Vector3< S > &T1, const Matrix3< S > &R2, const Vector3< S > &T2, const Vector3< S > &O)
 Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center.
 
 InterpMotion (const Transform3< S > &tf1_, const Transform3< S > &tf2_, const Vector3< S > &O)
 
bool integrate (double dt) const
 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
 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
 Compute the motion bound for a triangle along a given direction n, which is defined in the visitor.
 
void getCurrentTransform (Transform3< S > &tf_) const
 Get the rotation and translation in current step.
 
void getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const
 
const Vector3< S > & getReferencePoint () const
 
const Vector3< S > & getAngularAxis () const
 
S getAngularVelocity () const
 
const Vector3< S > & getLinearVelocity () const
 
- Public Member Functions inherited from fcl::MotionBase< S >
virtual bool integrate (S dt) const =0
 Integrate the motion from 0 to dt.
 
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 computeVelocity ()
 
Quaternion< S > deltaRotation (S dt) const
 
Quaternion< S > absoluteRotation (S dt) const
 

Protected Attributes

Transform3< S > tf1
 The transformation at time 0.
 
Transform3< S > tf2
 The transformation at time 1.
 
Transform3< S > tf
 The transformation at current time t.
 
Vector3< S > linear_vel
 Linear velocity.
 
S angular_vel
 Angular speed.
 
Vector3< S > angular_axis
 Angular velocity axis.
 
Vector3< S > reference_p
 Reference point for the motion (in the object's local frame)
 
- Protected Attributes inherited from fcl::MotionBase< S >
std::shared_ptr< TimeInterval< S > > time_interval_
 

Detailed Description

template<typename S>
class fcl::InterpMotion< S >

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref.

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