FCL  0.6.0
Flexible Collision Library
Public Member Functions | Protected Attributes | List of all members
fcl::MotionBase< S > Class Template Referenceabstract
Inheritance diagram for fcl::MotionBase< S >:
fcl::InterpMotion< S > fcl::ScrewMotion< S > fcl::SplineMotion< S > fcl::TranslationMotion< S >

Public Member Functions

virtual bool integrate (S dt) const =0
 Integrate the motion from 0 to dt.
 
virtual S computeMotionBound (const BVMotionBoundVisitor< S > &mb_visitor) const =0
 Compute the motion bound for a bounding volume, given the closest direction n between two query objects.
 
virtual S computeMotionBound (const TriangleMotionBoundVisitor< S > &mb_visitor) const =0
 Compute the motion bound for a triangle, given the closest direction n between two query objects.
 
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
 
virtual void getCurrentTransform (Transform3< S > &tf) const =0
 
virtual void getTaylorModel (TMatrix3< S > &tm, TVector3< S > &tv) const =0
 
const std::shared_ptr< TimeInterval< S > > & getTimeInterval () const
 

Protected Attributes

std::shared_ptr< TimeInterval< S > > time_interval_
 
The documentation for this class was generated from the following files: