FCL  0.6.0
Flexible Collision Library
fcl::TriangleMotionBoundVisitorVisitImpl< S, ScrewMotion< S > > Struct Template Reference

Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...

#include <triangle_motion_bound_visitor-inl.h>

Static Public Member Functions

static S run (const TriangleMotionBoundVisitor< S > &visitor, const ScrewMotion< S > &motion)
 

Detailed Description

template<typename S>
struct fcl::TriangleMotionBoundVisitorVisitImpl< S, ScrewMotion< S > >

Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame)


The documentation for this struct was generated from the following file: