FCL  0.6.0
Flexible Collision Library
taylor_vector.h
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35 // This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
38 #ifndef FCL_CCD_TAYLOR_VECTOR_H
39 #define FCL_CCD_TAYLOR_VECTOR_H
40 
41 #include "fcl/math/motion/taylor_model/interval_vector.h"
42 #include "fcl/math/motion/taylor_model/taylor_model.h"
43 
44 namespace fcl
45 {
46 
47 template <typename S>
48 class TVector3
49 {
50  TaylorModel<S> i_[3];
51 
52 public:
53 
54  TVector3();
55  TVector3(const std::shared_ptr<TimeInterval<S>>& time_interval);
57  TVector3(const TaylorModel<S>& v0, const TaylorModel<S>& v1, const TaylorModel<S>& v2);
58  TVector3(const Vector3<S>& v, const std::shared_ptr<TimeInterval<S>>& time_interval);
59 
60  TVector3 operator + (const TVector3& other) const;
61  TVector3& operator += (const TVector3& other);
62 
63  TVector3 operator + (const Vector3<S>& other) const;
64  TVector3& operator += (const Vector3<S>& other);
65 
66  TVector3 operator - (const TVector3& other) const;
67  TVector3& operator -= (const TVector3& other);
68 
69  TVector3 operator - (const Vector3<S>& other) const;
70  TVector3& operator -= (const Vector3<S>& other);
71 
72  TVector3 operator - () const;
73 
74  TVector3 operator * (const TaylorModel<S>& d) const;
75  TVector3& operator *= (const TaylorModel<S>& d);
76  TVector3 operator * (S d) const;
77  TVector3& operator *= (S d);
78 
79  const TaylorModel<S>& operator [] (size_t i) const;
80  TaylorModel<S>& operator [] (size_t i);
81 
82  TaylorModel<S> dot(const TVector3& other) const;
83  TVector3 cross(const TVector3& other) const;
84  TaylorModel<S> dot(const Vector3<S>& other) const;
85  TVector3 cross(const Vector3<S>& other) const;
86 
87  IVector3<S> getBound() const;
88  IVector3<S> getBound(S l, S r) const;
89  IVector3<S> getBound(S t) const;
90 
91  IVector3<S> getTightBound() const;
92  IVector3<S> getTightBound(S l, S r) const;
93 
94  void print() const;
95  S volumn() const;
96  void setZero();
97 
98  TaylorModel<S> squareLength() const;
99 
100  void setTimeInterval(const std::shared_ptr<TimeInterval<S>>& time_interval);
101  void setTimeInterval(S l, S r);
102 
103  const std::shared_ptr<TimeInterval<S>>& getTimeInterval() const;
104 };
105 
106 template <typename S>
107 void generateTVector3ForLinearFunc(TVector3<S>& v, const Vector3<S>& position, const Vector3<S>& velocity);
108 
109 template <typename S>
110 TVector3<S> operator * (const Vector3<S>& v, const TaylorModel<S>& a);
111 
112 template <typename S>
113 TVector3<S> operator + (const Vector3<S>& v1, const TVector3<S>& v2);
114 
115 template <typename S>
116 TVector3<S> operator - (const Vector3<S>& v1, const TVector3<S>& v2);
117 
118 } // namespace fcl
119 
120 #include "fcl/math/motion/taylor_model/taylor_vector-inl.h"
121 
122 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Definition: interval_vector.h:47
Definition: taylor_vector.h:48
Definition: time_interval.h:50
TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a t...
Definition: taylor_model.h:58