FCL  0.6.0
Flexible Collision Library
taylor_matrix.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_MATRIX_H
39 #define FCL_CCD_TAYLOR_MATRIX_H
40 
41 #include "fcl/math/motion/taylor_model/taylor_vector.h"
42 #include "fcl/math/motion/taylor_model/interval_matrix.h"
43 
44 namespace fcl
45 {
46 
47 template <typename S>
48 class TMatrix3
49 {
50  TVector3<S> v_[3];
51 
52 public:
53  TMatrix3();
54  TMatrix3(const std::shared_ptr<TimeInterval<S>>& time_interval);
55  TMatrix3(TaylorModel<S> m[3][3]);
56  TMatrix3(const TVector3<S>& v1, const TVector3<S>& v2, const TVector3<S>& v3);
57  TMatrix3(const Matrix3<S>& m, const std::shared_ptr<TimeInterval<S>>& time_interval);
58 
59  TVector3<S> getColumn(size_t i) const;
60  const TVector3<S>& getRow(size_t i) const;
61 
62  const TaylorModel<S>& operator () (size_t i, size_t j) const;
63  TaylorModel<S>& operator () (size_t i, size_t j);
64 
65  TVector3<S> operator * (const Vector3<S>& v) const;
66  TVector3<S> operator * (const TVector3<S>& v) const;
67  TMatrix3 operator * (const Matrix3<S>& m) const;
68  TMatrix3 operator * (const TMatrix3& m) const;
69  TMatrix3 operator * (const TaylorModel<S>& d) const;
70  TMatrix3 operator * (S d) const;
71 
72  TMatrix3& operator *= (const Matrix3<S>& m);
73  TMatrix3& operator *= (const TMatrix3& m);
74  TMatrix3& operator *= (const TaylorModel<S>& d);
75  TMatrix3& operator *= (S d);
76 
77  TMatrix3 operator + (const TMatrix3& m) const;
78  TMatrix3& operator += (const TMatrix3& m);
79  TMatrix3 operator + (const Matrix3<S>& m) const;
80  TMatrix3& operator += (const Matrix3<S>& m);
81 
82  TMatrix3 operator - (const TMatrix3& m) const;
83  TMatrix3& operator -= (const TMatrix3& m);
84  TMatrix3 operator - (const Matrix3<S>& m) const;
85  TMatrix3& operator -= (const Matrix3<S>& m);
86  TMatrix3 operator - () const;
87 
88  IMatrix3<S> getBound() const;
89  IMatrix3<S> getBound(S l, S r) const;
90  IMatrix3<S> getBound(S t) const;
91 
92  IMatrix3<S> getTightBound() const;
93  IMatrix3<S> getTightBound(S l, S r) const;
94 
95  void print() const;
96  void setIdentity();
97  void setZero();
98  S diameter() 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  TMatrix3& rotationConstrain();
106 };
107 
108 template <typename S>
109 TMatrix3<S> rotationConstrain(const TMatrix3<S>& m);
110 
111 template <typename S>
112 TMatrix3<S> operator * (const Matrix3<S>& m, const TaylorModel<S>& a);
113 
114 template <typename S>
115 TMatrix3<S> operator * (const TaylorModel<S>& a, const Matrix3<S>& m);
116 
117 template <typename S>
118 TMatrix3<S> operator * (const TaylorModel<S>& a, const TMatrix3<S>& m);
119 
120 template <typename S>
121 TMatrix3<S> operator * (S d, const TMatrix3<S>& m);
122 
123 template <typename S>
124 TMatrix3<S> operator + (const Matrix3<S>& m1, const TMatrix3<S>& m2);
125 
126 template <typename S>
127 TMatrix3<S> operator - (const Matrix3<S>& m1, const TMatrix3<S>& m2);
128 
129 } // namespace fcl
130 
131 #include "fcl/math/motion/taylor_model/taylor_matrix-inl.h"
132 
133 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Definition: interval_matrix.h:48
Definition: taylor_matrix.h:48
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