FCL  0.6.0
Flexible Collision Library
time_interval.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
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_TIMEINTERVAL_H
39 #define FCL_CCD_TIMEINTERVAL_H
40 
41 #include <memory>
42 #include <iostream>
43 #include "fcl/math/constants.h"
44 #include "fcl/math/motion/taylor_model/interval.h"
45 
46 namespace fcl
47 {
48 
49 template <typename S>
51 {
53  Interval<S> t_; // [t1, t2]
54  Interval<S> t2_; // [t1, t2]^2
55  Interval<S> t3_; // [t1, t2]^3
56  Interval<S> t4_; // [t1, t2]^4
57  Interval<S> t5_; // [t1, t2]^5
58  Interval<S> t6_; // [t1, t2]^6
59 
60  TimeInterval();
61 
62  TimeInterval(S l, S r);
63 
64  void setValue(S l, S r);
65 };
66 
67 } // namespace fcl
68 
69 #include "fcl/math/motion/taylor_model/time_interval-inl.h"
70 
71 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Interval class for [a, b].
Definition: interval.h:50
Interval< S > t_
time Interval<S> and different powers
Definition: time_interval.h:53
Definition: time_interval.h:50