screw_motion.h

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#ifndef FCL_CCD_SCREWMOTION_H
#define FCL_CCD_SCREWMOTION_H

#include <iostream>
#include <vector>
#include "fcl/math/geometry.h"
#include "fcl/math/motion/motion_base.h"
#include "fcl/math/motion/bv_motion_bound_visitor.h"
#include "fcl/math/motion/triangle_motion_bound_visitor.h"

namespace fcl
{

template <typename S>
class ScrewMotion : public MotionBase<S>
{
public:
  ScrewMotion();

  ScrewMotion(const Matrix3<S>& R1, const Vector3<S>& T1,
              const Matrix3<S>& R2, const Vector3<S>& T2);

  ScrewMotion(const Transform3<S>& tf1_,
              const Transform3<S>& tf2_);

  bool integrate(double dt) const;

  S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const;

  S computeMotionBound(const TriangleMotionBoundVisitor<S>& mb_visitor) const;

  void getCurrentTransform(Transform3<S>& tf_) const;

  void getTaylorModel(TMatrix3<S>& tm, TVector3<S>& tv) const;

protected:
  void computeScrewParameter();

  Quaternion<S> deltaRotation(S dt) const;

  Quaternion<S> absoluteRotation(S dt) const;

  Transform3<S> tf1;

  Transform3<S> tf2;

  mutable Transform3<S> tf;

  Vector3<S> axis;

  Vector3<S> p;

  S linear_vel;

  S angular_vel;

public:

  S getLinearVelocity() const;

  S getAngularVelocity() const;

  const Vector3<S>& getAxis() const;

  const Vector3<S>& getAxisOrigin() const;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace fcl

#include "fcl/math/motion/screw_motion-inl.h"

#endif