FCL
0.6.0
Flexible Collision Library

Compute the motion bound for a bounding volume along a given direction n according to mu < v * n + w x n(r + max(ci*)) where ci* = R0(ci) x w. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are 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 <tbv_motion_bound_visitorinl.h>
Static Public Member Functions  
static S  run (const TBVMotionBoundVisitor< RSS< S >> &visitor, const InterpMotion< S > &motion) 
Compute the motion bound for a bounding volume along a given direction n according to mu < v * n + w x n(r + max(ci*)) where ci* = R0(ci) x w. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are 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)