#include <hpp/fcl/ccd/motion.h>
List of all members.
Public Member Functions |
| SplineMotion (const Vec3f &Td0, const Vec3f &Td1, const Vec3f &Td2, const Vec3f &Td3, const Vec3f &Rd0, const Vec3f &Rd1, const Vec3f &Rd2, const Vec3f &Rd3) |
| Construct motion from 4 deBoor points.
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| SplineMotion (const Matrix3f &, const Vec3f &, const Matrix3f &, const Vec3f &) |
| SplineMotion (const Transform3f &, const Transform3f &) |
bool | integrate (double dt) const |
| Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.
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FCL_REAL | computeMotionBound (const BVMotionBoundVisitor &mb_visitor) const |
| Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor.
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FCL_REAL | computeMotionBound (const TriangleMotionBoundVisitor &mb_visitor) const |
| Compute the motion bound for a triangle along a given direction n, which is defined in the visitor.
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void | getCurrentTransform (Transform3f &tf_) const |
| Get the rotation and translation in current step.
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void | getTaylorModel (TMatrix3 &tm, TVector3 &tv) const |
FCL_REAL | computeTBound (const Vec3f &n) const |
FCL_REAL | computeDWMax () const |
FCL_REAL | getCurrentTime () const |
Protected Member Functions |
void | computeSplineParameter () |
FCL_REAL | getWeight0 (FCL_REAL t) const |
FCL_REAL | getWeight1 (FCL_REAL t) const |
FCL_REAL | getWeight2 (FCL_REAL t) const |
FCL_REAL | getWeight3 (FCL_REAL t) const |
Protected Attributes |
Vec3f | Td [4] |
Vec3f | Rd [4] |
Vec3f | TA |
Vec3f | TB |
Vec3f | TC |
Vec3f | RA |
Vec3f | RB |
Vec3f | RC |
FCL_REAL | Rd0Rd0 |
FCL_REAL | Rd0Rd1 |
FCL_REAL | Rd0Rd2 |
FCL_REAL | Rd0Rd3 |
FCL_REAL | Rd1Rd1 |
FCL_REAL | Rd1Rd2 |
FCL_REAL | Rd1Rd3 |
FCL_REAL | Rd2Rd2 |
FCL_REAL | Rd2Rd3 |
FCL_REAL | Rd3Rd3 |
Transform3f | tf |
FCL_REAL | tf_t |
| The time related with tf.
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Constructor & Destructor Documentation
Construct motion from 4 deBoor points.
Member Function Documentation
FCL_REAL fcl::SplineMotion::computeDWMax |
( |
| ) |
const |
void fcl::SplineMotion::computeSplineParameter |
( |
| ) |
[inline, protected] |
FCL_REAL fcl::SplineMotion::computeTBound |
( |
const Vec3f & |
n | ) |
const |
FCL_REAL fcl::SplineMotion::getCurrentTime |
( |
| ) |
const [inline] |
void fcl::SplineMotion::getCurrentTransform |
( |
Transform3f & |
tf_ | ) |
const [inline, virtual] |
Get the rotation and translation in current step.
Implements fcl::MotionBase.
References tf.
void fcl::SplineMotion::getTaylorModel |
( |
TMatrix3 & |
tm, |
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TVector3 & |
tv |
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) |
| const [inline, virtual] |
bool fcl::SplineMotion::integrate |
( |
double |
dt | ) |
const [virtual] |
Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.
Implements fcl::MotionBase.
Member Data Documentation