Public Member Functions | Protected Attributes
fcl::MotionBase Class Reference

#include <hpp/fcl/ccd/motion_base.h>

Inheritance diagram for fcl::MotionBase:
[legend]

List of all members.

Public Member Functions

 MotionBase ()
virtual ~MotionBase ()
virtual bool integrate (double dt) const =0
 Integrate the motion from 0 to dt.
virtual FCL_REAL computeMotionBound (const BVMotionBoundVisitor &mb_visitor) const =0
 Compute the motion bound for a bounding volume, given the closest direction n between two query objects.
virtual FCL_REAL computeMotionBound (const TriangleMotionBoundVisitor &mb_visitor) const =0
 Compute the motion bound for a triangle, given the closest direction n between two query objects.
void getCurrentTransform (Matrix3f &R, Vec3f &T) const
 Get the rotation and translation in current step.
void getCurrentTransform (Quaternion3f &Q, Vec3f &T) const
void getCurrentRotation (Matrix3f &R) const
void getCurrentRotation (Quaternion3f &Q) const
void getCurrentTranslation (Vec3f &T) const
virtual void getCurrentTransform (Transform3f &tf) const =0
virtual void getTaylorModel (TMatrix3 &tm, TVector3 &tv) const =0
const boost::shared_ptr
< TimeInterval > & 
getTimeInterval () const

Protected Attributes

boost::shared_ptr< TimeIntervaltime_interval_

Constructor & Destructor Documentation

fcl::MotionBase::MotionBase ( ) [inline]
virtual fcl::MotionBase::~MotionBase ( ) [inline, virtual]

Member Function Documentation

virtual FCL_REAL fcl::MotionBase::computeMotionBound ( const BVMotionBoundVisitor mb_visitor) const [pure virtual]
virtual FCL_REAL fcl::MotionBase::computeMotionBound ( const TriangleMotionBoundVisitor mb_visitor) const [pure virtual]

Compute the motion bound for a triangle, given the closest direction n between two query objects.

Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.

void fcl::MotionBase::getCurrentRotation ( Matrix3f R) const [inline]
void fcl::MotionBase::getCurrentRotation ( Quaternion3f Q) const [inline]
void fcl::MotionBase::getCurrentTransform ( Matrix3f R,
Vec3f T 
) const [inline]

Get the rotation and translation in current step.

References fcl::Transform3f::getRotation(), and fcl::Transform3f::getTranslation().

Referenced by getCurrentRotation(), getCurrentTransform(), and getCurrentTranslation().

void fcl::MotionBase::getCurrentTransform ( Quaternion3f Q,
Vec3f T 
) const [inline]
virtual void fcl::MotionBase::getCurrentTransform ( Transform3f tf) const [pure virtual]
void fcl::MotionBase::getCurrentTranslation ( Vec3f T) const [inline]
virtual void fcl::MotionBase::getTaylorModel ( TMatrix3 tm,
TVector3 tv 
) const [pure virtual]
const boost::shared_ptr<TimeInterval>& fcl::MotionBase::getTimeInterval ( ) const [inline]
virtual bool fcl::MotionBase::integrate ( double  dt) const [pure virtual]

Integrate the motion from 0 to dt.

Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.


Member Data Documentation

boost::shared_ptr<TimeInterval> fcl::MotionBase::time_interval_ [protected]

Referenced by getTimeInterval().

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