Public Member Functions
fcl::TranslationMotion Class Reference

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

Inheritance diagram for fcl::TranslationMotion:
[legend]
Collaboration diagram for fcl::TranslationMotion:
[legend]

List of all members.

Public Member Functions

 TranslationMotion (const Transform3f &tf1, const Transform3f &tf2)
 Construct motion from intial and goal transform.
 TranslationMotion (const Matrix3f &R, const Vec3f &T1, const Vec3f &T2)
bool integrate (FCL_REAL dt) const
 Integrate the motion from 0 to dt.
FCL_REAL computeMotionBound (const BVMotionBoundVisitor &mb_visitor) const
 Compute the motion bound for a bounding volume, given the closest direction n between two query objects.
FCL_REAL computeMotionBound (const TriangleMotionBoundVisitor &mb_visitor) const
 Compute the motion bound for a triangle, given the closest direction n between two query objects.
void getCurrentTransform (Transform3f &tf_) const
void getTaylorModel (TMatrix3 &, TVector3 &) const
Vec3f getVelocity () const

Constructor & Destructor Documentation

fcl::TranslationMotion::TranslationMotion ( const Transform3f tf1,
const Transform3f tf2 
) [inline]

Construct motion from intial and goal transform.

fcl::TranslationMotion::TranslationMotion ( const Matrix3f R,
const Vec3f T1,
const Vec3f T2 
) [inline]

Member Function Documentation

FCL_REAL fcl::TranslationMotion::computeMotionBound ( const BVMotionBoundVisitor mb_visitor) const [inline, virtual]

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

Implements fcl::MotionBase.

References fcl::BVMotionBoundVisitor::visit().

FCL_REAL fcl::TranslationMotion::computeMotionBound ( const TriangleMotionBoundVisitor mb_visitor) const [inline, virtual]

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

Implements fcl::MotionBase.

References fcl::TriangleMotionBoundVisitor::visit().

void fcl::TranslationMotion::getCurrentTransform ( Transform3f tf_) const [inline, virtual]

Implements fcl::MotionBase.

void fcl::TranslationMotion::getTaylorModel ( TMatrix3 ,
TVector3  
) const [inline, virtual]

Implements fcl::MotionBase.

Vec3f fcl::TranslationMotion::getVelocity ( ) const [inline]
bool fcl::TranslationMotion::integrate ( FCL_REAL  dt) const [inline, virtual]

Integrate the motion from 0 to dt.

Implements fcl::MotionBase.

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines