#include <hpp/fcl/ccd/motion.h>
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 |
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] |
References fcl::Quaternion3f::fromRotation().
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.
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.