#include <hpp/fcl/ccd/motion_base.h>
Public Member Functions | |
MotionBase () | |
virtual | ~MotionBase () |
virtual bool | integrate (double dt) const =0 |
Integrate the motion from 0 to dt. More... | |
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. More... | |
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. More... | |
void | getCurrentTransform (Matrix3f &R, Vec3f &T) const |
Get the rotation and translation in current step. More... | |
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< TimeInterval > | time_interval_ |
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inline |
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inlinevirtual |
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pure virtual |
Compute the motion bound for a bounding volume, given the closest direction n between two query objects.
Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.
Referenced by fcl::details::meshConservativeAdvancementTraversalNodeCanStop(), fcl::details::meshShapeConservativeAdvancementOrientedNodeCanStop(), and fcl::details::meshShapeConservativeAdvancementOrientedNodeLeafTesting().
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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.
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inline |
References fcl::Transform3f::getRotation().
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inline |
References fcl::Transform3f::getQuatRotation().
Get the rotation and translation in current step.
References fcl::Transform3f::getRotation(), and fcl::Transform3f::getTranslation().
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inline |
References fcl::Transform3f::getQuatRotation(), and fcl::Transform3f::getTranslation().
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pure virtual |
Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.
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inline |
References fcl::Transform3f::getTranslation().
Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.
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inline |
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pure virtual |
Integrate the motion from 0 to dt.
Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.
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protected |