#include <hpp/fcl/ccd/motion.h>
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| ScrewMotion () |
| Default transformations are all identities. More...
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| ScrewMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2) |
| Construct motion from the initial rotation/translation and goal rotation/translation. More...
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| ScrewMotion (const Transform3f &tf1_, const Transform3f &tf2_) |
| Construct motion from the initial transform and goal transform. More...
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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. More...
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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. More...
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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. More...
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void | getCurrentTransform (Transform3f &tf_) const |
| Get the rotation and translation in current step. More...
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void | getTaylorModel (TMatrix3 &tm, TVector3 &tv) const |
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FCL_REAL | getLinearVelocity () const |
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FCL_REAL | getAngularVelocity () const |
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const Vec3f & | getAxis () const |
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const Vec3f & | getAxisOrigin () const |
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| MotionBase () |
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virtual | ~MotionBase () |
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void | getCurrentTransform (Matrix3f &R, Vec3f &T) const |
| Get the rotation and translation in current step. More...
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void | getCurrentTransform (Quaternion3f &Q, Vec3f &T) const |
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void | getCurrentRotation (Matrix3f &R) const |
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void | getCurrentRotation (Quaternion3f &Q) const |
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void | getCurrentTranslation (Vec3f &T) const |
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const boost::shared_ptr< TimeInterval > & | getTimeInterval () const |
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◆ ScrewMotion() [1/3]
fcl::ScrewMotion::ScrewMotion |
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inline |
Default transformations are all identities.
◆ ScrewMotion() [2/3]
Construct motion from the initial rotation/translation and goal rotation/translation.
◆ ScrewMotion() [3/3]
Construct motion from the initial transform and goal transform.
◆ absoluteRotation()
◆ computeMotionBound() [1/2]
◆ computeMotionBound() [2/2]
◆ computeScrewParameter()
void fcl::ScrewMotion::computeScrewParameter |
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inlineprotected |
◆ deltaRotation()
◆ getAngularVelocity()
FCL_REAL fcl::ScrewMotion::getAngularVelocity |
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const |
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inline |
◆ getAxis()
const Vec3f& fcl::ScrewMotion::getAxis |
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const |
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inline |
◆ getAxisOrigin()
const Vec3f& fcl::ScrewMotion::getAxisOrigin |
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const |
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inline |
◆ getCurrentTransform()
void fcl::ScrewMotion::getCurrentTransform |
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Transform3f & |
tf_ | ) |
const |
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inlinevirtual |
Get the rotation and translation in current step.
Implements fcl::MotionBase.
◆ getLinearVelocity()
FCL_REAL fcl::ScrewMotion::getLinearVelocity |
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const |
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inline |
◆ getTaylorModel()
◆ integrate()
bool fcl::ScrewMotion::integrate |
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double |
dt | ) |
const |
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inlinevirtual |
◆ angular_vel
◆ axis
Vec3f fcl::ScrewMotion::axis |
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protected |
◆ linear_vel
linear velocity along the axis
Vec3f fcl::ScrewMotion::p |
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protected |
◆ tf
The transformation at current time t.
◆ tf1
The transformation at time 0.
◆ tf2
The transformation at time 1.