#include <hpp/fcl/ccd/motion.h>
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| SplineMotion (const Vec3f &Td0, const Vec3f &Td1, const Vec3f &Td2, const Vec3f &Td3, const Vec3f &Rd0, const Vec3f &Rd1, const Vec3f &Rd2, const Vec3f &Rd3) |
| Construct motion from 4 deBoor points. More...
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| SplineMotion (const Matrix3f &, const Vec3f &, const Matrix3f &, const Vec3f &) |
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| SplineMotion (const Transform3f &, const Transform3f &) |
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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 | computeTBound (const Vec3f &n) const |
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FCL_REAL | computeDWMax () const |
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FCL_REAL | getCurrentTime () 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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◆ SplineMotion() [1/3]
Construct motion from 4 deBoor points.
◆ SplineMotion() [2/3]
◆ SplineMotion() [3/3]
◆ computeDWMax()
FCL_REAL fcl::SplineMotion::computeDWMax |
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const |
◆ computeMotionBound() [1/2]
◆ computeMotionBound() [2/2]
◆ computeSplineParameter()
void fcl::SplineMotion::computeSplineParameter |
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inlineprotected |
◆ computeTBound()
FCL_REAL fcl::SplineMotion::computeTBound |
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const Vec3f & |
n | ) |
const |
◆ getCurrentTime()
FCL_REAL fcl::SplineMotion::getCurrentTime |
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const |
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inline |
◆ getCurrentTransform()
void fcl::SplineMotion::getCurrentTransform |
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Transform3f & |
tf_ | ) |
const |
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inlinevirtual |
Get the rotation and translation in current step.
Implements fcl::MotionBase.
◆ getTaylorModel()
◆ getWeight0()
◆ getWeight1()
◆ getWeight2()
◆ getWeight3()
◆ integrate()
bool fcl::SplineMotion::integrate |
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double |
dt | ) |
const |
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virtual |
Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.
Implements fcl::MotionBase.
◆ RA
Vec3f fcl::SplineMotion::RA |
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◆ RB
Vec3f fcl::SplineMotion::RB |
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◆ RC
Vec3f fcl::SplineMotion::RC |
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◆ Rd
Vec3f fcl::SplineMotion::Rd[4] |
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protected |
◆ Rd0Rd0
◆ Rd0Rd1
◆ Rd0Rd2
◆ Rd0Rd3
◆ Rd1Rd1
◆ Rd1Rd2
◆ Rd1Rd3
◆ Rd2Rd2
◆ Rd2Rd3
◆ Rd3Rd3
◆ TA
Vec3f fcl::SplineMotion::TA |
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◆ TB
Vec3f fcl::SplineMotion::TB |
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◆ TC
Vec3f fcl::SplineMotion::TC |
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◆ Td
Vec3f fcl::SplineMotion::Td[4] |
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◆ tf
◆ tf_t
The time related with tf.