Public Member Functions | List of all members
fcl::TranslationMotion Class Reference

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

Inheritance diagram for fcl::TranslationMotion:
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Collaboration diagram for fcl::TranslationMotion:
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Public Member Functions

 TranslationMotion (const Transform3f &tf1, const Transform3f &tf2)
 Construct motion from intial and goal transform. More...
 
 TranslationMotion (const Matrix3f &R, const Vec3f &T1, const Vec3f &T2)
 
bool integrate (FCL_REAL dt) const
 Integrate the motion from 0 to dt. More...
 
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. More...
 
FCL_REAL computeMotionBound (const TriangleMotionBoundVisitor &mb_visitor) const
 Compute the motion bound for a triangle, given the closest direction n between two query objects. More...
 
void getCurrentTransform (Transform3f &tf_) const
 
void getTaylorModel (TMatrix3 &, TVector3 &) const
 
Vec3f getVelocity () const
 
- Public Member Functions inherited from fcl::MotionBase
 MotionBase ()
 
virtual ~MotionBase ()
 
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
 
const boost::shared_ptr< TimeInterval > & getTimeInterval () const
 

Additional Inherited Members

- Protected Attributes inherited from fcl::MotionBase
boost::shared_ptr< TimeIntervaltime_interval_
 

Constructor & Destructor Documentation

◆ TranslationMotion() [1/2]

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

Construct motion from intial and goal transform.

◆ TranslationMotion() [2/2]

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

Member Function Documentation

◆ computeMotionBound() [1/2]

FCL_REAL fcl::TranslationMotion::computeMotionBound ( const BVMotionBoundVisitor mb_visitor) const
inlinevirtual

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

Implements fcl::MotionBase.

References fcl::BVMotionBoundVisitor::visit().

◆ computeMotionBound() [2/2]

FCL_REAL fcl::TranslationMotion::computeMotionBound ( const TriangleMotionBoundVisitor mb_visitor) const
inlinevirtual

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

Implements fcl::MotionBase.

References fcl::TriangleMotionBoundVisitor::visit().

◆ getCurrentTransform()

void fcl::TranslationMotion::getCurrentTransform ( Transform3f tf_) const
inlinevirtual

Implements fcl::MotionBase.

◆ getTaylorModel()

void fcl::TranslationMotion::getTaylorModel ( TMatrix3 ,
TVector3  
) const
inlinevirtual

Implements fcl::MotionBase.

◆ getVelocity()

Vec3f fcl::TranslationMotion::getVelocity ( ) const
inline

◆ integrate()

bool fcl::TranslationMotion::integrate ( FCL_REAL  dt) const
inlinevirtual

Integrate the motion from 0 to dt.

Implements fcl::MotionBase.

Referenced by fcl::SplineMotion::SplineMotion().