fcl::InterpMotion Class Reference

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref. More...

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

Inheritance diagram for fcl::InterpMotion:

Collaboration diagram for fcl::InterpMotion:

Public Member Functions
	InterpMotion ()
	Default transformations are all identities. More...
	InterpMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation. More...
	InterpMotion (const Transform3f &tf1_, const Transform3f &tf2_)
	InterpMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2, const Vec3f &O)
	Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center. More...
	InterpMotion (const Transform3f &tf1_, const Transform3f &tf2_, const Vec3f &O)
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...
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...
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...
void	getCurrentTransform (Transform3f &tf_) const
	Get the rotation and translation in current step. More...
void	getTaylorModel (TMatrix3 &tm, TVector3 &tv) const
const Vec3f &	getReferencePoint () const
const Vec3f &	getAngularAxis () const
FCL_REAL	getAngularVelocity () const
const Vec3f &	getLinearVelocity () 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

Protected Member Functions
void	computeVelocity ()
Quaternion3f	deltaRotation (FCL_REAL dt) const
Quaternion3f	absoluteRotation (FCL_REAL dt) const

Protected Attributes
Transform3f	tf1
	The transformation at time 0. More...
Transform3f	tf2
	The transformation at time 1. More...
Transform3f	tf
	The transformation at current time t. More...
Vec3f	linear_vel
	Linear velocity. More...
FCL_REAL	angular_vel
	Angular speed. More...
Vec3f	angular_axis
	Angular velocity axis. More...
Vec3f	reference_p
	Reference point for the motion (in the object's local frame) More...
Protected Attributes inherited from fcl::MotionBase
boost::shared_ptr< TimeInterval >	time_interval_

Detailed Description

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref.

Constructor & Destructor Documentation

fcl::InterpMotion::InterpMotion

(

)

Default transformations are all identities.

fcl::InterpMotion::InterpMotion	(	const Matrix3f &	R1,
		const Vec3f &	T1,
		const Matrix3f &	R2,
		const Vec3f &	T2
	)

Construct motion from the initial rotation/translation and goal rotation/translation.

fcl::InterpMotion::InterpMotion	(	const Transform3f &	tf1_,
		const Transform3f &	tf2_
	)

fcl::InterpMotion::InterpMotion	(	const Matrix3f &	R1,
		const Vec3f &	T1,
		const Matrix3f &	R2,
		const Vec3f &	T2,
		const Vec3f &	O
	)

Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center.

fcl::InterpMotion::InterpMotion	(	const Transform3f &	tf1_,
		const Transform3f &	tf2_,
		const Vec3f &	O
	)

Member Function Documentation

Quaternion3f fcl::InterpMotion::absoluteRotation ( FCL_REAL  dt ) const

protected

FCL_REAL fcl::InterpMotion::computeMotionBound ( const BVMotionBoundVisitor &  mb_visitor ) const

inlinevirtual

Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor.

Implements fcl::MotionBase.

References fcl::BVMotionBoundVisitor::visit().

FCL_REAL fcl::InterpMotion::computeMotionBound ( const TriangleMotionBoundVisitor &  mb_visitor ) const

inlinevirtual

Compute the motion bound for a triangle along a given direction n, which is defined in the visitor.

Implements fcl::MotionBase.

References fcl::TriangleMotionBoundVisitor::visit().

void fcl::InterpMotion::computeVelocity ( )

protected

Quaternion3f fcl::InterpMotion::deltaRotation ( FCL_REAL  dt ) const

protected

const Vec3f& fcl::InterpMotion::getAngularAxis ( ) const

inline

References angular_axis.

FCL_REAL fcl::InterpMotion::getAngularVelocity ( ) const

inline

References angular_vel.

void fcl::InterpMotion::getCurrentTransform ( Transform3f &  tf_ ) const

inlinevirtual

Get the rotation and translation in current step.

Implements fcl::MotionBase.

References tf.

const Vec3f& fcl::InterpMotion::getLinearVelocity ( ) const

inline

References linear_vel.

const Vec3f& fcl::InterpMotion::getReferencePoint ( ) const

inline

References reference_p.

void fcl::InterpMotion::getTaylorModel ( TMatrix3 &  tm, TVector3 &  tv  ) const

inlinevirtual

Implements fcl::MotionBase.

References angular_axis, angular_vel, fcl::generateTaylorModelForCosFunc(), fcl::generateTaylorModelForLinearFunc(), fcl::generateTaylorModelForSinFunc(), fcl::Transform3f::getQuatRotation(), fcl::Transform3f::getRotation(), fcl::MotionBase::getTimeInterval(), fcl::hat(), linear_vel, reference_p, tf1, fcl::Quaternion3f::transform(), and fcl::Transform3f::transform().

bool fcl::InterpMotion::integrate ( double  dt ) const

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.

Member Data Documentation

Vec3f fcl::InterpMotion::angular_axis

protected

Angular velocity axis.

Referenced by getAngularAxis(), and getTaylorModel().

FCL_REAL fcl::InterpMotion::angular_vel

protected

Angular speed.

Referenced by getAngularVelocity(), and getTaylorModel().

Vec3f fcl::InterpMotion::linear_vel

protected

Linear velocity.

Referenced by getLinearVelocity(), and getTaylorModel().

Vec3f fcl::InterpMotion::reference_p

protected

Reference point for the motion (in the object's local frame)

Referenced by getReferencePoint(), and getTaylorModel().

Transform3f fcl::InterpMotion::tf

mutableprotected

The transformation at current time t.

Referenced by getCurrentTransform().

Transform3f fcl::InterpMotion::tf1

protected

The transformation at time 0.

Referenced by getTaylorModel().

Transform3f fcl::InterpMotion::tf2

protected

The transformation at time 1.