fcl::MotionBase Class Reference

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

Inheritance diagram for fcl::MotionBase:

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_

Constructor & Destructor Documentation

fcl::MotionBase::MotionBase ( )

inline

virtual fcl::MotionBase::~MotionBase ( )

inlinevirtual

Member Function Documentation

virtual FCL_REAL fcl::MotionBase::computeMotionBound ( const BVMotionBoundVisitor &  mb_visitor ) const

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::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::canStop(), fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::leafTesting(), fcl::details::meshConservativeAdvancementTraversalNodeCanStop(), fcl::details::meshShapeConservativeAdvancementOrientedNodeCanStop(), and fcl::details::meshShapeConservativeAdvancementOrientedNodeLeafTesting().

virtual FCL_REAL fcl::MotionBase::computeMotionBound ( const TriangleMotionBoundVisitor &  mb_visitor ) const

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.

void fcl::MotionBase::getCurrentRotation ( Matrix3f &  R ) const

inline

References getCurrentTransform(), and fcl::Transform3f::getRotation().

void fcl::MotionBase::getCurrentRotation ( Quaternion3f &  Q ) const

inline

References getCurrentTransform(), and fcl::Transform3f::getQuatRotation().

void fcl::MotionBase::getCurrentTransform ( Matrix3f &  R, Vec3f &  T  ) const

inline

Get the rotation and translation in current step.

References fcl::Transform3f::getRotation(), and fcl::Transform3f::getTranslation().

Referenced by getCurrentRotation(), getCurrentTransform(), and getCurrentTranslation().

void fcl::MotionBase::getCurrentTransform ( Quaternion3f &  Q, Vec3f &  T  ) const

inline

References getCurrentTransform(), fcl::Transform3f::getQuatRotation(), and fcl::Transform3f::getTranslation().

virtual void fcl::MotionBase::getCurrentTransform ( Transform3f &  tf ) const

pure virtual

Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.

void fcl::MotionBase::getCurrentTranslation ( Vec3f &  T ) const

inline

References getCurrentTransform(), and fcl::Transform3f::getTranslation().

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

pure virtual

Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.

const boost::shared_ptr<TimeInterval>& fcl::MotionBase::getTimeInterval ( ) const

inline

References time_interval_.

Referenced by fcl::SplineMotion::getTaylorModel(), fcl::ScrewMotion::getTaylorModel(), and fcl::InterpMotion::getTaylorModel().

virtual bool fcl::MotionBase::integrate ( double  dt ) const

pure virtual

Integrate the motion from 0 to dt.

Implemented in fcl::InterpMotion, fcl::ScrewMotion, fcl::SplineMotion, and fcl::TranslationMotion.

Member Data Documentation

boost::shared_ptr<TimeInterval> fcl::MotionBase::time_interval_

protected

Referenced by getTimeInterval().