fcl::ScrewMotion Class Reference

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

Inheritance diagram for fcl::ScrewMotion:

Collaboration diagram for fcl::ScrewMotion:

Public Member Functions
	ScrewMotion ()
	Default transformations are all identities. More...
	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...
	ScrewMotion (const Transform3f &tf1_, const Transform3f &tf2_)
	Construct motion from the initial transform and goal transform. More...
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
FCL_REAL	getLinearVelocity () const
FCL_REAL	getAngularVelocity () const
const Vec3f &	getAxis () const
const Vec3f &	getAxisOrigin () 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	computeScrewParameter ()
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	axis
	screw axis More...
Vec3f	p
	A point on the axis S. More...
FCL_REAL	linear_vel
	linear velocity along the axis More...
FCL_REAL	angular_vel
	angular velocity More...
Protected Attributes inherited from fcl::MotionBase
boost::shared_ptr< TimeInterval >	time_interval_

Constructor & Destructor Documentation

fcl::ScrewMotion::ScrewMotion ( )

inline

Default transformations are all identities.

References angular_vel, axis, linear_vel, and fcl::Vec3fX< T >::setValue().

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

inline

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

References computeScrewParameter().

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

inline

Construct motion from the initial transform and goal transform.

References computeScrewParameter().

Member Function Documentation

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

inlineprotected

References deltaRotation(), fcl::Transform3f::getQuatRotation(), and tf1.

Referenced by integrate().

FCL_REAL fcl::ScrewMotion::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::ScrewMotion::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::ScrewMotion::computeScrewParameter ( )

inlineprotected

References angular_vel, axis, fcl::Vec3fX< T >::cross(), fcl::Vec3fX< T >::dot(), fcl::Transform3f::getQuatRotation(), fcl::Transform3f::getTranslation(), fcl::inverse(), fcl::Vec3fX< T >::length(), linear_vel, p, tf1, tf2, and fcl::Quaternion3f::toAxisAngle().

Referenced by ScrewMotion().

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

inlineprotected

References angular_vel, axis, and fcl::Quaternion3f::fromAxisAngle().

Referenced by absoluteRotation(), and integrate().

FCL_REAL fcl::ScrewMotion::getAngularVelocity ( ) const

inline

References angular_vel.

const Vec3f& fcl::ScrewMotion::getAxis ( ) const

inline

References axis.

const Vec3f& fcl::ScrewMotion::getAxisOrigin ( ) const

inline

References p.

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

inlinevirtual

Get the rotation and translation in current step.

Implements fcl::MotionBase.

References tf.

FCL_REAL fcl::ScrewMotion::getLinearVelocity ( ) const

inline

References linear_vel.

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

inlinevirtual

Implements fcl::MotionBase.

References angular_vel, axis, fcl::generateTaylorModelForCosFunc(), fcl::generateTaylorModelForLinearFunc(), fcl::generateTaylorModelForSinFunc(), fcl::Transform3f::getRotation(), fcl::MotionBase::getTimeInterval(), fcl::Transform3f::getTranslation(), fcl::hat(), linear_vel, p, and tf1.

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

inlinevirtual

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.

References absoluteRotation(), axis, deltaRotation(), fcl::Transform3f::getTranslation(), linear_vel, p, fcl::Transform3f::setQuatRotation(), fcl::Transform3f::setTranslation(), tf, tf1, and fcl::Quaternion3f::transform().

Member Data Documentation

FCL_REAL fcl::ScrewMotion::angular_vel

protected

angular velocity

Referenced by computeScrewParameter(), deltaRotation(), getAngularVelocity(), getTaylorModel(), and ScrewMotion().

Vec3f fcl::ScrewMotion::axis

protected

screw axis

Referenced by computeScrewParameter(), deltaRotation(), getAxis(), getTaylorModel(), integrate(), and ScrewMotion().

FCL_REAL fcl::ScrewMotion::linear_vel

protected

linear velocity along the axis

Referenced by computeScrewParameter(), getLinearVelocity(), getTaylorModel(), integrate(), and ScrewMotion().

Vec3f fcl::ScrewMotion::p

protected

A point on the axis S.

Referenced by computeScrewParameter(), getAxisOrigin(), getTaylorModel(), and integrate().

Transform3f fcl::ScrewMotion::tf

mutableprotected

The transformation at current time t.

Referenced by getCurrentTransform(), and integrate().

Transform3f fcl::ScrewMotion::tf1

protected

The transformation at time 0.

Referenced by absoluteRotation(), computeScrewParameter(), getTaylorModel(), and integrate().

Transform3f fcl::ScrewMotion::tf2

protected

The transformation at time 1.

Referenced by computeScrewParameter().