fcl::SplineMotion Class Reference

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

Inheritance diagram for fcl::SplineMotion:

Collaboration diagram for fcl::SplineMotion:

Public Member Functions
	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...
	SplineMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2)
	SplineMotion (const Transform3f &tf1, const Transform3f &tf2)
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	computeTBound (const Vec3f &n) const
FCL_REAL	computeDWMax () const
FCL_REAL	getCurrentTime () 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	computeSplineParameter ()
FCL_REAL	getWeight0 (FCL_REAL t) const
FCL_REAL	getWeight1 (FCL_REAL t) const
FCL_REAL	getWeight2 (FCL_REAL t) const
FCL_REAL	getWeight3 (FCL_REAL t) const

Protected Attributes
Vec3f	Td [4]
Vec3f	Rd [4]
Vec3f	TA
Vec3f	TB
Vec3f	TC
Vec3f	RA
Vec3f	RB
Vec3f	RC
FCL_REAL	Rd0Rd0
FCL_REAL	Rd0Rd1
FCL_REAL	Rd0Rd2
FCL_REAL	Rd0Rd3
FCL_REAL	Rd1Rd1
FCL_REAL	Rd1Rd2
FCL_REAL	Rd1Rd3
FCL_REAL	Rd2Rd2
FCL_REAL	Rd2Rd3
FCL_REAL	Rd3Rd3
Transform3f	tf
FCL_REAL	tf_t
	The time related with tf. More...
Protected Attributes inherited from fcl::MotionBase
boost::shared_ptr< TimeInterval >	time_interval_

Constructor & Destructor Documentation

fcl::SplineMotion::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.

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

inline

fcl::SplineMotion::SplineMotion ( const Transform3f &  tf1, const Transform3f &  tf2  )

inline

Member Function Documentation

FCL_REAL fcl::SplineMotion::computeDWMax

(

)

const

FCL_REAL fcl::SplineMotion::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::SplineMotion::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::SplineMotion::computeSplineParameter ( )

inlineprotected

FCL_REAL fcl::SplineMotion::computeTBound

(

const Vec3f &

n

)

const

FCL_REAL fcl::SplineMotion::getCurrentTime ( ) const

inline

References tf_t.

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

inlinevirtual

Get the rotation and translation in current step.

Implements fcl::MotionBase.

References tf.

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

inlinevirtual

1. compute M(1/2)
2. compute M'(1/2)

3.1. compute M''(1/2)

not correct, should fix

Implements fcl::MotionBase.

References fcl::Vec3fX< T >::dot(), fcl::MotionBase::getTimeInterval(), fcl::hat(), fcl::Vec3fX< T >::length(), Rd, fcl::TVector3::setTimeInterval(), fcl::TMatrix3::setTimeInterval(), and Td.

FCL_REAL fcl::SplineMotion::getWeight0 ( FCL_REAL  t ) const

protected

FCL_REAL fcl::SplineMotion::getWeight1 ( FCL_REAL  t ) const

protected

FCL_REAL fcl::SplineMotion::getWeight2 ( FCL_REAL  t ) const

protected

FCL_REAL fcl::SplineMotion::getWeight3 ( FCL_REAL  t ) const

protected

bool fcl::SplineMotion::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::SplineMotion::RA

protected

Vec3f fcl::SplineMotion::RB

protected

Vec3f fcl::SplineMotion::RC

protected

Vec3f fcl::SplineMotion::Rd[4]

protected

Referenced by getTaylorModel().

FCL_REAL fcl::SplineMotion::Rd0Rd0

protected

FCL_REAL fcl::SplineMotion::Rd0Rd1

protected

FCL_REAL fcl::SplineMotion::Rd0Rd2

protected

FCL_REAL fcl::SplineMotion::Rd0Rd3

protected

FCL_REAL fcl::SplineMotion::Rd1Rd1

protected

FCL_REAL fcl::SplineMotion::Rd1Rd2

protected

FCL_REAL fcl::SplineMotion::Rd1Rd3

protected

FCL_REAL fcl::SplineMotion::Rd2Rd2

protected

FCL_REAL fcl::SplineMotion::Rd2Rd3

protected

FCL_REAL fcl::SplineMotion::Rd3Rd3

protected

Vec3f fcl::SplineMotion::TA

protected

Vec3f fcl::SplineMotion::TB

protected

Vec3f fcl::SplineMotion::TC

protected

Vec3f fcl::SplineMotion::Td[4]

protected

Referenced by getTaylorModel().

Transform3f fcl::SplineMotion::tf

mutableprotected

Referenced by getCurrentTransform().

FCL_REAL fcl::SplineMotion::tf_t

mutableprotected

The time related with tf.

Referenced by getCurrentTime().