fcl::TranslationMotion Class Reference

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

Inheritance diagram for fcl::TranslationMotion:

Collaboration diagram for fcl::TranslationMotion:

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 &tm, TVector3 &tv) 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< TimeInterval >	time_interval_

Constructor & Destructor Documentation

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

inline

Construct motion from intial and goal transform.

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

inline

References fcl::Quaternion3f::fromRotation().

Member Function Documentation

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().

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().

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

inlinevirtual

Implements fcl::MotionBase.

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

inlinevirtual

Implements fcl::MotionBase.

Vec3f fcl::TranslationMotion::getVelocity ( ) const

inline

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

inlinevirtual

Integrate the motion from 0 to dt.

Implements fcl::MotionBase.