fcl::InterpMotion< BV > Class Template 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 <motion.h>

Inheritance diagram for fcl::InterpMotion< BV >:

[legend]List of all members.


Public Member Functions
	InterpMotion ()
	Default transformations are all identities.
	InterpMotion (const Matrix3f &R1, const Vec3f &T1, const Matrix3f &R2, const Vec3f &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation.
	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.
	InterpMotion (const Transform3f &tf1_, const Transform3f &tf2_, const Vec3f &O)
bool	integrate (double dt)
	Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.
FCL_REAL	computeMotionBound (const BV &bv, const Vec3f &n) const
	Compute the motion bound for a bounding volume along a given direction n For general BV, not implemented so return trivial 0.
FCL_REAL	computeMotionBound (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &n) const
	Compute the motion bound for a triangle along a given direction n according to mu < \|v * n\| + \|\|w x n\|\|(max\|\|ci\|\|) where \|\|ci\|\| = \|\|R0(ci) x w\|\| / \\|w\\|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame).
void	getCurrentTransform (Matrix3f &R, Vec3f &T) const
	Get the rotation and translation in current step.
void	getCurrentRotation (Matrix3f &R) const
void	getCurrentTranslation (Vec3f &T) const
void	getCurrentTransform (Transform3f &tf_) const
template<>
FCL_REAL	computeMotionBound (const RSS &bv, const Vec3f &n) const
template<>
FCL_REAL	computeMotionBound (const RSS &bv, const Vec3f &n) 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.
Transform3f	tf2
	The transformation at time 1.
Transform3f	tf
	The transformation at current time t.
Vec3f	linear_vel
	Linear velocity.
FCL_REAL	angular_vel
	Angular speed.
Vec3f	angular_axis
	Angular velocity axis.
Vec3f	reference_p
	Reference point for the motion (in the object's local frame).

Detailed Description

template<typename BV>
class fcl::InterpMotion< BV >

Definition at line 489 of file motion.h.

Constructor & Destructor Documentation

template<typename BV>

fcl::InterpMotion< BV >::InterpMotion ( ) [inline]

Default transformations are all identities.

Default angular velocity is zero

Default reference point is local zero point

Default linear velocity is zero

Definition at line 493 of file motion.h.

template<typename BV>

fcl::InterpMotion< BV >::InterpMotion	(	const Matrix3f &	R1,
		const Vec3f &	T1,
		const Matrix3f &	R2,
		const Vec3f &	T2
	)			`[inline]`

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

Compute the velocities for the motion

Definition at line 505 of file motion.h.

template<typename BV>

fcl::InterpMotion< BV >::InterpMotion	(	const Transform3f &	tf1_,
		const Transform3f &	tf2_
	)			`[inline]`

Definition at line 515 of file motion.h.

template<typename BV>

fcl::InterpMotion< BV >::InterpMotion	(	const Matrix3f &	R1,
		const Vec3f &	T1,
		const Matrix3f &	R2,
		const Vec3f &	T2,
		const Vec3f &	O
	)			`[inline]`

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

Compute the velocities for the motion

Definition at line 525 of file motion.h.

The documentation for this class was generated from the following file:

fcl/include/fcl/ccd/motion.h

fcl::InterpMotion< BV > Class Template Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename BV> class fcl::InterpMotion< BV >

Constructor & Destructor Documentation

template<typename BV>
class fcl::InterpMotion< BV >