00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00038 #ifndef FCL_MOTION_BASE_H 00039 #define FCL_MOTION_BASE_H 00040 00041 00042 #include "fcl/math/transform.h" 00043 #include "fcl/BV/RSS.h" 00044 00045 namespace fcl 00046 { 00047 00048 template<typename BV> 00049 class MotionBase 00050 { 00051 public: 00052 virtual ~MotionBase() {} 00053 00055 virtual bool integrate(double dt) = 0; 00056 00058 virtual FCL_REAL computeMotionBound(const BV& bv, const Vec3f& n) const = 0; 00059 00061 virtual FCL_REAL computeMotionBound(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& n) const = 0; 00062 00064 virtual void getCurrentTransform(Matrix3f& R, Vec3f& T) const = 0; 00065 00066 virtual void getCurrentRotation(Matrix3f& R) const = 0; 00067 00068 virtual void getCurrentTranslation(Vec3f& T) const = 0; 00069 00070 virtual void getCurrentTransform(Transform3f& tf) const = 0; 00071 }; 00072 00073 00074 } 00075 00076 #endif
