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 00037 #ifndef FCL_TAYLOR_VECTOR_H 00038 #define FCL_TAYLOR_VECTOR_H 00039 00040 #include "fcl/ccd/interval_vector.h" 00041 #include "fcl/ccd/taylor_model.h" 00042 00043 namespace fcl 00044 { 00045 00046 struct TVector3 00047 { 00048 TaylorModel i_[3]; 00049 00050 TVector3(); 00051 TVector3(const boost::shared_ptr<TimeInterval>& time_interval); 00052 TVector3(TaylorModel v[3]); 00053 TVector3(const TaylorModel& v0, const TaylorModel& v1, const TaylorModel& v2); 00054 TVector3(const Vec3f& v, const boost::shared_ptr<TimeInterval>& time_interval); 00055 00056 TVector3 operator + (const TVector3& other) const; 00057 TVector3& operator += (const TVector3& other); 00058 00059 TVector3 operator + (FCL_REAL d) const; 00060 TVector3& operator += (FCL_REAL d); 00061 00062 TVector3 operator - (const TVector3& other) const; 00063 TVector3& operator -= (const TVector3& other); 00064 00065 TVector3 operator * (const TaylorModel& d) const; 00066 TVector3& operator *= (const TaylorModel& d); 00067 TVector3 operator * (FCL_REAL d) const; 00068 TVector3& operator *= (FCL_REAL d); 00069 00070 const TaylorModel& operator [] (size_t i) const; 00071 TaylorModel& operator [] (size_t i); 00072 00073 TaylorModel dot(const TVector3& other) const; 00074 TVector3 cross(const TVector3& other) const; 00075 TaylorModel dot(const Vec3f& other) const; 00076 TVector3 cross(const Vec3f& other) const; 00077 00078 IVector3 getBound() const; 00079 IVector3 getBound(FCL_REAL t) const; 00080 00081 void print() const; 00082 FCL_REAL volumn() const; 00083 void setZero(); 00084 00085 TaylorModel squareLength() const; 00086 00087 void setTimeInterval(const boost::shared_ptr<TimeInterval>& time_interval); 00088 }; 00089 00090 void generateTVector3ForLinearFunc(TVector3& v, const Vec3f& position, const Vec3f& velocity); 00091 00092 00093 } 00094 00095 #endif
