/usr/include/fcl/ccd/taylor_matrix.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* modification, are permitted provided that the following conditions
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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
/** \author Jia Pan */
#ifndef FCL_CCD_TAYLOR_MATRIX_H
#define FCL_CCD_TAYLOR_MATRIX_H
#include "fcl/math/matrix_3f.h"
#include "fcl/ccd/taylor_vector.h"
#include "fcl/ccd/interval_matrix.h"
namespace fcl
{
class TMatrix3
{
TVector3 v_[3];
public:
TMatrix3();
TMatrix3(const std::shared_ptr<TimeInterval>& time_interval);
TMatrix3(TaylorModel m[3][3]);
TMatrix3(const TVector3& v1, const TVector3& v2, const TVector3& v3);
TMatrix3(const Matrix3f& m, const std::shared_ptr<TimeInterval>& time_interval);
TVector3 getColumn(size_t i) const;
const TVector3& getRow(size_t i) const;
const TaylorModel& operator () (size_t i, size_t j) const;
TaylorModel& operator () (size_t i, size_t j);
TVector3 operator * (const Vec3f& v) const;
TVector3 operator * (const TVector3& v) const;
TMatrix3 operator * (const Matrix3f& m) const;
TMatrix3 operator * (const TMatrix3& m) const;
TMatrix3 operator * (const TaylorModel& d) const;
TMatrix3 operator * (FCL_REAL d) const;
TMatrix3& operator *= (const Matrix3f& m);
TMatrix3& operator *= (const TMatrix3& m);
TMatrix3& operator *= (const TaylorModel& d);
TMatrix3& operator *= (FCL_REAL d);
TMatrix3 operator + (const TMatrix3& m) const;
TMatrix3& operator += (const TMatrix3& m);
TMatrix3 operator + (const Matrix3f& m) const;
TMatrix3& operator += (const Matrix3f& m);
TMatrix3 operator - (const TMatrix3& m) const;
TMatrix3& operator -= (const TMatrix3& m);
TMatrix3 operator - (const Matrix3f& m) const;
TMatrix3& operator -= (const Matrix3f& m);
TMatrix3 operator - () const;
IMatrix3 getBound() const;
IMatrix3 getBound(FCL_REAL l, FCL_REAL r) const;
IMatrix3 getBound(FCL_REAL t) const;
IMatrix3 getTightBound() const;
IMatrix3 getTightBound(FCL_REAL l, FCL_REAL r) const;
void print() const;
void setIdentity();
void setZero();
FCL_REAL diameter() const;
void setTimeInterval(const std::shared_ptr<TimeInterval>& time_interval);
void setTimeInterval(FCL_REAL l, FCL_REAL r);
const std::shared_ptr<TimeInterval>& getTimeInterval() const;
TMatrix3& rotationConstrain();
};
TMatrix3 rotationConstrain(const TMatrix3& m);
TMatrix3 operator * (const Matrix3f& m, const TaylorModel& a);
TMatrix3 operator * (const TaylorModel& a, const Matrix3f& m);
TMatrix3 operator * (const TaylorModel& a, const TMatrix3& m);
TMatrix3 operator * (FCL_REAL d, const TMatrix3& m);
TMatrix3 operator + (const Matrix3f& m1, const TMatrix3& m2);
TMatrix3 operator - (const Matrix3f& m1, const TMatrix3& m2);
}
#endif
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