/usr/include/fcl/ccd/taylor_model.h is in libfcl-dev 0.5.0-5.
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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_MODEL_H
#define FCL_CCD_TAYLOR_MODEL_H
#include "fcl/ccd/interval.h"
#include <memory>
namespace fcl
{
struct TimeInterval
{
/// @brief time interval and different powers
Interval t_; // [t1, t2]
Interval t2_; // [t1, t2]^2
Interval t3_; // [t1, t2]^3
Interval t4_; // [t1, t2]^4
Interval t5_; // [t1, t2]^5
Interval t6_; // [t1, t2]^6
TimeInterval() {}
TimeInterval(FCL_REAL l, FCL_REAL r)
{
setValue(l, r);
}
void setValue(FCL_REAL l, FCL_REAL r)
{
t_.setValue(l, r);
t2_.setValue(l * t_[0], r * t_[1]);
t3_.setValue(l * t2_[0], r * t2_[1]);
t4_.setValue(l * t3_[0], r * t3_[1]);
t5_.setValue(l * t4_[0], r * t4_[1]);
t6_.setValue(l * t5_[0], r * t5_[1]);
}
};
/// @brief TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function
/// over a time interval, with an interval remainder.
/// All the operations on two Taylor models assume their time intervals are the same.
class TaylorModel
{
/// @brief time interval
std::shared_ptr<TimeInterval> time_interval_;
/// @brief Coefficients of the cubic polynomial approximation
FCL_REAL coeffs_[4];
/// @brief interval remainder
Interval r_;
public:
void setTimeInterval(FCL_REAL l, FCL_REAL r)
{
time_interval_->setValue(l, r);
}
void setTimeInterval(const std::shared_ptr<TimeInterval>& time_interval)
{
time_interval_ = time_interval;
}
const std::shared_ptr<TimeInterval>& getTimeInterval() const
{
return time_interval_;
}
FCL_REAL coeff(std::size_t i) const { return coeffs_[i]; }
FCL_REAL& coeff(std::size_t i) { return coeffs_[i]; }
const Interval& remainder() const { return r_; }
Interval& remainder() { return r_; }
TaylorModel();
TaylorModel(const std::shared_ptr<TimeInterval>& time_interval);
TaylorModel(FCL_REAL coeff, const std::shared_ptr<TimeInterval>& time_interval);
TaylorModel(FCL_REAL coeffs[3], const Interval& r, const std::shared_ptr<TimeInterval>& time_interval);
TaylorModel(FCL_REAL c0, FCL_REAL c1, FCL_REAL c2, FCL_REAL c3, const Interval& r, const std::shared_ptr<TimeInterval>& time_interval);
TaylorModel operator + (const TaylorModel& other) const;
TaylorModel& operator += (const TaylorModel& other);
TaylorModel operator - (const TaylorModel& other) const;
TaylorModel& operator -= (const TaylorModel& other);
TaylorModel operator + (FCL_REAL d) const;
TaylorModel& operator += (FCL_REAL d);
TaylorModel operator - (FCL_REAL d) const;
TaylorModel& operator -= (FCL_REAL d);
TaylorModel operator * (const TaylorModel& other) const;
TaylorModel operator * (FCL_REAL d) const;
TaylorModel& operator *= (const TaylorModel& other);
TaylorModel& operator *= (FCL_REAL d);
TaylorModel operator - () const;
void print() const;
Interval getBound() const;
Interval getBound(FCL_REAL l, FCL_REAL r) const;
Interval getTightBound() const;
Interval getTightBound(FCL_REAL l, FCL_REAL r) const;
Interval getBound(FCL_REAL t) const;
void setZero();
};
TaylorModel operator * (FCL_REAL d, const TaylorModel& a);
TaylorModel operator + (FCL_REAL d, const TaylorModel& a);
TaylorModel operator - (FCL_REAL d, const TaylorModel& a);
/// @brief Generate Taylor model for cos(w t + q0)
void generateTaylorModelForCosFunc(TaylorModel& tm, FCL_REAL w, FCL_REAL q0);
/// @brief Generate Taylor model for sin(w t + q0)
void generateTaylorModelForSinFunc(TaylorModel& tm, FCL_REAL w, FCL_REAL q0);
/// @brief Generate Taylor model for p + v t
void generateTaylorModelForLinearFunc(TaylorModel& tm, FCL_REAL p, FCL_REAL v);
}
#endif
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