/usr/include/fcl/ccd/taylor_vector.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
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* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
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* modification, are permitted provided that the following conditions
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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_VECTOR_H
#define FCL_CCD_TAYLOR_VECTOR_H
#include "fcl/ccd/interval_vector.h"
#include "fcl/ccd/taylor_model.h"
namespace fcl
{
class TVector3
{
TaylorModel i_[3];
public:
TVector3();
TVector3(const std::shared_ptr<TimeInterval>& time_interval);
TVector3(TaylorModel v[3]);
TVector3(const TaylorModel& v0, const TaylorModel& v1, const TaylorModel& v2);
TVector3(const Vec3f& v, const std::shared_ptr<TimeInterval>& time_interval);
TVector3 operator + (const TVector3& other) const;
TVector3& operator += (const TVector3& other);
TVector3 operator + (const Vec3f& other) const;
TVector3& operator += (const Vec3f& other);
TVector3 operator - (const TVector3& other) const;
TVector3& operator -= (const TVector3& other);
TVector3 operator - (const Vec3f& other) const;
TVector3& operator -= (const Vec3f& other);
TVector3 operator - () const;
TVector3 operator * (const TaylorModel& d) const;
TVector3& operator *= (const TaylorModel& d);
TVector3 operator * (FCL_REAL d) const;
TVector3& operator *= (FCL_REAL d);
const TaylorModel& operator [] (size_t i) const;
TaylorModel& operator [] (size_t i);
TaylorModel dot(const TVector3& other) const;
TVector3 cross(const TVector3& other) const;
TaylorModel dot(const Vec3f& other) const;
TVector3 cross(const Vec3f& other) const;
IVector3 getBound() const;
IVector3 getBound(FCL_REAL l, FCL_REAL r) const;
IVector3 getBound(FCL_REAL t) const;
IVector3 getTightBound() const;
IVector3 getTightBound(FCL_REAL l, FCL_REAL r) const;
void print() const;
FCL_REAL volumn() const;
void setZero();
TaylorModel squareLength() 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;
};
void generateTVector3ForLinearFunc(TVector3& v, const Vec3f& position, const Vec3f& velocity);
TVector3 operator * (const Vec3f& v, const TaylorModel& a);
TVector3 operator + (const Vec3f& v1, const TVector3& v2);
TVector3 operator - (const Vec3f& v1, const TVector3& v2);
}
#endif
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