TaylorModel TaylorModel::operator - (FCL_REAL d) const { return TaylorModel(coeffs_[0] - d, coeffs_[1], coeffs_[2], coeffs_[3], r_, time_interval_); }
TaylorModel TaylorModel::operator - () const { return TaylorModel(-coeffs_[0], -coeffs_[1], -coeffs_[2], -coeffs_[3], -r_, time_interval_); }
TaylorModel TaylorModel::operator - (const TaylorModel& other) const { assert(other.time_interval_ == time_interval_); return TaylorModel(coeffs_[0] - other.coeffs_[0], coeffs_[1] - other.coeffs_[1], coeffs_[2] - other.coeffs_[2], coeffs_[3] - other.coeffs_[3], r_ - other.r_, time_interval_); }
TaylorModel TaylorModel::operator * (FCL_REAL d) const { return TaylorModel(coeffs_[0] * d, coeffs_[1] * d, coeffs_[2] * d, coeffs_[3] * d, r_ * d, time_interval_); }
TVector3::TVector3(const Vec3f& v, const boost::shared_ptr<TimeInterval>& time_interval) { i_[0] = TaylorModel(v[0], time_interval); i_[1] = TaylorModel(v[1], time_interval); i_[2] = TaylorModel(v[2], time_interval); }