8 #ifndef MOVINGFRAME_HPP_
9 #define MOVINGFRAME_HPP_
19 const Frame& _current,
40 void pushInternalFrame(
CacheTS timestamp);
41 bool popInternalFrame(
CacheTS timestamp);
47 unsigned int m_poseCTs;
represents a frame transformation in 3D space (rotation + translation)
represents both translational and rotational velocities.
virtual void updateKinematics(const Timestamp ×tamp)
virtual void updateJacobian()
MovingFrame(const Frame &frame=F_identity)
virtual void updateCoordinates(const Timestamp ×tamp)
bool setCallback(MovingFrameCallback _function, void *_param)
virtual void pushCache(const Timestamp ×tamp)
virtual void initCache(Cache *_cache)
bool setFrame(const Frame &frame)
bool(* MovingFrameCallback)(const Timestamp ×tamp, const Frame &_current, Frame &_next, void *param)