8 #ifndef FIXEDOBJECT_HPP_
9 #define FIXEDOBJECT_HPP_
27 virtual const Frame&
getPose(
const unsigned int frameIndex);
35 typedef std::vector<std::pair<std::string, Frame> > FrameList;
38 unsigned int m_nframe;
39 FrameList m_frameArray;
represents a frame transformation in 3D space (rotation + translation)
virtual void updateKinematics(const Timestamp ×tamp)
virtual void updateJacobian()
virtual void initCache(Cache *_cache)
int addFrame(const std::string &name, const Frame &frame)
virtual void updateCoordinates(const Timestamp ×tamp)
virtual void pushCache(const Timestamp ×tamp)
virtual const Frame & getPose(const unsigned int frameIndex)
virtual int addEndEffector(const std::string &name)