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/*
* MovingFrame.h
*
* Created on: Feb 10, 2009
* Author: benoitbolsee
*/
#ifndef MOVINGFRAME_HPP_
#define MOVINGFRAME_HPP_
#include "UncontrolledObject.hpp"
#include <vector>
struct EvaluationContext;
namespace iTaSC{
typedef bool (*MovingFrameCallback)(
const struct EvaluationContext *eval_ctx,
const Timestamp& timestamp,
const Frame& _current,
Frame& _next,
void *param);
class MovingFrame: public UncontrolledObject {
public:
MovingFrame(const Frame& frame=F_identity);
virtual ~MovingFrame();
bool setFrame(const Frame& frame);
bool setCallback(MovingFrameCallback _function, void* _param);
virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp);
virtual void updateKinematics(const Timestamp& timestamp);
virtual void pushCache(const Timestamp& timestamp);
virtual void initCache(Cache *_cache);
virtual bool finalize();
protected:
virtual void updateJacobian();
private:
void pushInternalFrame(CacheTS timestamp);
bool popInternalFrame(CacheTS timestamp);
MovingFrameCallback m_function;
void* m_param;
Frame m_nextPose;
Twist m_velocity;
int m_poseCCh; // cache channel for pose
unsigned int m_poseCTs;
};
}
#endif /* MOVINGFRAME_H_ */
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