MovingFrame.hpp

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/*
 * MovingFrame.h
 *
 *  Created on: Feb 10, 2009
 *      Author: benoitbolsee
 */

#ifndef MOVINGFRAME_HPP_
#define MOVINGFRAME_HPP_

#include "UncontrolledObject.hpp"
#include <vector>


namespace iTaSC{

typedef bool (*MovingFrameCallback)(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 Timestamp& timestamp);
    virtual void updateKinematics(const Timestamp& timestamp);
    virtual void pushCache(const Timestamp& timestamp);
    virtual void initCache(Cache *_cache);
    virtual void 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_ */