MovingFrame.hpp

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/* $Id: MovingFrame.hpp 19907 2009-04-23 13:41:59Z ben2610 $
 * 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_ */