2011-10-23 17:52:20 +00:00
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/*
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2009-09-24 21:22:24 +00:00
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* MovingFrame.h
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*
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* Created on: Feb 10, 2009
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* Author: benoitbolsee
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*/
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#ifndef MOVINGFRAME_HPP_
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#define MOVINGFRAME_HPP_
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#include "UncontrolledObject.hpp"
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#include <vector>
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namespace iTaSC{
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typedef bool (*MovingFrameCallback)(const Timestamp& timestamp, const Frame& _current, Frame& _next, void *param);
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class MovingFrame: public UncontrolledObject {
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public:
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MovingFrame(const Frame& frame=F_identity);
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virtual ~MovingFrame();
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bool setFrame(const Frame& frame);
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bool setCallback(MovingFrameCallback _function, void* _param);
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virtual void updateCoordinates(const Timestamp& timestamp);
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virtual void updateKinematics(const Timestamp& timestamp);
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virtual void pushCache(const Timestamp& timestamp);
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virtual void initCache(Cache *_cache);
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virtual void finalize();
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protected:
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virtual void updateJacobian();
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private:
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void pushInternalFrame(CacheTS timestamp);
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bool popInternalFrame(CacheTS timestamp);
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MovingFrameCallback m_function;
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void* m_param;
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Frame m_nextPose;
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Twist m_velocity;
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int m_poseCCh; // cache channel for pose
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unsigned int m_poseCTs;
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};
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}
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#endif /* MOVINGFRAME_H_ */
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