Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

intern/itasc/MovingFrame.hpp

@@ -0,0 +1,48 @@
+/* $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_ */