bdk-blender/intern/itasc/MovingFrame.hpp
Campbell Barton 5035fbdd23 License headers: use SPDX identifiers in intern/itasc
Added license headers based on the original LGPL files from:
gitlab.kuleuven.be/rob-itasc
2022-03-18 10:27:01 +11:00

53 lines
1.2 KiB
C++

/* SPDX-License-Identifier: LGPL-2.1-or-later
* Copyright 2009 Benoit Bolsee. */
/** \file
* \ingroup intern_itasc
*/
#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 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_ */