14 m_finalized(false), m_nframe(0)
27 FrameList::iterator it;
29 for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) {
30 if (it->first == name) {
36 m_frameArray.push_back(FrameList::value_type(name,frame));
43 FrameList::iterator it;
45 for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) {
46 if (it->first == name) {
64 if (frameIndex < m_nframe) {
65 return m_frameArray[frameIndex].second;
represents a frame transformation in 3D space (rotation + translation)
int addFrame(const std::string &name, const Frame &frame)
virtual const Frame & getPose(const unsigned int frameIndex)
virtual int addEndEffector(const std::string &name)
virtual void initialize(unsigned int _nu, unsigned int _nf)