represents a frame transformation in 3D space (rotation + translation)
virtual const unsigned int getNrOfCoordinates()
virtual void pushCache(const Timestamp ×tamp)=0
virtual const KDL::Frame & getPose(const unsigned int end_effector=0)
virtual void initCache(Cache *_cache)=0
virtual void updateKinematics(const Timestamp ×tamp)=0
virtual const ObjectType getType()
KDL::Frame m_internalPose
virtual int addEndEffector(const std::string &name)
virtual void updateJacobian()=0