transform_cache.h

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#ifndef ED_TRANSFORM_CACHE_H_
#define ED_TRANSFORM_CACHE_H_
 
#include "ed/relation.h"
#include "ed/time_cache.h"
 
namespace ed
{
 
class TransformCache : public ed::Relation
{
 
public:
 
    TransformCache();
 
    ~TransformCache();
 
    bool calculateTransform(const Time& t, geo::Pose3D& tf) const;
 
    void insert(const Time& t, const geo::Pose3D& tf) { cache_.insert(t, tf); }
 
private:
 
    // Transforms, ordered in time
    TimeCache<geo::Pose3D> cache_;
 
};
 
} // end namespace ed
 
#endif