52 #ifndef __LIBS_TF_TIME_CACHE_H_
53 #define __LIBS_TF_TIME_CACHE_H_
57 #include <LinearMath/btTransform.h>
68 enum ExtrapolationMode {
75 typedef std::pair<fawkes::Time, CompactFrameID> P_TimeAndFrameID;
82 CompactFrameID child_frame_id);
108 static const int MIN_INTERPOLATION_DISTANCE = 5;
110 static const unsigned int MAX_LENGTH_LINKED_LIST = 1000000;
112 TimeCache(
float max_storage_time = 10.0);
115 std::string* error_str = 0);
118 CompactFrameID get_parent(
fawkes::Time time, std::string* error_str);
119 P_TimeAndFrameID get_latest_time_and_parent()
const;
122 unsigned int get_list_length()
const;
127 typedef std::list<TransformStorage> L_TransformStorage;
128 L_TransformStorage storage_;
130 float max_storage_time_;