Class for caching spatial transforms. This class is used by mpkAdaptSegmentChecker to avoid redundant computations of transforms while checking a segment for collisions. Each segment checker maintains its own cache.
|mpkTransformCache (int initsz=1)|
|bool||insert (const mpkTransform& T, unsigned i, unsigned j, unsigned k)|
|bool||load (mpkTransform& T, unsigned i, unsigned j, unsigned k)|
Each cached transform is indexed by a triple of values: the robot reference (i), the joint reference (j) and the position on the segment for which the transform is stored (k). For the latter, this means that the segment is discretized. In practice, discretization by a variable of type unsigned should be sufficient.
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