| 814 |  | */ | 
| 815 |  | Vector3d lab2Body(const Vector3d& v) { | 
| 816 |  | return getA() * v; | 
| 817 | + | } | 
| 818 | + |  | 
| 819 | + | Vector3d lab2Body(const Vector3d& v, int frame) { | 
| 820 | + | return getA(frame) * v; | 
| 821 |  | } | 
| 822 |  |  | 
| 823 |  | /** | 
| 828 |  | Vector3d body2Lab(const Vector3d& v){ | 
| 829 |  | return getA().transpose() * v; | 
| 830 |  | } | 
| 831 | + |  | 
| 832 | + | Vector3d body2Lab(const Vector3d& v, int frame){ | 
| 833 | + | return getA(frame).transpose() * v; | 
| 834 | + | } | 
| 835 |  | /** | 
| 836 |  | * <p> | 
| 837 |  | * The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |