Overall execution pseudo code

process :

       - if first reading
           - initialize                          [O]
           - return

       - preProcessing                           [O]

       - getIncrementPrior

                     increment_in_base_prior_ *IF*
                  /  set using setIncrementPrior
           return |
                  \  predict()  otherwise        [O]

       - processImpl                             [X]

       - posePlusIncrement                       [O]

       - is_keyframe = isKeyFrame(delta_pose)    [O]

       - if is_keyframe is true

          - isKeyFrame                           [O]

       - if is_keyframe is NOT true

          - isNotKeyFrame                        [O]

       - postProcessing                          [O]

[X] Symbol marks the necessity for the derived class to override the function.
[O] Symbol marks the optionality for the derived class to override the function.