struct BaseLink
{

    auto export()
    {
        //does not use mPrimaryFrame
    }

    auto getPrimaryFrame() const
        -> Frame
    {
        return mPrimaryFrame;
    }

    Frame mPrimaryFrame;
};

struct Manipulator
{
    auto getBaseLink() const
        -> BaseLink;

    auto export() const
        -> EcIndividualManipulator
};


auto createStatedSystem(EcIndividualManipulator)
    -> EcStatedSystem;

auto export(const Manipulator& m)
{
    auto individualManipulator = m->export();
    auto primaryFrame = m->getBaseLink().getPrimaryFrame();

    return createStatedSystem(individualManipulator, primaryFrame);
}