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Can I use the OnPoseChange() method of gazebo::physics::Link element to call a callback function?

I found this function in a source code of Link.hh

 /// \internal
 /// \brief Called when the pose is changed. Do not call this directly.
 public: virtual void OnPoseChange();

It seems like something I could use in a plugin instead of the timer or update event connection pointer to call function to do something. But I can't find an example of use. Is it even possible? If so, how can I use it?