Struct ReferenceFrames

pub struct ReferenceFrames {
    pub transforms: HashMap<(ChannelId, TransformId), Vec<Transform>>,
    pub frame_info: HashMap<FrameId, FrameInfo>,
    pub channel_info: HashMap<ChannelId, ChannelInfo>,
    pub transform_info: HashMap<TransformId, TransformInfo>,
}

Represents a list of transforms for representing different coordinate frames.

Fields

transforms: HashMap<(ChannelId, TransformId), Vec<Transform>>

frame_info: HashMap<FrameId, FrameInfo>

channel_info: HashMap<ChannelId, ChannelInfo>

transform_info: HashMap<TransformId, TransformInfo>

Implementations

impl ReferenceFrames

pub fn new( transforms: HashMap<(ChannelId, TransformId), Vec<Transform>>, frame_info: HashMap<FrameId, FrameInfo>, channel_info: HashMap<ChannelId, ChannelInfo>, transform_info: HashMap<TransformId, TransformInfo>, ) -> Result<Self, Error>

pub fn is_empty(&self) -> bool

pub fn transforms(&self) -> &HashMap<(ChannelId, TransformId), Vec<Transform>>

pub fn frame_info(&self) -> &HashMap<FrameId, FrameInfo>

pub fn channel_info(&self) -> &HashMap<ChannelId, ChannelInfo>

pub fn transform_info(&self) -> &HashMap<TransformId, TransformInfo>

impl ReferenceFrames

pub fn get_channel_ids(&self) -> HashSet<ChannelId>

pub fn get_frame_ids(&self) -> HashSet<FrameId>

pub fn get_transforms_of_channel( &self, channel_id: &ChannelId, transform_id: &TransformId, ) -> Result<&Vec<Transform>, Error>

pub fn get_channel_priority(&self, channel_id: &ChannelId) -> Result<i32, Error>

pub fn get_interpolation_method( &self, transform_id: &TransformId, ) -> InterpolationMethod

pub fn get_extrapolation_method( &self, transform_id: &TransformId, ) -> ExtrapolationMethod

pub fn contains_channel(&self, channel_id: &ChannelId) -> bool

pub fn contains_frame(&self, frame_id: &FrameId) -> bool

pub fn contains_transform( &self, channel_id: &ChannelId, transform_id: &TransformId, ) -> bool

impl ReferenceFrames

pub fn set_interpolation_method( &mut self, transform_id: TransformId, method: InterpolationMethod, )

pub fn set_extrapolation_method( &mut self, transform_id: TransformId, method: ExtrapolationMethod, )

pub fn add_transforms( &mut self, channel_id: ChannelId, transform_id: TransformId, transforms: Vec<Transform>, channel_info: Option<ChannelInfo>, transform_info: Option<TransformInfo>, ) -> Result<(), Error>

pub fn extend_transforms( &mut self, channel_id: ChannelId, transform_id: TransformId, transforms: Vec<Transform>, ) -> Result<(), Error>

impl ReferenceFrames

pub fn filter_by_channel_ids( &self, channel_ids: &[ChannelId], ) -> Result<ReferenceFrames, Error>

Filter by channel ids

pub fn filter_by_transform_ids( &self, transform_ids: &[TransformId], ) -> Result<ReferenceFrames, Error>

pub fn filter_by_time_interval( &self, start_time: &Option<DateTime<Utc>>, stop_time: &Option<DateTime<Utc>>, ) -> Result<ReferenceFrames, Error>

impl ReferenceFrames

pub fn get_timed_subset( &self, timestamp: &DateTime<Utc>, ) -> Result<ReferenceFrames, Error>

pub fn get_valid_transform( &self, channel_id: &ChannelId, transform_id: &TransformId, timestamp: &Option<DateTime<Utc>>, ) -> Result<Vec<&Transform>, Error>

Returns the transforms valid at a specific timestamp.

pub fn derive_transform_graph( &self, selected_channel_ids: &Option<HashSet<ChannelId>>, selected_timestamp: &Option<DateTime<Utc>>, ) -> Result<IsometryGraph, Error>

Derive a concrete transform graph for a specific timestamp and selected channels.

• selected_channel_ids - Selected channels for building the transform graph.
• selected_timestamp - Timestamp to choose for interpolating time-dependent transforms.

Trait Implementations

impl Clone for ReferenceFrames

fn clone(&self) -> ReferenceFrames

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ReferenceFrames

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for ReferenceFrames

fn default() -> ReferenceFrames

Returns the “default value” for a type.

impl PartialEq for ReferenceFrames

fn eq(&self, other: &ReferenceFrames) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for ReferenceFrames