Struct TransformTree 

pub struct TransformTree {
    pub edges: HashMap<TransformId, TransformEdge>,
    pub frames: HashMap<FrameId, FrameInfo>,
    /* private fields */
}

Fields

edges: HashMap<TransformId, TransformEdge>

frames: HashMap<FrameId, FrameInfo>

Implementations

impl TransformTree

pub fn new( edges: Vec<TransformEdge>, frames: Vec<FrameInfo>, ) -> Result<Self, Error>

pub fn is_empty(&self) -> bool

pub fn edges(&self) -> &HashMap<TransformId, TransformEdge>

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

pub fn insert_edge(&mut self, edge: TransformEdge)

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

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

impl TransformTree

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

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

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

pub fn remove_transform(&mut self, transform_id: &TransformId)

impl TransformTree

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

pub fn get_transform_at_time( &self, transform_id: &TransformId, timestamp: DateTime<Utc>, ) -> Result<Transform, Error>

pub fn get_static_transform( &self, transform_id: &TransformId, ) -> Result<Transform, Error>

pub fn compute_timed_transforms_for_all_samples( &self, transform_id: &TransformId, ) -> Result<Vec<TimedTransform>, Error>

Computes transforms at all dynamic sample timestamps along a transform path.

This method identifies all dynamic transforms in the path from the parent frame to the child frame specified by transform_id, collects all their sample timestamps, and computes the complete transform at each of those timestamps.

pub fn is_transform_path_static( &self, transform_id: &TransformId, ) -> Result<bool, Error>

Checks if a transform path contains only static transforms.

This method determines whether the entire path from the parent frame to the child frame specified by transform_id consists exclusively of static transforms, with no dynamic (time-varying) transforms.

Trait Implementations

impl Clone for TransformTree

fn clone(&self) -> TransformTree

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for TransformTree

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

Formats the value using the given formatter.

impl Default for TransformTree

fn default() -> TransformTree

Returns the “default value” for a type.