@VisibleForTesting void update(FrameTransform frameTransform) { Preconditions.checkNotNull(frameTransform); GraphName source = frameTransform.getSourceFrame(); LazyFrameTransform lazyFrameTransform = new LazyFrameTransform(frameTransform); add(source, lazyFrameTransform); }
/** * Updates the tree with the provided {@link geometry_msgs.TransformStamped} message. * * <p>Note that the tree is updated lazily. Modifications to the provided {@link * geometry_msgs.TransformStamped} message may cause unpredictable results. * * @param transformStamped the {@link geometry_msgs.TransformStamped} message to update with */ public void update(geometry_msgs.TransformStamped transformStamped) { Preconditions.checkNotNull(transformStamped); GraphName source = GraphName.of(transformStamped.getChildFrameId()); LazyFrameTransform lazyFrameTransform = new LazyFrameTransform(transformStamped); add(source, lazyFrameTransform); }