@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);
}