void RobotConfiguration::isReadyUpdate(){
_isReady = false;
ReferenceFrame * baseReferenceFrame = frame(_baseReferenceFrameId);
if (! baseReferenceFrame)
return;
// for each sensor, check if you can determine the transformation to the base link
for (std::map<std::string, BaseSensor*>::iterator it = _sensorMap.begin(); it!=_sensorMap.end(); it++){
BaseSensor* s = it->second;
if (! s)
return;
ReferenceFrame * f = s->frame();
if (! f)
return;
if (! f->canTransformTo(baseReferenceFrame))
return;
}
_isReady = true;
}
