void Transformer::pushDynamicTransformation(const transformer::TransformationType& tr)
{
if(tr.sourceFrame == "" || tr.targetFrame == "")
throw std::runtime_error("Dynamic transformation with empty target or source frame given");
if(tr.time.isNull())
throw std::runtime_error("Dynamic transformation without time given (or it is 1970 ;-P)");
std::map<std::pair<std::string, std::string>, int>::iterator it = transformToStreamIndex.find(std::make_pair(tr.sourceFrame, tr.targetFrame));
//we got an unknown transformation
if(it == transformToStreamIndex.end()) {
//create a representation of the dynamic transformation
DynamicTransformationElement *dynamicElement = new DynamicTransformationElement(tr.sourceFrame, tr.targetFrame, aggregator, priority);
int streamIdx = dynamicElement->getStreamIdx();
transformToStreamIndex[std::make_pair(tr.sourceFrame, tr.targetFrame)] = streamIdx;
LOG_DEBUG_S << "Registering new stream for transformation from " << tr.sourceFrame << " to " << tr.targetFrame << " index is " << streamIdx;
//add new dynamic element to transformation tree
transformationTree.addTransformation(dynamicElement);
recomputeAvailableTransformations();
it = transformToStreamIndex.find(std::make_pair(tr.sourceFrame, tr.targetFrame));
assert(it != transformToStreamIndex.end());
}
//push sample
aggregator.push(it->second, tr.time, tr);
}
void Transformer::setFrameMapping(const std::string& frameName, const std::string& newName)
{
for(std::vector<Transformation *>::iterator transform = transformations.begin(); transform != transformations.end(); transform++)
{
(*transform)->setFrameMapping(frameName, newName);
}
recomputeAvailableTransformations();
}
void Transformer::pushStaticTransformation(const transformer::TransformationType& tr)
{
if(tr.sourceFrame == "" || tr.targetFrame == "")
throw std::runtime_error("Static transformation with empty target or source frame given");
transformationTree.addTransformation(new StaticTransformationElement(tr.sourceFrame, tr.targetFrame, tr));
recomputeAvailableTransformations();
}
