arci/clients/
dummy_transform_resolver.rs

1use nalgebra::Isometry3;
2
3use crate::{Error, TransformResolver};
4
5/// Dummy TransformResolver for debug or tests.
6#[derive(Debug)]
7pub struct DummyTransformResolver {
8    pub transformation: Isometry3<f64>,
9}
10
11impl DummyTransformResolver {
12    /// Creates a new `DummyTransformResolver`.
13    pub fn new() -> Self {
14        Self {
15            transformation: Isometry3::identity(),
16        }
17    }
18}
19
20impl Default for DummyTransformResolver {
21    fn default() -> Self {
22        Self::new()
23    }
24}
25
26impl TransformResolver for DummyTransformResolver {
27    fn resolve_transformation(
28        &self,
29        _from: &str,
30        _to: &str,
31        _time: std::time::SystemTime,
32    ) -> Result<Isometry3<f64>, Error> {
33        Ok(self.transformation)
34    }
35}