arci/clients/
dummy_transform_resolver.rs
1use nalgebra::Isometry3;
2
3use crate::{Error, TransformResolver};
4
5#[derive(Debug)]
7pub struct DummyTransformResolver {
8 pub transformation: Isometry3<f64>,
9}
10
11impl DummyTransformResolver {
12 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}