Detect cycles, change internal tf representation, expose all_frames_as_map method#5
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AlexKaravaev wants to merge 1 commit intoMaxiMaerz:masterfrom
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Detect cycles, change internal tf representation, expose all_frames_as_map method#5AlexKaravaev wants to merge 1 commit intoMaxiMaerz:masterfrom
AlexKaravaev wants to merge 1 commit intoMaxiMaerz:masterfrom
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all_frames_as_map method Two major changes: 1. Before adding a new frame with `add_transform`, we now check if it creates a cycle in the tree. 2. Completely changed the internal tf representation to a more tree-like structure, inspired by the original ros tf library. This change eliminates duplicates in the hashmap and removes the need to add transforms for inverted pairs. The API remains unchanged for the end-user, but this update allows us to expose functions like `all_frames_as_map` and enables more granular frame manipulation.
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Two major changes:
add_transform, we now check if it creates a cycle in the tree.all_frames_as_mapand enables more granular frame manipulation.This is required for carzum/termviz#96 to not depend on any external service. It's a big change so it is the impact, I tried to cover every test case in test(please tell me if I forgot about some), but in my opinion this is needed as original representation wasn't complete.