Add API that is closer to the original tf2 one #1
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bitbots_tf_buffer/__init__.py
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| class TransformListener: | ||
| """ | ||
| A dummy TransformListener that just sets the node into the C++ Buffer. | ||
| This is done for compatibility with the previous implementation. |
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Previous means here the original API?
| def set_node(self, node: Node): | ||
| """ | ||
| This API is used instead of the constructor to set the node. | ||
| This way we can have a dummy TransformListener and therefore | ||
| keep compatibility with the official implementation. | ||
| """ | ||
| self._impl = CppBuffer(serialize_message(Duration.to_msg(self.cache_time)), node) |
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I believe, set_node is a custom name and does not stem from tf2_ros, right?
I don't have a better suggestion, but I have the feeling, the names here are a bit convoluted: set_node, impl, CppBuffer. Maybe we can clean this up a bit ;)
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Add node ist a custom API. But is does not break the upstream interface.
What do you mean by convoluted?
CppBuffer ist the name of the Cpp library that this python class wraps to add things like types, doc strings etc.
impl holds the reference to the actual implementation. Naming the it impl is common with this pattern. I think TF2 and our move it bindings do it too (tho. I haven't checked).
And add node adds a node to the TF buffer enabling the use of a dummy listener.
I am not sure how to clean it up either.
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