public bool getData(ulong time_, ref TransformStorage data_out, ref string error_str)
{
TransformStorage temp1 = null, temp2 = null;
int num_nodes;
num_nodes = findClosest(ref temp1, ref temp2, time_, ref error_str);
switch (num_nodes)
{
case 0:
return(false);
case 1:
data_out = temp1;
break;
case 2:
if (temp1.frame_id == temp2.frame_id)
{
interpolate(temp1, temp2, time_, ref data_out);
}
else
{
data_out = temp1;
}
break;
default:
ROS.FREAKOUT();
break;
}
return(true);
}
private void construct(string ns, bool validate_name)
{
if (!ROS.initialized)
{
ROS.FREAKOUT();
}
collection = new NodeHandleBackingCollection();
UnresolvedNamespace = ns;
Namespace = validate_name ? resolveName(ns) : resolveName(ns, true, true);
ok = true;
lock (nh_refcount_mutex)
{
if (nh_refcount == 0 && !ROS.isStarted())
{
node_started_by_nh = true;
ROS.start();
}
++nh_refcount;
}
}