public void AddListener(Action <TFStream> callback, bool notifyAllStreamsNow = true, string tfTopic = "/tf")
{
TFTopicState state = GetOrCreateTFTopic(tfTopic);
state.AddListener(callback);
if (notifyAllStreamsNow)
{
state.NotifyAllChanged();
}
}
TFTopicState GetOrCreateTFTopic(string tfTopic)
{
TFTopicState tfTopicState;
if (!m_TFTopics.TryGetValue(tfTopic, out tfTopicState))
{
tfTopicState = new TFTopicState(tfTopic);
m_TFTopics[tfTopic] = tfTopicState;
}
return(tfTopicState);
}
public TFStream GetOrCreateFrame(string frame_id, string tfTopic = "/tf")
{
TFTopicState topicState = GetOrCreateTFTopic(tfTopic);
return(topicState.GetOrCreateFrame(frame_id));
}
