test_class.declarator: nameResolver
test_class.modifier: private
test_class.original_string: private NameResolver nameResolver;
test_class.type: NameResolver
test_class.var_name: nameResolver
test_class.declarator: frameTransformTree
test_class.modifier: private
test_class.original_string: private FrameTransformTree frameTransformTree;
test_class.type: FrameTransformTree
test_class.var_name: frameTransformTree
test_class.declarator: messageDefinitionProvider
test_class.modifier: private
test_class.original_string: private MessageDefinitionProvider messageDefinitionProvider;
test_class.type: MessageDefinitionProvider
test_class.var_name: messageDefinitionProvider
test_class.declarator: messageFactory
test_class.modifier: private
test_class.original_string: private MessageFactory messageFactory;
test_class.type: MessageFactory
test_class.var_name: messageFactory
test_class.file: rosjava/nrosjava_geometry/src/test/java/org/ros/rosjava_geometry/FrameTransformTreeTest.java
test_class.identifier: FrameTransformTreeTest
test_case.body: @Test
    public void testTransformFuzToRoot() {
      updateFrameTransformTree();
      checkFuzToFooTransform(frameTransformTree.transformToRoot(nameResolver.resolve("fuz")));
    }
test_case.class_method_signature: FrameTransformTreeTest.testTransformFuzToRoot()
test_case.full_signature: @Test public void testTransformFuzToRoot()
test_case.identifier: testTransformFuzToRoot
test_case.invocations: updateFrameTransformTree checkFuzToFooTransform transformToRoot resolve
test_case.modifiers: @Test public
test_case.parameters: ()
test_case.return: void
test_case.signature: void testTransformFuzToRoot()
focal_class.declarator: TRANSFORM_QUEUE_CAPACITY = 16
focal_class.modifier: private static final
focal_class.original_string: private static final int TRANSFORM_QUEUE_CAPACITY = 16;
focal_class.type: int
focal_class.var_name: TRANSFORM_QUEUE_CAPACITY
focal_class.declarator: nameResolver
focal_class.modifier: private final
focal_class.original_string: private final NameResolver nameResolver;
focal_class.type: NameResolver
focal_class.var_name: nameResolver
focal_class.declarator: mutex
focal_class.modifier: private final
focal_class.original_string: private final Object mutex;
focal_class.type: Object
focal_class.var_name: mutex
focal_class.declarator: transforms
focal_class.modifier: private final
focal_class.original_string: private final Map<GraphName, CircularBlockingDeque<LazyFrameTransform>> transforms;
focal_class.type: Map<GraphName, CircularBlockingDeque<LazyFrameTransform>>
focal_class.var_name: transforms
focal_class.file: rosjava/nrosjava_geometry/src/main/java/org/ros/rosjava_geometry/FrameTransformTree.java
focal_class.identifier: FrameTransformTree
focal_class.class_method_signature: FrameTransformTree.FrameTransformTree(NameResolver nameResolver)
focal_class.full_signature: public  FrameTransformTree(NameResolver nameResolver)
focal_class.identifier: FrameTransformTree
focal_class.modifiers: public
focal_class.parameters: (NameResolver nameResolver)
focal_class.signature:  FrameTransformTree(NameResolver nameResolver)
focal_class.class_method_signature: FrameTransformTree.update(geometry_msgs.TransformStamped transformStamped)
focal_class.full_signature: public void update(geometry_msgs.TransformStamped transformStamped)
focal_class.identifier: update
focal_class.modifiers: public
focal_class.parameters: (geometry_msgs.TransformStamped transformStamped)
focal_class.return: void
focal_class.signature: void update(geometry_msgs.TransformStamped transformStamped)
focal_class.class_method_signature: FrameTransformTree.update(FrameTransform frameTransform)
focal_class.full_signature: @VisibleForTesting void update(FrameTransform frameTransform)
focal_class.identifier: update
focal_class.modifiers: @VisibleForTesting
focal_class.parameters: (FrameTransform frameTransform)
focal_class.return: void
focal_class.signature: void update(FrameTransform frameTransform)
focal_class.class_method_signature: FrameTransformTree.add(GraphName resolvedSource, LazyFrameTransform lazyFrameTransform)
focal_class.full_signature: private void add(GraphName resolvedSource, LazyFrameTransform lazyFrameTransform)
focal_class.identifier: add
focal_class.modifiers: private
focal_class.parameters: (GraphName resolvedSource, LazyFrameTransform lazyFrameTransform)
focal_class.return: void
focal_class.signature: void add(GraphName resolvedSource, LazyFrameTransform lazyFrameTransform)
focal_class.class_method_signature: FrameTransformTree.lookUp(GraphName source)
focal_class.full_signature: public FrameTransform lookUp(GraphName source)
focal_class.identifier: lookUp
focal_class.modifiers: public
focal_class.parameters: (GraphName source)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform lookUp(GraphName source)
focal_class.class_method_signature: FrameTransformTree.getLatest(GraphName resolvedSource)
focal_class.full_signature: private FrameTransform getLatest(GraphName resolvedSource)
focal_class.identifier: getLatest
focal_class.modifiers: private
focal_class.parameters: (GraphName resolvedSource)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform getLatest(GraphName resolvedSource)
focal_class.class_method_signature: FrameTransformTree.get(String source)
focal_class.full_signature: public FrameTransform get(String source)
focal_class.identifier: get
focal_class.modifiers: public
focal_class.parameters: (String source)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform get(String source)
focal_class.class_method_signature: FrameTransformTree.lookUp(GraphName source, Time time)
focal_class.full_signature: public FrameTransform lookUp(GraphName source, Time time)
focal_class.identifier: lookUp
focal_class.modifiers: public
focal_class.parameters: (GraphName source, Time time)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform lookUp(GraphName source, Time time)
focal_class.class_method_signature: FrameTransformTree.get(GraphName resolvedSource, Time time)
focal_class.full_signature: private FrameTransform get(GraphName resolvedSource, Time time)
focal_class.identifier: get
focal_class.modifiers: private
focal_class.parameters: (GraphName resolvedSource, Time time)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform get(GraphName resolvedSource, Time time)
focal_class.class_method_signature: FrameTransformTree.get(String source, Time time)
focal_class.full_signature: public FrameTransform get(String source, Time time)
focal_class.identifier: get
focal_class.modifiers: public
focal_class.parameters: (String source, Time time)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform get(String source, Time time)
focal_class.class_method_signature: FrameTransformTree.transform(GraphName source, GraphName target)
focal_class.full_signature: public FrameTransform transform(GraphName source, GraphName target)
focal_class.identifier: transform
focal_class.modifiers: public
focal_class.parameters: (GraphName source, GraphName target)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform transform(GraphName source, GraphName target)
focal_class.class_method_signature: FrameTransformTree.transform(String source, String target)
focal_class.full_signature: public FrameTransform transform(String source, String target)
focal_class.identifier: transform
focal_class.modifiers: public
focal_class.parameters: (String source, String target)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform transform(String source, String target)
focal_class.class_method_signature: FrameTransformTree.transformToRoot(GraphName resolvedSource)
focal_class.full_signature: @VisibleForTesting FrameTransform transformToRoot(GraphName resolvedSource)
focal_class.identifier: transformToRoot
focal_class.modifiers: @VisibleForTesting
focal_class.parameters: (GraphName resolvedSource)
focal_class.return: FrameTransform
focal_class.signature: FrameTransform transformToRoot(GraphName resolvedSource)
focal_method.body: @VisibleForTesting
    FrameTransform transformToRoot(GraphName resolvedSource) {
      FrameTransform result = getLatest(resolvedSource);
      if (result == null) {
        return null;
      }
      while (true) {
        FrameTransform resultToParent = lookUp(result.getTargetFrame(), result.getTime());
        if (resultToParent == null) {
          return result;
        }
        // Now resultToParent.getSourceFrame() == result.getTargetFrame()
        Transform transform = resultToParent.getTransform().multiply(result.getTransform());
        GraphName resolvedTarget = resultToParent.getTargetFrame();
        result = new FrameTransform(transform, resolvedSource, resolvedTarget, result.getTime());
      }
    }
focal_method.class_method_signature: FrameTransformTree.transformToRoot(GraphName resolvedSource)
focal_method.full_signature: @VisibleForTesting FrameTransform transformToRoot(GraphName resolvedSource)
focal_method.identifier: transformToRoot
focal_method.invocations: getLatest lookUp getTargetFrame getTime multiply getTransform getTransform getTargetFrame getTime
focal_method.modifiers: @VisibleForTesting
focal_method.parameters: (GraphName resolvedSource)
focal_method.return: FrameTransform
focal_method.signature: FrameTransform transformToRoot(GraphName resolvedSource)