[Rock-dev] [rock] #98: transformer: allow a stream-aligner-like transformer configuration

[rock]

#98: transformer: allow a stream-aligner-like transformer configuration
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Reporter:  sylvain.joyeux  |      Owner:  rock-dev-mailing-list
    Type:  enhancement     |     Status:  new
Priority:  normal          |  Component:  base
Keywords:                  |
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 The transformer currently needs to have a zero-lookahead on each
 transformation stream, which leads to unnecessary latencies (which might
 be pretty big).

 We should instead offer a way to configure the transformer in much the
 same way than we can configure the stream aligner.

 This could be done by adding a transformer_configuration property which
 would store:

  * add (sourceFrame, targetFrame, period) triplets defining, for each
 dynamic transformation, the corresponding period.
  * a flag that tells, for each of the transformations that
    the component needs, which will be used with
    interpolation and which not. Remove the corresponding
    flag on the .get method.

 The second point is needed so that the transformer determines which of the
 individual dynamic transformations should be configured with zero-
 lookahead and which should not.

-- 
Ticket URL: <https://rock.opendfki.de/ticket/98>
rock <https://rock.opendfki.de>
rock: the robot construction kit