cartesian-tree
cartesian-tree is a library for managing and transforming poses in a tree-structured hierarchy of 3D coordinate frames in rust as well as python.
Key ideas
- Tree Structure: Frames form a tree where each frame defines its position and orientation relative to a parent frame.
- Poses and Transformations: A Pose represents a position + orientation in a frame. Easily transform poses between frames of the same tree.
- Unified Rotations: Supports quaternions and roll-pitch-yaw (RPY) interchangeably.
- Lazy Operations: Quick adjustments like translations (
+ x(1.0)) or rotations (* rz(PI/4)). - Thread Safety: Frames and poses can be shared across threads; every operation sees a consistent snapshot of the tree.
Installation
The project can be found on crates.io and pypi.org
Usage
Rust:
use cartesian_tree::{Frame, Pose};
use nalgebra::{Vector3, UnitQuaternion};
fn main() {
// Create root frame
let world = Frame::new_origin("world");
// Add a child frame
let child = world.add_child(
"child",
Vector3::new(1.0, 0.0, 0.0),
UnitQuaternion::from_euler_angles(0.0, 0.0, std::f64::consts::FRAC_PI_2),
).unwrap();
// Create a pose in the world frame
let pose = world.add_pose(Vector3::new(0.0, 1.0, 0.0), UnitQuaternion::identity());
// Transform the pose to the child frame
let pose_in_child = pose.in_frame(&child).unwrap();
println!("Pose in child: {:?}", pose_in_child.transformation());
Python:
from cartesian_tree import Frame, Rotation, Vector3
# Create root frame
world = Frame("world")
# Add a child frame
child = world.add_child(
"child",
Vector3(1.0, 0.0, 0.0),
Rotation.identity()
)
# Create a pose in the world frame
pose = world.add_pose(
Vector3(0.0, 1.0, 0.0), Rotation.identity()
)
# Transform the pose to the child frame
pose_in_child = pose.in_frame(child)
print(f"Pose in child: {pose_in_child}")
1 maintainer
Release files for cartesian-tree 0.4.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| cartesian_tree-0.4.0.tar.gz | 31.0 kB | Details |
Built distributions (wheels)
Total release size: 13.1 MB
Release files / cartesian_tree-0.4.0.tar.gz
| Download URL | cartesian_tree-0.4.0.tar.gz |
|---|---|
| Size | 31.0 kB |
| Tags | Source |
|
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Release files / cartesian_tree-0.4.0-pp311-pypy311_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl
| Download URL | cartesian_tree-0.4.0-pp311-pypy311_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl |
|---|---|
| Size | 399.4 kB |
| Tags | Linux glibc 2.17+ ARMv7l PyPy 3.11 PyPy 3.11 7.3 |
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Release files / cartesian_tree-0.4.0-pp311-pypy311_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
| Download URL | cartesian_tree-0.4.0-pp311-pypy311_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl |
|---|---|
| Size | 395.5 kB |
| Tags | Linux glibc 2.17+ ARM64 PyPy 3.11 PyPy 3.11 7.3 |
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| Download URL | cartesian_tree-0.4.0-pp310-pypy310_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl |
|---|---|
| Size | 399.4 kB |
| Tags | Linux glibc 2.17+ ARMv7l PyPy 3.10 PyPy 3.10 7.3 |
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Release files / cartesian_tree-0.4.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
| Download URL | cartesian_tree-0.4.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl |
|---|---|
| Size | 395.6 kB |
| Tags | Linux glibc 2.17+ ARM64 PyPy 3.10 PyPy 3.10 7.3 |
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| Download URL | cartesian_tree-0.4.0-pp39-pypy39_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl |
|---|---|
| Size | 399.2 kB |
| Tags | Linux glibc 2.17+ ARMv7l PyPy 3.9 PyPy 3.9 7.3 |
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| Download URL | cartesian_tree-0.4.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl |
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| Tags | Linux glibc 2.17+ ARM64 PyPy 3.9 PyPy 3.9 7.3 |
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| Tags | CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ ARMv7l |
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| Tags | CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ ARM64 |
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|---|---|
| Size | 395.3 kB |
| Tags | CPython 3.14 Linux glibc 2.17+ ARM64 |
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| Size | 398.6 kB |
| Tags | CPython 3.13 Linux glibc 2.17+ ARMv7l |
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| Size | 254.7 kB |
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| Tags | CPython 3.12 Linux glibc 2.17+ ARMv7l |
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| Tags | CPython 3.12 Linux glibc 2.17+ ARM64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp312-cp312-macosx_10_12_x86_64.whl
| Download URL | cartesian_tree-0.4.0-cp312-cp312-macosx_10_12_x86_64.whl |
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| Size | 357.9 kB |
| Tags | CPython 3.12 macOS 10.12+ x86-64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp311-cp311-win_amd64.whl
| Download URL | cartesian_tree-0.4.0-cp311-cp311-win_amd64.whl |
|---|---|
| Size | 253.8 kB |
| Tags | CPython 3.11 Windows x86-64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.whl
| Download URL | cartesian_tree-0.4.0-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.whl |
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| Size | 399.2 kB |
| Tags | CPython 3.11 Linux glibc 2.17+ ARMv7l |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
| Download URL | cartesian_tree-0.4.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl |
|---|---|
| Size | 395.2 kB |
| Tags | CPython 3.11 Linux glibc 2.17+ ARM64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp311-cp311-macosx_11_0_arm64.whl
| Download URL | cartesian_tree-0.4.0-cp311-cp311-macosx_11_0_arm64.whl |
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| Size | 355.1 kB |
| Tags | CPython 3.11 macOS 11.0+ ARM64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp311-cp311-macosx_10_12_x86_64.whl
| Download URL | cartesian_tree-0.4.0-cp311-cp311-macosx_10_12_x86_64.whl |
|---|---|
| Size | 362.3 kB |
| Tags | CPython 3.11 macOS 10.12+ x86-64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp310-cp310-win_amd64.whl
| Download URL | cartesian_tree-0.4.0-cp310-cp310-win_amd64.whl |
|---|---|
| Size | 254.3 kB |
| Tags | CPython 3.10 Windows x86-64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp310-cp310-manylinux_2_34_x86_64.whl
| Download URL | cartesian_tree-0.4.0-cp310-cp310-manylinux_2_34_x86_64.whl |
|---|---|
| Size | 400.5 kB |
| Tags | CPython 3.10 Linux glibc 2.34+ x86-64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl
| Download URL | cartesian_tree-0.4.0-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl |
|---|---|
| Size | 399.5 kB |
| Tags | CPython 3.10 Linux glibc 2.17+ ARMv7l |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
| Download URL | cartesian_tree-0.4.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl |
|---|---|
| Size | 395.0 kB |
| Tags | CPython 3.10 Linux glibc 2.17+ ARM64 |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp39-cp39-manylinux_2_17_armv7l.manylinux2014_armv7l.whl
| Download URL | cartesian_tree-0.4.0-cp39-cp39-manylinux_2_17_armv7l.manylinux2014_armv7l.whl |
|---|---|
| Size | 399.7 kB |
| Tags | CPython 3.9 Linux glibc 2.17+ ARMv7l |
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maturin/1.15.0
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Release files / cartesian_tree-0.4.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
| Download URL | cartesian_tree-0.4.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl |
|---|---|
| Size | 395.3 kB |
| Tags | CPython 3.9 Linux glibc 2.17+ ARM64 |
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maturin/1.15.0
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